fbca35e828
Tested and debugged speed measurement on actual hardware.
Speed measurement is very stable now (reliable direction)
- fix direction inverted no effect
- fix direction detection
- remove "invalid directions" since every combination is valid
55 lines
1.6 KiB
C++
55 lines
1.6 KiB
C++
#pragma once
|
|
extern "C" {
|
|
#include "esp_log.h"
|
|
#include "hal/gpio_types.h"
|
|
#include "driver/gpio.h"
|
|
#include "esp_timer.h"
|
|
}
|
|
|
|
//Encoder disk requirements:
|
|
//encoder disk has to have gaps in 3 differnt intervals (short, medium, long)
|
|
//that pattern can be repeated multiple times, see config option
|
|
typedef struct {
|
|
gpio_num_t gpioPin;
|
|
float degreePerGroup; //360 / [count of short,medium,long groups on encoder disk]
|
|
uint32_t minPulseDurationUs; //smallest possible pulse duration (time from start small-pulse to start long-pulse at full speed). Set to 0 to disable this noise detection
|
|
float tireCircumferenceMeter;
|
|
//default positive direction is pulse order "short, medium, long"
|
|
bool directionInverted;
|
|
char* logName;
|
|
} speedSensor_config_t;
|
|
|
|
|
|
class speedSensor {
|
|
//TODO add count of revolutions/pulses if needed? (get(), reset() etc)
|
|
public:
|
|
//constructor
|
|
speedSensor(speedSensor_config_t config);
|
|
// initializes gpio pin, configures and starts interrupt
|
|
void init();
|
|
|
|
//negative values = reverse direction
|
|
//positive values = forward direction
|
|
float getKmph(); //kilometers per hour
|
|
float getMps(); //meters per second
|
|
float getRpm(); //rotations per minute
|
|
|
|
//variables for handling the encoder (public because ISR needs access)
|
|
speedSensor_config_t config;
|
|
uint32_t pulseDurations[3] = {};
|
|
uint32_t pulse1, pulse2, pulse3;
|
|
uint32_t shortestPulse = 0;
|
|
uint32_t shortestPulsePrev = 0;
|
|
uint32_t lastEdgeTime = 0;
|
|
uint8_t pulseCounter = 0;
|
|
int debugCount = 0;
|
|
uint32_t debug_countIgnoredSequencesTooShort = 0;
|
|
double currentRpm = 0;
|
|
|
|
private:
|
|
static bool isrIsInitialized; // default false due to static
|
|
};
|
|
|
|
|
|
|