153 lines
3.9 KiB
C++
153 lines
3.9 KiB
C++
/**
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* @file speedometer.cpp
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* @author Alexander Klein (alex@kleiax.de)
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* @brief Implementation of the class speedometer.h
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* @see speedometer.h
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* @version 0.1
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* @date 2021-12-13
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*
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* @copyright Copyright (c) 2021
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*
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*/
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#include "speedometer.h"
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Speedometer::Speedometer(uint8_t pin, double diameter, uint16_t steps, uint8_t numOfValForAvg) {
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this->init(pin, diameter, steps);
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this->bufSize = numOfValForAvg;
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}
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Speedometer::Speedometer(uint8_t pin, double diameter, uint16_t steps) {
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this->init(pin, diameter, steps);
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}
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Speedometer::~Speedometer() {
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delete[] this->buf;
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delete this->pulseCounter;
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}
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uint16_t Speedometer::loop() {
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if (this->calibrationRunning)
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return -1;
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uint32_t time = millis();
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uint16_t elapsed_time = time - this->last_millis_loop;
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//Cancel if delayLoop is not reached
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if (elapsed_time < this->delayLoop)
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return elapsed_time;
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runSpeedometer();
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this->last_millis_loop = time;
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return elapsed_time;
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}
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void Speedometer::runSpeedometer() {
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uint32_t time = millis();
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uint16_t elapsed_time = time - last_millis_calc;
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last_millis_calc = time;
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int16_t count = this->pulseCounter->get_value();
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switch (this->currentDirection) {
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case Direction::Forward :
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this->addValToBuf(count);
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break;
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case Direction::Backward :
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this->addValToBuf(-count);
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break;
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case Direction::None :
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this->addValToBuf(0);
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break;
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default:
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std::cout << "Wrong value in Speedometer::runSpeedometer" << std::endl;
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break;
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}
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this->pulseCounter->clear();
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this->pulseCounter->resume();
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uint16_t count_abs = abs(this->calcAverage()); // Absolute time in milliseconds
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double n = (double)count_abs / steps; // Wheel revolutions in absolute time
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double u = (double)n / ((double)elapsed_time / 1000); // Wheel revolutions per second
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double ms = u * (diameter * PI); // Speed in m/s
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if (count > 0) {
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this->speed = ms;
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} else if (count < 0) {
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this->speed = ms * (-1);
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} else {
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this->speed = 0;
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}
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// std::cout << "Speedometer::runSpeedometer speed: " << (int) this->speed << std::endl;
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}
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void Speedometer::setNumOfValForAvg(uint8_t val) {
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this->bufSize = val;
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updateAvgBufSize();
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}
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void Speedometer::setEncFilter(uint16_t val) {
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if (val > 1023)
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val = 1023;
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this->pulseCounter->set_filter_value(val);
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}
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void Speedometer::calibrationMeasurementStart() {
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this->calibrationRunning = true;
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this->pulseCounter->clear();
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this->pulseCounter->resume();
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}
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uint16_t Speedometer::calibrationMeasurementStop() {
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this->calibrationRunning = false;
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uint16_t res = abs(this->pulseCounter->get_value());
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this->pulseCounter->clear();
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this->pulseCounter->resume();
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return res;
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}
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void Speedometer::init(uint8_t pin, double diameter, uint16_t steps) {
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this->diameter = diameter;
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this->steps = steps;
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this->pulseCounter = new PulseCounter();
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this->pulseCounter->initialise(pin, PCNT_PIN_NOT_USED);
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this->pulseCounter->set_mode(PCNT_COUNT_INC, PCNT_COUNT_DIS, PCNT_MODE_KEEP, PCNT_MODE_KEEP);
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this->pulseCounter->set_filter_value(1000); // ignore pulses less than 1000 x 2.5ns
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this->pulseCounter->clear();
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this->pulseCounter->resume();
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initAvgBuf();
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}
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void Speedometer::initAvgBuf() {
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this->buf = new int16_t[bufSize];
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for (uint8_t i = 0; i < bufSize; i++)
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this->buf[i] = 0;
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}
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void Speedometer::addValToBuf(int16_t val) {
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this->buf[this->bufPos] = val;
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this->bufPos++;
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if (bufPos == bufSize)
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bufPos = 0;
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}
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void Speedometer::updateAvgBufSize() {
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delete[] this->buf;
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initAvgBuf();
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}
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int16_t Speedometer::calcAverage() {
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int16_t sum = 0;
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for (int i = 0; i < this->bufSize; i++)
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sum += this->buf[i];
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return sum / this->bufSize;
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}
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