Add other 2 roller speed sensors, convert motors and rollers to indexed

src/motor-esp32/main.cpp

@@ -15,11 +15,12 @@ void loop() {
     delay(100);
 
     // Serial.println(digitalRead(MOTOR_SPEED_SENSE));
-    Serial.print(get_motor_1_duty());
+    Serial.print(get_motor_duty(0));
     Serial.print(", ");
-    Serial.print(get_motor_2_duty());
+    Serial.print(get_motor_duty(1));
     Serial.print(", ");
-    Serial.println(getRoller1Speed());
-    set_motor_1(true, 0.3);
-    set_motor_2(true, 0.3);
+    Serial.println(get_roller_speed(0));
+    set_motor(0, true, 0.3);
+    set_motor(1, true, 0.3);
+    set_motor(2, true, 0.3);
 }

src/motor-esp32/motor_control.cpp

@@ -56,7 +56,7 @@ static void motor_control_task(void *pvParameters) {
 
             if (m_set.enabled) {
 
-                actual_speed = getRoller1Speed();
+                actual_speed = get_roller_speed(m_id);
                 error = m_set.desired_speed - actual_speed;
                 m_stat[m_id].i_error += error * MC_ITERATION_TIME;
                 d_error = (error - m_stat[m_id].last_error) / MC_ITERATION_TIME;
@@ -107,51 +107,21 @@ static void motor_control_task(void *pvParameters) {
     }
 }
 
-void set_motor_1(bool enabled, float desired_speed) {
+void set_motor(int motor_id, bool enabled, float desired_speed) {
     motor_settings_t new_settings;
 
-    xQueuePeek(motor_settings_queue[0], &new_settings, 0);
+    // Get copy of current settings
+    xQueuePeek(motor_settings_queue[motor_id], &new_settings, 0);
     new_settings.enabled = enabled;
     new_settings.desired_speed = desired_speed;
-    xQueueOverwrite(motor_settings_queue[0], &new_settings);
+    // Send new modified settings
+    xQueueOverwrite(motor_settings_queue[motor_id], &new_settings);
 }
 
-void set_motor_2(bool enabled, float desired_speed) {
-    motor_settings_t new_settings;
-
-    xQueuePeek(motor_settings_queue[1], &new_settings, 0);
-    new_settings.enabled = enabled;
-    new_settings.desired_speed = desired_speed;
-    xQueueOverwrite(motor_settings_queue[1], &new_settings);
-}
-
-void set_motor_3(bool enabled, float desired_speed) {
-    motor_settings_t new_settings;
-
-    xQueuePeek(motor_settings_queue[2], &new_settings, 0);
-    new_settings.enabled = enabled;
-    new_settings.desired_speed = desired_speed;
-    xQueueOverwrite(motor_settings_queue[2], &new_settings);
-}
-
-float get_motor_1_duty() {
+float get_motor_duty(int motor_id) {
     motor_status_t motor_status;
 
-    xQueuePeek(motor_status_queue[0], &motor_status, 0);
-    return motor_status.duty;
-}
-
-float get_motor_2_duty() {
-    motor_status_t motor_status;
-
-    xQueuePeek(motor_status_queue[1], &motor_status, 0);
-    return motor_status.duty;
-}
-
-float get_motor_3_duty() {
-    motor_status_t motor_status;
-
-    xQueuePeek(motor_status_queue[2], &motor_status, 0);
+    xQueuePeek(motor_status_queue[motor_id], &motor_status, 0);
     return motor_status.duty;
 }
 
@@ -189,6 +159,18 @@ void motor_control_setup(void) {
     mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_1, &pwm_config);
     mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_2, &pwm_config);
 
+    // Set Timer 0 to generate sync signal when it reaches the top
+    mcpwm_set_timer_sync_output(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_SWSYNC_SOURCE_TEP);
+
+    mcpwm_sync_config_t sync_conf = {
+        .sync_sig = MCPWM_SELECT_TIMER0_SYNC,
+        .timer_val = 333,
+        .count_direction = MCPWM_TIMER_DIRECTION_UP,
+    };
+    mcpwm_sync_configure(MCPWM_UNIT_0, MCPWM_TIMER_1, &sync_conf);
+    sync_conf.timer_val = 666;
+    mcpwm_sync_configure(MCPWM_UNIT_0, MCPWM_TIMER_2, &sync_conf);
+
     // Bind to output
     mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0A, GPIO_ROLLER1_PWM);
     mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM1A, GPIO_ROLLER2_PWM);

src/motor-esp32/motor_control.h

@@ -7,13 +7,9 @@
 
 #define MAX_DUTY_RAMP 5.0 // max change in duty per second - where 1.0 is full duty
 
-void set_motor_1(bool enabled, float desired_speed);
-void set_motor_2(bool enabled, float desired_speed);
-void set_motor_3(bool enabled, float desired_speed);
+void set_motor(int motor_id, bool enabled, float desired_speed);
 
-float get_motor_1_duty(void);
-float get_motor_2_duty(void);
-float get_motor_3_duty(void);
+float get_motor_duty(int motor_id);
 
 void motor_control_setup(void);
 

src/motor-esp32/roller_speed.cpp

@@ -64,10 +64,10 @@ static bool speed_pulse_isr_handler(mcpwm_unit_t mcpwm, mcpwm_capture_channel_id
     return high_task_wakeup == pdTRUE;
 }
 
-float getRoller1Speed(void) {
+float get_roller_speed(int roller_id) {
     pulse_measurement_t pulse_measurement;
     // Get the pulse period in APB clock ticks.
-    xQueuePeek(roller_measurement_queue[0], &pulse_measurement, 0);
+    xQueuePeek(roller_measurement_queue[roller_id], &pulse_measurement, 0);
     if ((pulse_measurement.period == 0) or
         ((esp_timer_get_time() - pulse_measurement.timestamp) >= ZERO_SPEED_TIMEOUT_US)) {
         return 0.0;
@@ -88,14 +88,17 @@ void roller_speed_setup(void) {
     xQueueOverwrite(roller_measurement_queue[1], &blank_measurement);
     xQueueOverwrite(roller_measurement_queue[2], &blank_measurement);
 
-    // Set MCPWM0 CAP0 on roller 1 speed, enable pullup input pin
+    // Attach GPIO to capture units in MCPWM
     mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM_CAP_0, GPIO_ROLLER1_SPEED);
+    mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM_CAP_1, GPIO_ROLLER2_SPEED);
+    mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM_CAP_2, GPIO_ROLLER3_SPEED);
 
-    // configure MCPWM0 CAP0
+    // Configure and enable MCPWM capture units
     mcpwm_capture_config_t conf = {.cap_edge = MCPWM_POS_EDGE, // trigger on riding edge
                                    .cap_prescale = 1,          // pulses per interrupt
                                    .capture_cb = speed_pulse_isr_handler,
                                    .user_data = NULL};
-    // Enable MCWPM0 CAP0
     mcpwm_capture_enable_channel(MCPWM_UNIT_0, MCPWM_SELECT_CAP0, &conf);
+    mcpwm_capture_enable_channel(MCPWM_UNIT_0, MCPWM_SELECT_CAP1, &conf);
+    mcpwm_capture_enable_channel(MCPWM_UNIT_0, MCPWM_SELECT_CAP2, &conf);
 }

src/motor-esp32/roller_speed.h

@@ -10,10 +10,10 @@
 
 void roller_speed_setup(void);
 
-// Returns the last calculated speed for Roller 1 in revs/second
-float getRoller1Speed(void);
+// Returns the last calculated speed for roller in revs/second. Only pass 0, 1 or 2
+float get_roller_speed(int roller_id);
 
-// Returns the total rev count for Roller 1. Overflows back to 0 at REV_OVERFLOW
-float getRoller1Revs(void);
+// Returns the total rev count for a roller. Only pass 0, 1 or 2. Overflows back to 0 at REV_OVERFLOW
+float get_roller_revs(int roller_id);
 
 #endif