Add roller rev tracking. Closes #4

src/motor-esp32/roller_speed.cpp

@@ -20,6 +20,7 @@ static xQueueHandle roller_measurement_queue[3];
 typedef struct {
     uint32_t period;   // period since last pulse in APB clock ticks
     int64_t timestamp; // time measurement occurred in microseconds since boot
+    uint32_t pulses;   // Total pulses of roller so far
 } pulse_measurement_t;
 
 // Gets called by the MCPWM capture module. Tells us which capture unit it was, which edge, and when it happened
@@ -29,7 +30,7 @@ static bool speed_pulse_isr_handler(mcpwm_unit_t mcpwm, mcpwm_capture_channel_id
     // Not strictly necessary to do the wakeup check here, as we shouldn't be blokcing anything. Doesn't hurt though.
     BaseType_t high_task_wakeup = pdFALSE;
 
-    uint r_id = 0;
+    int r_id = 0;
 
     if (cap_sig == MCPWM_SELECT_CAP0) {
         r_id = 0;
@@ -44,7 +45,7 @@ static bool speed_pulse_isr_handler(mcpwm_unit_t mcpwm, mcpwm_capture_channel_id
     // Add one to our revs counter, and overflow it if necessary
     roller_pulses[r_id]++;
     if ((roller_pulses[r_id] / ROLLER_PULSES_PER_REV) > REV_OVERFLOW) {
-        roller_pulses[0] = 0;
+        roller_pulses[r_id] = 0;
     }
 
     pulse_measurement_t new_measurement;
@@ -55,6 +56,10 @@ static bool speed_pulse_isr_handler(mcpwm_unit_t mcpwm, mcpwm_capture_channel_id
     if ((roller_last_timestamp[r_id] != 0) and ((time_now - roller_last_timestamp[r_id]) < ZERO_SPEED_TIMEOUT_US)) {
         new_measurement.timestamp = time_now;
         new_measurement.period = edata->cap_value - roller_last_edge_time[r_id];
+        // Technically passing the roller passes with the rest of the measurement here means that it won't be updated
+        // for the first pulse detected after being stopped, but for the purposes of tracking total revs in a given
+        // period of several seconds this shouldn't matter.
+        new_measurement.pulses = roller_pulses[r_id];
         xQueueOverwriteFromISR(roller_measurement_queue[r_id], &new_measurement, &high_task_wakeup);
     }
 
@@ -76,6 +81,12 @@ float get_roller_speed(int roller_id) {
     return ((float)rtc_clk_apb_freq_get() / (float)(pulse_measurement.period)) / (float)(ROLLER_PULSES_PER_REV);
 }
 
+float get_roller_revs(int roller_id) {
+    pulse_measurement_t pulse_measurement;
+    xQueuePeek(roller_measurement_queue[roller_id], &pulse_measurement, 0);
+    return (float)pulse_measurement.pulses / (float)ROLLER_PULSES_PER_REV;
+}
+
 void roller_speed_setup(void) {
     // Create our measurement queues
     roller_measurement_queue[0] = xQueueCreate(1, sizeof(pulse_measurement_t));