Add zero speed pulse measurement updates for better rev count

src/motor-esp32/roller_speed.cpp

@@ -3,8 +3,8 @@
 #include "roller_speed.h"
 #include "io.h"
 
-#include "freertos/FreeRTOS.h"
 #include "driver/mcpwm.h"
+#include "freertos/FreeRTOS.h"
 #include "freertos/queue.h"
 #include "soc/rtc.h"
 
@@ -50,17 +50,19 @@ static bool speed_pulse_isr_handler(mcpwm_unit_t mcpwm, mcpwm_capture_channel_id
     int64_t time_now;
 
     time_now = esp_timer_get_time();
+    new_measurement.timestamp = time_now;
+    new_measurement.pulses = roller_pulses[r_id];
     // Just make sure we have a previous edge to compare to, and that it was no more than ZERO_SPEED_TIMEOUT_US ago
     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 pulses 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);
+    } else {
+        // If there's no previous edge detected, or it's too far away, we still want to give an update with the new
+        // pulse count
+        new_measurement.period = 0;
     }
 
+    xQueueOverwriteFromISR(roller_measurement_queue[r_id], &new_measurement, &high_task_wakeup);
+
     roller_last_edge_time[r_id] = edata->cap_value;
     roller_last_timestamp[r_id] = time_now;
 
@@ -71,6 +73,8 @@ float get_roller_speed(roller_id_t roller_id) {
     pulse_measurement_t pulse_measurement;
     // Get the pulse period in APB clock ticks.
     xQueuePeek(roller_measurement_queue[roller_id], &pulse_measurement, 0);
+
+    // A period of zero means that it didn't actually have a previous pulse to compare to
     if ((pulse_measurement.period == 0) or
         ((esp_timer_get_time() - pulse_measurement.timestamp) >= ZERO_SPEED_TIMEOUT_US)) {
         return 0.0;

src/motor-esp32/roller_speed.h

@@ -4,7 +4,7 @@
 #include "../common/shared_structs.h"
 
 // Number of sensor pulses per roller rev. Note that this will overflow at about 4 billion pulses
-#define ROLLER_PULSES_PER_REV 40
+#define ROLLER_PULSES_PER_REV 30
 
 // Time without a pulse after which the speed will be considered to be 0.
 // Note that with a clock at 80MHz, the pulse period counter overflows every 53 seconds