timer added

Author: dnakhooda

Core/Inc/u_wheel_speed.h

@@ -29,6 +29,12 @@ void wheel_speed_capture_callback(TIM_HandleTypeDef *htim);
  */
 void calculate_wheel_rpm(int frequency, int *rpm);
 
+/**
+ * @brief Function called by wheel speed pulse timer. If we do not recieve a pulse 
+ *        in the span of the timer, we set rpm to 0.
+ */
+void wheel_pulse_check();
+
 /**
  * Sends wheel speed data over CAN
  */

Core/Src/u_threads.c

@@ -100,6 +100,7 @@ void can_outgoing_thread(ULONG thread_input) {
 
 /* Sensors Thread */
 static nertimer_t data_send_timer;
+static nertimer_t wheel_pulse_timer;
 static thread_t _sensors_thread = {
     .name       = "Sensors Thread",  /* Name */
     .size       = 2048,              /* Stack Size (in bytes) */
@@ -111,24 +112,31 @@ static thread_t _sensors_thread = {
     .function   = sensors_thread     /* Thread Function */
 };
 void sensors_thread(ULONG thread_input) {
-  const uint16_t DATA_SEND_INTERVAL = 25 * _sensors_thread.sleep;
-  start_timer(&data_send_timer, DATA_SEND_INTERVAL);
+    const uint16_t DATA_SEND_INTERVAL = 25 * _sensors_thread.sleep;
+    const uint16_t WHEEL_PULSE_INTERVAL = 15 * _sensors_thread.sleep;
+    
+    start_timer(&data_send_timer, DATA_SEND_INTERVAL);
+    start_timer(&wheel_pulse_timer, WHEEL_PULSE_INTERVAL);
 
-  while (1) {
-    CATCH_ERROR(read_imu_and_magnometer(), U_SUCCESS);
+    while (1) {
+        CATCH_ERROR(read_imu_and_magnometer(), U_SUCCESS);
 
-    if (is_timer_expired(&data_send_timer)) {
-      send_vl53l7cx_data();
-      send_imu_and_magnometer_data();
-      start_timer(&data_send_timer, DATA_SEND_INTERVAL);
+        if (is_timer_expired(&data_send_timer)) {
+            send_vl53l7cx_data();
+            send_imu_and_magnometer_data();
+            start_timer(&data_send_timer, DATA_SEND_INTERVAL);
 
-      if (device_loc == DEVICE_FRONT) {
-        send_wheel_speed();
-      }
-    }
+            if (device_loc == DEVICE_FRONT) {
+                send_wheel_speed();
+            }
+        }
 
-    tx_thread_sleep(_sensors_thread.sleep);
-  }
+        if (is_timer_expired(&wheel_pulse_timer)) {
+            wheel_pulse_check();
+        }
+
+        tx_thread_sleep(_sensors_thread.sleep);
+    }
 }
 
 /* ADCs Thread */

Core/Src/u_wheel_speed.c

@@ -10,12 +10,14 @@ static uint32_t left_val1 = 0;
 static uint32_t left_val2 = 0;
 static uint8_t  left_captured = 0;
 static float left_rpm = 0;
+static bool pulse_detected_left = false;
 
 /* Right Wheel */
 static uint32_t right_val1 = 0;
 static uint32_t right_val2 = 0;
 static uint8_t  right_captured = 0;
 static float right_rpm = 0;
+static bool pulse_detected_right = false;
 
 void wheel_speed_init(TIM_HandleTypeDef *_htim_left, TIM_HandleTypeDef *_htim_right) {
     htim_left = _htim_left;
@@ -27,6 +29,8 @@ void wheel_speed_init(TIM_HandleTypeDef *_htim_left, TIM_HandleTypeDef *_htim_ri
 
 void wheel_speed_capture_callback(TIM_HandleTypeDef *htim) {
     if (htim->Instance == htim_left->Instance && htim->Channel  == HAL_TIM_ACTIVE_CHANNEL_1) {
+        pulse_detected_left = true;
+
         if (left_captured == 0) {
             left_val1 = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_1);
             left_captured = 1;
@@ -58,6 +62,8 @@ void wheel_speed_capture_callback(TIM_HandleTypeDef *htim) {
     }
 
     if (htim->Instance == htim_right->Instance && htim->Channel  == HAL_TIM_ACTIVE_CHANNEL_1) {
+        pulse_detected_right = true;
+
         if (right_captured == 0) {
             right_val1 = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_1);
             right_captured = 1;
@@ -92,6 +98,19 @@ void calculate_wheel_rpm(int frequency, int *rpm) {
     *rpm = (frequency * 60.0f) / PULSES_PER_ROTATION;
 }
 
+void wheel_pulse_check() {
+    if (!pulse_detected_left) {
+        left_rpm = 0;
+    }
+
+    if (!pulse_detected_right) {
+        right_rpm = 0;
+    }
+
+    pulse_detected_left = false;
+    pulse_detected_right = false;
+}
+
 void send_wheel_speed() {
     struct __attribute__((__packed__)) {
         uint16_t right_rpm;