85 lines
2.9 KiB
C++
85 lines
2.9 KiB
C++
// Copyright 2022 Haute école d'ingénierie et d'architecture de Fribourg
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/****************************************************************************
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* @file pedal_device.cpp
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* @author Rémi Heredero <remi@heredero.ch>
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* @author Yann Sierro <yannsierro.pro@gmail.com>
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*
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* @brief Pedal Device implementation (static scheduling)
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* @date 2024-11-09
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* @version 0.1.0
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****************************************************************************/
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#include "pedal_device.hpp"
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// from disco_h747i/wrappers
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#include <chrono>
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#include "joystick.hpp"
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#include "mbed_trace.h"
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#if MBED_CONF_MBED_TRACE_ENABLE
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#define TRACE_GROUP "PedalDevice"
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#endif // MBED_CONF_MBED_TRACE_ENABLE
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namespace static_scheduling {
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static constexpr std::chrono::microseconds kTaskRunTime = 200000us;
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PedalDevice::PedalDevice(Timer& timer) : _timer(timer), _pedalRotationTime(0) {}
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std::chrono::milliseconds PedalDevice::getCurrentRotationTime() {
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std::chrono::microseconds initialTime = _timer.elapsed_time();
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std::chrono::microseconds elapsedTime = std::chrono::microseconds::zero();
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// we bound the change to one increment/decrement per call
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bool hasChanged = false;
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while (elapsedTime < kTaskRunTime) {
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if (!hasChanged) {
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disco::Joystick::State joystickState =
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disco::Joystick::getInstance().getState();
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switch (joystickState) {
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case disco::Joystick::State::LeftPressed:
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if (_pedalRotationTime < bike_computer::kMaxPedalRotationTime) {
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decreaseRotationSpeed();
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hasChanged = true;
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}
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break;
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case disco::Joystick::State::DownPressed:
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if (_pedalRotationTime > bike_computer::kMinPedalRotationTime) {
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decreaseRotationSpeed();
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hasChanged = true;
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}
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break;
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default:
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break;
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}
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}
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elapsedTime = _timer.elapsed_time() - initialTime;
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}
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return _pedalRotationTime;
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}
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void PedalDevice::increaseRotationSpeed() {
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_pedalRotationTime -= bike_computer::kDeltaPedalRotationTime;
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}
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void PedalDevice::decreaseRotationSpeed() {
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_pedalRotationTime += bike_computer::kDeltaPedalRotationTime;
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}
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} // namespace static_scheduling
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