86 lines
2.8 KiB
C++
86 lines
2.8 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 2024-11-17
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* @version 1.1.0
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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 "bike_system.hpp"
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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 multi_tasking {
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PedalDevice::PedalDevice(Mail<pedalMail_t, 16>* mailBox, Timer& timer)
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: _mailBox(mailBox), _timer(timer) {
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disco::Joystick::getInstance().setLeftCallback(callback(this, &PedalDevice::onLeft));
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disco::Joystick::getInstance().setRightCallback(
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callback(this, &PedalDevice::onRight));
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}
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void PedalDevice::increaseRotationSpeed() {
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uint32_t currentStep = core_util_atomic_load_u32(&_currentStep);
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if (currentStep > 0) {
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core_util_atomic_decr_u32(&_currentStep, 1);
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sendMail(core_util_atomic_load_u32(&_currentStep));
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}
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}
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void PedalDevice::decreaseRotationSpeed() {
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uint32_t currentStep = core_util_atomic_load_u32(&_currentStep);
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if (currentStep < bike_computer::kNbrOfSteps) {
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core_util_atomic_incr_u32(&_currentStep, 1);
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sendMail(core_util_atomic_load_u32(&_currentStep));
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}
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}
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void PedalDevice::onLeft() { decreaseRotationSpeed(); }
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void PedalDevice::onRight() { increaseRotationSpeed(); }
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void PedalDevice::sendMail(uint32_t data) {
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if (_mailBox != nullptr) {
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pedalMail_t* currentStep = _mailBox->try_alloc();
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if (currentStep != nullptr) {
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currentStep->step = data;
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currentStep->callTime = _timer.elapsed_time();
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_mailBox->put(currentStep);
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}
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}
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}
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// static methods
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std::chrono::milliseconds PedalDevice::getCurrentRotationTime(uint32_t step) {
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return bike_computer::kMinPedalRotationTime +
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step * bike_computer::kDeltaPedalRotationTime;
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}
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} // namespace multi_tasking
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