void sensors_aquire_odometer()
{
if(!sensors_en.odometer) return;
static uint32_t refsensor_ticks = 0;
static device_ref refsensors[] = {
&refsensor_left,
&refsensor_right,
};
static int refsensor_values[2];
static int refsensor_values_prev[2];
static int lcl = 0; // last count left
static int lcr = 0; // last count right
switch(refsensor_ticks) {
case 0:
refsensor_start_charge_multi(refsensors, 2);
refsensor_ticks++;
break;
case 100:
refsensor_measure_multi(refsensors, refsensor_values, 2);
int lp = rtc_get_counter_val(); // time stamp of last poll
int dlp_left = lp - sensors.odometer_left.lp;
int dlp_right = lp - sensors.odometer_right.lp;
sensors.odometer_left.count += sensors_check_odo_level(refsensor_values[0],
refsensor_values_prev[0]);
refsensor_values_prev[0] = refsensor_values[0];
sensors.odometer_right.count += sensors_check_odo_level(refsensor_values[1],
refsensor_values_prev[1]);
refsensor_values_prev[1] = refsensor_values[1];
// calc ppm (if time advanced)
if(dlp_left >= 1) {
sensors.odometer_left.ppm = (60 / dlp_left) * (sensors.odometer_left.count - lcl);
sensors.odometer_left.lp = lp;
lcl = sensors.odometer_left.count;
}
if(dlp_right >= 1) {
sensors.odometer_right.ppm = (60 / dlp_right) * (sensors.odometer_right.count - lcr);
sensors.odometer_right.lp = lp;
lcr = sensors.odometer_right.count;
}
refsensor_ticks = 0;
break;
default:
refsensor_ticks++;
}
}
void rtc_isr(void)
{
volatile uint32_t j = 0, c = 0;
/* The interrupt flag isn't cleared by hardware, we have to do it. */
rtc_clear_flag(RTC_SEC);
c = rtc_get_counter_val();
/* Display the current counter value in binary via USART1.
for (j = 0; j < 32; j++) {
if ((c & (0x80000000 >> j)) != 0)
cdcacm_input('1');
else
cdcacm_input('0');
}
cdcacm_input('\r');
cdcacm_input('\n');
*/
//printf("Current counter: %d \r\n", c);
}
time_t rtc_time(void)
{
return rtc_get_counter_val();
}
