better ISR handling, improved bouncing/noise filter

Author: Random90

main/Tasks/core/calcRideParamsOnISR.task.c

@@ -37,7 +37,7 @@ static void vOnSyncFinishHandle(void *handler_args, esp_event_base_t base, int32
 
 void vCalcRideParamsOnISRTask(void *data) {
     float currentSpeed;
-    uint16_t msBetweenRotationTicks;
+    uint16_t msBetweenRotationTicks = 0;
 
     ESP_LOGI(TAG, "Init reed switch");
 
@@ -46,38 +46,37 @@ void vCalcRideParamsOnISRTask(void *data) {
 
     for (;;) {
         if (xQueueReceive(reed_evt_queue, &rideParams.rotationTickCount, portMAX_DELAY) && !ignoreReed) {
-            // TODO create buffer for reed time impulses before calculating time and speed
-            // TODO block rideParams while calculating?
-            if (rideParams.prevRotationTickCount != 0) {
-                if (!rideParams.moving) {
-                    esp_event_post_to(obc_events_loop, OBC_EVENTS, RIDE_START_EVENT, NULL, 0, portMAX_DELAY);
-                }
-                msBetweenRotationTicks = ((int)rideParams.rotationTickCount - (int)rideParams.prevRotationTickCount) * (int)portTICK_PERIOD_MS;
-                rideParams.totalRideTimeMs += msBetweenRotationTicks;
-                // TODO sometimes tick count doesn't update even with queue? prevent speed = inf for now
-                if (msBetweenRotationTicks > 0.00) {
-                    currentSpeed = ((float)CIRCUMFERENCE / 1000000) / ((float)msBetweenRotationTicks / 3600000);  // km/h
-                    // simple, soft filtering of noise (from cables?) - should't introduce any discrepancy to actual data
-                    // and also could be used to detect unplanned, immediate stops
-                    // max reasonable acceleration is 5.8 m/s/s
-                    if (abs((int)(currentSpeed - rideParams.speed)) > 30) {
-                        continue;
-                    }
-
-                    rideParams.moving = true;
-                    rideParams.rotations++;
-                    rideParams.speed = currentSpeed;
-                    rideParams.distance += (float)CIRCUMFERENCE / 1000000;
-                    rideParams.totalDistance += (float)CIRCUMFERENCE / 1000000;
-                    rideParams.avgSpeed = rideParams.distance / ((float)rideParams.totalRideTimeMs / 3600000);
-                    if (rideParams.speed > rideParams.maxSpeed) {
-                        rideParams.maxSpeed = rideParams.speed;
-                    }
-                }
+            if (rideParams.rotationTickCount == rideParams.prevRotationTickCount || rideParams.rotationTickCount == 0) {
+                continue;
+            };
+
+            msBetweenRotationTicks = ((int)rideParams.rotationTickCount - (int)rideParams.prevRotationTickCount) * (int)portTICK_PERIOD_MS;
+
+            if (msBetweenRotationTicks <= REED_BOUNCE_MS) {
+                continue;
             }
+
             rideParams.prevRotationTickCount = rideParams.rotationTickCount;
+            // ESP_LOGI(TAG, "Reed switch triggered %" PRIu32 " diff: %" PRIu16, rideParams.rotationTickCount, msBetweenRotationTicks);
+
+            // TODO block rideParams while calculating?
+            if (!rideParams.moving) {
+                esp_event_post_to(obc_events_loop, OBC_EVENTS, RIDE_START_EVENT, NULL, 0, portMAX_DELAY);
+            }
+
+            currentSpeed = ((float)CIRCUMFERENCE / 1000000) / ((float)msBetweenRotationTicks / 3600000);  // km/h
+            rideParams.moving = true;
+            rideParams.rotations++;
+            rideParams.speed = currentSpeed;
+            rideParams.totalRideTimeMs += msBetweenRotationTicks;
+            rideParams.distance += (float)CIRCUMFERENCE / 1000000;
+            rideParams.totalDistance += (float)CIRCUMFERENCE / 1000000;
+            rideParams.avgSpeed = rideParams.distance / ((float)rideParams.totalRideTimeMs / 3600000);
+            if (rideParams.speed > rideParams.maxSpeed) {
+                rideParams.maxSpeed = rideParams.speed;
+            }
 
-            // ESP_LOGI(TAG, "[REED] count: %d, speed: %0.2f, diff: %d, distance: %0.2f", rideParams.rotations, rideParams.speed, msBetweenRotationTicks, rideParams.distance);
+            // ESP_LOGI(TAG, "[REED] count: %" PRIu32 ", speed: %0.2f, diff: %" PRIu16 ", distance: %0.2f", rideParams.rotations, rideParams.speed, msBetweenRotationTicks, rideParams.distance);
             // ESP_LOGI(TAG, "[AVGS] speed: %0.2f", rideParams.avgSpeed);
         }
     }

main/Tasks/core/calcRideParamsOnISR.task.h

@@ -1,6 +1,8 @@
 #ifndef TASKS_CORE_CALC_RIDE_PARAMS_ON_ISR_H
 #define TASKS_CORE_CALC_RIDE_PARAMS_ON_ISR_H
 
+// will ignore reed events for this time after last event to filter out bouncing/noise
+#define REED_BOUNCE_MS 15
 // calculates ride params on reed isr queue receive
 void vCalcRideParamsOnISRTask(void* data);
 

main/Tasks/core/rideStatusWatchdog.task.c

@@ -23,9 +23,10 @@ void vRideStatusWatchdogTask(void *arg) {
     ESP_LOGI(TAG, "Initialization");
 
     while (true) {
-        msg_count = uxQueueMessagesWaitingFromISR(reed_evt_queue);
+        msg_count = uxQueueMessagesWaiting(reed_evt_queue);
         currentTickCount = xTaskGetTickCount();
         timeInactive = ((int)currentTickCount - (int)rideParams.prevRotationTickCount) * (int)portTICK_PERIOD_MS;
+        // ESP_LOGI(TAG, "msg_count: %d, timeInactive: %d", msg_count, timeInactive);
 
         if (rideParams.moving && !msg_count && timeInactive > RIDE_TIMEOUT_MS) {
             ESP_LOGI(TAG, "[RIDE_STATUS] Stopped moving");

main/main.c

@@ -55,8 +55,13 @@ ride_params_t rideParams = {
 
 // IRAM_ATTR - function with this will be moved to RAM in order to execute faster than default from flash
 static void IRAM_ATTR vReedISR(void* arg) {
-    TickType_t xLastReedTickCount = xTaskGetTickCount();
-    xQueueSendFromISR(reed_evt_queue, &xLastReedTickCount, NULL);
+    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+    TickType_t xLastReedTickCount = xTaskGetTickCountFromISR();
+
+    xQueueSendFromISR(reed_evt_queue, &xLastReedTickCount, &xHigherPriorityTaskWoken);
+    if (xHigherPriorityTaskWoken) {
+        portYIELD_FROM_ISR();
+    }
 }
 
 void vInitTasks() {
@@ -81,9 +86,9 @@ void vAttachInterrupts() {
     io_conf.intr_type = GPIO_INTR_NEGEDGE;
     // configure GPIO with the given settings
     gpio_config(&io_conf);
-    gpio_set_intr_type(REED_IO_NUM, io_conf.intr_type);
+    // gpio_set_intr_type(REED_IO_NUM, GPIO_INTR_NEGEDGE);
     gpio_install_isr_service(ESP_INTR_FLAG_DEFAULT);
-    gpio_isr_handler_add(REED_IO_NUM, vReedISR, (void*)REED_IO_NUM);
+    gpio_isr_handler_add(REED_IO_NUM, vReedISR, NULL);
 }
 
 void vInitNVS() {