Rpm

group bsp_rpm

Control the RPM driver (dotbot v1 only)

Author

Alexandre Abadie alexandre.abadie@inria.fr

Copyright

Inria, 2022

Functions

void db_rpm_init(void)

Initalize the RPM driver.

2 GPIOTE input pins with one timer each. Each time a magnet comes in front of the magnetic encoder, GPIOTE event is triggered which clears the timer ticks counter, for each side (left and right). The speed/rpm are computed by the user code on demand by capturing the timer current count, reading the timer CC register and clearing the timer count. Computations are done with the ME_TICK_TO_* constants.

void db_rpm_get_values(rpm_values_t *values)

Get values (rpm, rps, speed) measured by the rpm driver

Parameters:

• values – [out] A pointer to the struct handling all values

struct rpm_side_values_t

Structure containing different values computed by the rpm driver

Public Members

uint32_t rpm

Rotation per minute.

uint32_t rps

Rotation per second.

float speed

Speed in cm/s.

struct rpm_values_t

Structure containing different rpm value of each motor (left and right)

Public Members

rpm_side_values_t left

rpm values of the left motor

rpm_side_values_t right

rpm values of the right motor