zaske/BA_DIY_Power_PCB
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finally fixed f*cking internal Encoder

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This commit is contained in:
der_zaske
2025-02-03 00:01:45 +01:00
parent f12f908933
commit 0089ed9d67
6 changed files with 48 additions and 48 deletions
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36
main/GPIO.c
View File

@@ -20,11 +20,13 @@ static volatile int64_t last_AB_time = 0;
//internal Encoder
static void IRAM_ATTR enc_in_a_isr_handler(void *arg);
static void IRAM_ATTR enc_in_b_isr_handler(void *arg);
static void IRAM_ATTR enc_in_isr_handler(void *arg);
static void IRAM_ATTR enc_in_but_isr_handler(void *arg);
static volatile int16_t enc_in_counter = 0;
static volatile int64_t last_interrupt_time_a = 0; // Entprellungs-Timer
static volatile int64_t last_interrupt_time_b = 0; // Entprellungs-Timer
static volatile int64_t last_interrupt_time = 0;
static volatile uint16_t last_interrupt_time_but = 0;
static volatile bool enc_in_button_state = false;
@@ -96,8 +98,8 @@ void configure_GPIO_dir()
gpio_install_isr_service(0);
ESP_ERROR_CHECK(gpio_isr_handler_add(CONFIG_EXT_ENC_INDX_GPIO, index_isr_handler, NULL));
ESP_ERROR_CHECK(gpio_isr_handler_add(CONFIG_HALL_A_GPIO, enc_ab_isr_handler, NULL));
ESP_ERROR_CHECK(gpio_isr_handler_add(CONFIG_IN_ENC_A_GPIO, enc_in_a_isr_handler, NULL));
ESP_ERROR_CHECK(gpio_isr_handler_add(CONFIG_IN_ENC_B_GPIO, enc_in_b_isr_handler, NULL));
ESP_ERROR_CHECK(gpio_isr_handler_add(CONFIG_IN_ENC_A_GPIO, enc_in_isr_handler, NULL));
ESP_ERROR_CHECK(gpio_isr_handler_add(CONFIG_IN_ENC_B_GPIO, enc_in_isr_handler, NULL));
ESP_ERROR_CHECK(gpio_isr_handler_add(CONFIG_IN_ENC_BUT_GPIO, enc_in_but_isr_handler, NULL));
}
@@ -165,7 +167,7 @@ static void IRAM_ATTR enc_in_a_isr_handler(void *arg) {
uint64_t interrupt_time = esp_timer_get_time();
// Entprellung: Verhindert die Erfassung von Störungen aufgrund von Prellung
if (interrupt_time - last_interrupt_time_a > (CONFIG_IN_ENCODER_DEBOUNCE_TIME*1000)) { // Entprellungszeit
if (interrupt_time - last_interrupt_time_a > (CONFIG_IN_ENCODER_DEBOUNCE_TIME)) { // Entprellungszeit
last_interrupt_time_a = interrupt_time; // Entprellzeit zurücksetzen
// Bestimmen der Richtung anhand des Zustands von Pin A und B
if (gpio_get_level(CONFIG_IN_ENC_A_GPIO)==gpio_get_level(CONFIG_IN_ENC_B_GPIO)) {
@@ -179,7 +181,7 @@ static void IRAM_ATTR enc_in_b_isr_handler(void *arg) {
uint64_t interrupt_time = esp_timer_get_time();
// Entprellung: Verhindert die Erfassung von Störungen aufgrund von Prellung
if (interrupt_time - last_interrupt_time_b > (CONFIG_IN_ENCODER_DEBOUNCE_TIME*1000)) { // Entprellungszeit
if (interrupt_time - last_interrupt_time_b > (CONFIG_IN_ENCODER_DEBOUNCE_TIME)) { // Entprellungszeit
last_interrupt_time_b = interrupt_time; // Entprellzeit zurücksetzen
// Bestimmen der Richtung anhand des Zustands von Pin A und B
if (gpio_get_level(CONFIG_IN_ENC_A_GPIO)==gpio_get_level(CONFIG_IN_ENC_B_GPIO)) {
@@ -189,6 +191,32 @@ static void IRAM_ATTR enc_in_b_isr_handler(void *arg) {
}
}
static volatile uint8_t last_state = 0;
static void IRAM_ATTR enc_in_isr_handler(void *arg) {
static uint64_t last_interrupt_time = 0;
// Aktueller Zustand der Pins lesen
uint8_t current_state = (gpio_get_level(CONFIG_IN_ENC_A_GPIO) << 1) | gpio_get_level(CONFIG_IN_ENC_B_GPIO);
uint64_t interrupt_time = esp_timer_get_time();
// Zustandswechsel-Logik (FSM) ohne starre Entprellzeit
if (current_state != last_state) {
// Nur wenn der Wechsel signifikant verzögert ist (gute Flanke)
if ((interrupt_time - last_interrupt_time) > CONFIG_IN_ENCODER_DEBOUNCE_TIME) {
if ((last_state == 0b01 && current_state == 0b11) ||
(last_state == 0b10 && current_state == 0b00)) {
enc_in_counter++; // Vorwärtsdrehen
} else if ((last_state == 0b10 && current_state == 0b11) ||
(last_state == 0b01 && current_state == 0b00)) {
enc_in_counter--; // Rückwärtsdrehen
}
last_state = current_state; // Zustand aktualisieren
last_interrupt_time = interrupt_time;
}
}
}
static void IRAM_ATTR enc_in_but_isr_handler(void *arg) {
uint64_t interrupt_time = esp_timer_get_time();

22
main/app_main.c
View File

@@ -76,27 +76,7 @@ void app_main(void)
RFE_Pulled = !(gpio_get_level(CONFIG_RFE_GPIO));
if (menu_counter >= 4){
menu_counter=0;
set_enc_in_counter(0);
}
enc_but_state = get_enc_in_but();
if (enc_but_state){
in_menu ^= 1;
}
if (in_menu){
switch(menu_counter){
case 0:
break;
case 1:
set_enc_in_counter(0);
break;
}
}else{
menu_counter = get_enc_in_counter();
}
get_enc_in_counter();
//Current_bridge = get_current_bridge(adc1_handle, CONFIG_I_SENSE_ADC);
//gpio_set_level(CONFIG_LIN_U_GPIO,1);

4
main/mcpwm.c
View File

@@ -44,7 +44,7 @@ void mcpwm_init(){
{
.group_id = 0,
.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
.resolution_hz = 40000000, //40MHz
.resolution_hz = CONFIG_TIMER_BASE_FREQ, //40MHz
.period_ticks = periode_ticks, //40MHz/2KHz = 20KHz
.count_mode = MCPWM_TIMER_COUNT_MODE_UP_DOWN,
};
@@ -170,7 +170,7 @@ void mcpwm_init(){
deadtime_config.negedge_delay_ticks = dead_time_ticks;
ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_U_HIN, generator_U_LIN, &deadtime_config));
ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_V_HIN, generator_V_LIN, &deadtime_config));
ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_W_HIN, generator_W_LIN, &deadtime_config));
ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_W_HIN, generator_W_LIN, &deadtime_config));
}
static void set_gen(Phase phase){

6
parsed_pins.h
View File

@@ -18,9 +18,9 @@
#define CONFIG_HALL_B_GPIO 16
#define CONFIG_HALL_C_GPIO 17
#define CONFIG_IN_ENC_A_GPIO 23
#define CONFIG_IN_ENC_B_GPIO 1
#define CONFIG_IN_ENC_BUT_GPIO 3
#define CONFIG_IN_ENC_A_GPIO 3
#define CONFIG_IN_ENC_B_GPIO 2
#define CONFIG_IN_ENC_BUT_GPIO 23
#define CONFIG_EXT_ENC_INDX_GPIO 16
#define CONFIG_EXT_ENC_LEFT_GPIO 18

8
sdkconfig Executable file → Normal file
View File

@@ -239,7 +239,7 @@ CONFIG_IDF_TOOLCHAIN="gcc"
CONFIG_IDF_TARGET_ARCH_XTENSA=y
CONFIG_IDF_TARGET_ARCH="xtensa"
CONFIG_IDF_TARGET="esp32"
CONFIG_IDF_INIT_VERSION="5.3.1"
CONFIG_IDF_INIT_VERSION="5.3.0"
CONFIG_IDF_TARGET_ESP32=y
CONFIG_IDF_FIRMWARE_CHIP_ID=0x0000
@@ -422,7 +422,7 @@ CONFIG_ENABLE_PWM=y
CONFIG_TIMER_BASE_FREQ=40000000
CONFIG_FREQ_PWM=20000
CONFIG_DUTY_PWM=50
CONFIG_DEAD_TIME_PWM=500
CONFIG_DEAD_TIME_PWM=0
# end of PWM configuration
#
@@ -434,9 +434,9 @@ CONFIG_HALL_A_B_C_GPIO="4, 16, 17"
#
# Input pin configurations
#
CONFIG_IN_ENCODER_GPIO="23, 1, 3"
CONFIG_IN_ENCODER_GPIO="3,2,23"
CONFIG_IN_ENCODER_GPIO_V1="3, 2, 23"
CONFIG_IN_ENCODER_DEBOUNCE_TIME=50
CONFIG_IN_ENCODER_DEBOUNCE_TIME=500
CONFIG_BUTTON_GPIO=1
CONFIG_EXT_ENCODER_GPIO="16, 18, 5"
CONFIG_RFE_GPIO=15

20
sdkconfig.old Executable file → Normal file
View File

@@ -1,6 +1,6 @@
#
# Automatically generated file. DO NOT EDIT.
# Espressif IoT Development Framework (ESP-IDF) 5.3.1 Project Configuration
# Espressif IoT Development Framework (ESP-IDF) 5.3.0 Project Configuration
#
CONFIG_SOC_BROWNOUT_RESET_SUPPORTED="Not determined"
CONFIG_SOC_TWAI_BRP_DIV_SUPPORTED="Not determined"
@@ -174,7 +174,7 @@ CONFIG_SOC_TIMER_GROUP_TOTAL_TIMERS=4
CONFIG_SOC_TIMER_GROUP_SUPPORT_APB=y
CONFIG_SOC_TOUCH_SENSOR_VERSION=1
CONFIG_SOC_TOUCH_SENSOR_NUM=10
CONFIG_SOC_TOUCH_SAMPLE_CFG_NUM=1
CONFIG_SOC_TOUCH_SAMPLER_NUM=1
CONFIG_SOC_TWAI_CONTROLLER_NUM=1
CONFIG_SOC_TWAI_BRP_MIN=2
CONFIG_SOC_TWAI_CLK_SUPPORT_APB=y
@@ -239,7 +239,7 @@ CONFIG_IDF_TOOLCHAIN="gcc"
CONFIG_IDF_TARGET_ARCH_XTENSA=y
CONFIG_IDF_TARGET_ARCH="xtensa"
CONFIG_IDF_TARGET="esp32"
CONFIG_IDF_INIT_VERSION="$IDF_INIT_VERSION"
CONFIG_IDF_INIT_VERSION="5.3.0"
CONFIG_IDF_TARGET_ESP32=y
CONFIG_IDF_FIRMWARE_CHIP_ID=0x0000
@@ -421,8 +421,8 @@ CONFIG_LIN_U_V_W_GPIO="25, 27, 12"
CONFIG_ENABLE_PWM=y
CONFIG_TIMER_BASE_FREQ=40000000
CONFIG_FREQ_PWM=20000
CONFIG_DUTY_PWM=75
CONFIG_DEAD_TIME_PWM=500
CONFIG_DUTY_PWM=50
CONFIG_DEAD_TIME_PWM=0
# end of PWM configuration
#
@@ -434,7 +434,7 @@ CONFIG_HALL_A_B_C_GPIO="4, 16, 17"
#
# Input pin configurations
#
CONFIG_IN_ENCODER_GPIO="23, 1, 3"
CONFIG_IN_ENCODER_GPIO="3,2,23"
CONFIG_IN_ENCODER_GPIO_V1="3, 2, 23"
CONFIG_IN_ENCODER_DEBOUNCE_TIME=50
CONFIG_BUTTON_GPIO=1
@@ -733,14 +733,6 @@ CONFIG_SPI_MASTER_ISR_IN_IRAM=y
CONFIG_SPI_SLAVE_ISR_IN_IRAM=y
# end of ESP-Driver:SPI Configurations
#
# ESP-Driver:Touch Sensor Configurations
#
# CONFIG_TOUCH_CTRL_FUNC_IN_IRAM is not set
# CONFIG_TOUCH_ISR_IRAM_SAFE is not set
# CONFIG_TOUCH_ENABLE_DEBUG_LOG is not set
# end of ESP-Driver:Touch Sensor Configurations
#
# ESP-Driver:UART Configurations
#