zaske/BA_DIY_Power_PCB
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

finally fixed f*cking internal Encoder

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

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();