finally fixed f*cking internal Encoder

main/GPIO.c

@@ -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_A_GPIO, enc_in_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_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();
     

main/app_main.c

@@ -76,27 +76,7 @@ void app_main(void)
     
         RFE_Pulled = !(gpio_get_level(CONFIG_RFE_GPIO));
 
-        if (menu_counter >= 4){
+        get_enc_in_counter();
-        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();
-        }
         //Current_bridge = get_current_bridge(adc1_handle, CONFIG_I_SENSE_ADC);
         //gpio_set_level(CONFIG_LIN_U_GPIO,1);
              

main/mcpwm.c

@@ -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){

parsed_pins.h

@@ -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_A_GPIO 3
-#define CONFIG_IN_ENC_B_GPIO 1
+#define CONFIG_IN_ENC_B_GPIO 2
-#define CONFIG_IN_ENC_BUT_GPIO 3
+#define CONFIG_IN_ENC_BUT_GPIO 23
 
 #define CONFIG_EXT_ENC_INDX_GPIO 16
 #define CONFIG_EXT_ENC_LEFT_GPIO 18

sdkconfig

@@ -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

sdkconfig.old

@@ -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_DUTY_PWM=50
-CONFIG_DEAD_TIME_PWM=500
+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
 #