zaske/BA_DIY_Power_PCB
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added onboard Encoder not working yet

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der_zaske
2024-12-02 16:35:24 +01:00
parent f526d78f9a
commit 126f1925cb
4 changed files with 81 additions and 22 deletions
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78
main/functions.c
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@@ -3,6 +3,11 @@
uint64_t delta_index_time = 0;
uint64_t last_index_time = 0;
uint64_t delta_AB_time = 0;
volatile int enc_in_counter = 0;
volatile bool enc_in_b_flag=false;
volatile bool enc_in_a_flag=false;
portMUX_TYPE mux = portMUX_INITIALIZER_UNLOCKED;
uint64_t last_AB_time = 0; // Definition der Variablen
adc_cali_handle_t cali_handle= NULL;
@@ -10,23 +15,30 @@ adc_cali_handle_t cali_handle= NULL;
/*############################################*/
/*############### GPIO-Setup #################*/
/*############################################*/
void IRAM_ATTR index_isr_handler(void *arg){
uint64_t current_time = esp_timer_get_time();
if (last_index_time != 0){
delta_index_time = current_time - last_index_time;
void IRAM_ATTR enc_in_a_isr_handler(void *arg){
portENTER_CRITICAL_ISR(&mux);
if (enc_in_b_flag){
enc_in_counter++;
enc_in_b_flag = false;
}
else{
enc_in_a_flag = true;
}
last_index_time = current_time;
portEXIT_CRITICAL_ISR(&mux);
}
void IRAM_ATTR enc_ab_isr_handler(void *arg){
uint64_t current_time = esp_timer_get_time();
void IRAM_ATTR enc_in_b_isr_handler(void *arg){
if (last_AB_time != 0){
delta_AB_time = current_time - last_AB_time;
portENTER_CRITICAL_ISR(&mux);
if (enc_in_a_flag){
enc_in_counter--;
enc_in_a_flag = false;
}
else{
enc_in_b_flag = true;
}
last_AB_time = current_time;
portEXIT_CRITICAL_ISR(&mux);
}
void configure_GPIO_dir(const char *TAG)
{
/* reset every used GPIO-pin *
@@ -42,7 +54,7 @@ void configure_GPIO_dir(const char *TAG)
gpio_reset_pin(CONFIG_HALL_B_GPIO);
gpio_reset_pin(CONFIG_HALL_C_GPIO);
//gpio_reset_pin(CONFIG_IN_ENC_A_GPIO);
gpio_reset_pin(CONFIG_IN_ENC_A_GPIO);
gpio_reset_pin(CONFIG_IN_ENC_B_GPIO);
gpio_reset_pin(CONFIG_IN_ENC_BUT_GPIO);
//gpio_reset_pin(CONFIG_BUTTON_GPIO);
@@ -65,7 +77,7 @@ void configure_GPIO_dir(const char *TAG)
gpio_set_direction(CONFIG_HALL_B_GPIO, GPIO_MODE_INPUT);
gpio_set_direction(CONFIG_HALL_C_GPIO, GPIO_MODE_INPUT);
//gpio_set_direction(CONFIG_IN_ENC_A_GPIO, GPIO_MODE_INPUT);
gpio_set_direction(CONFIG_IN_ENC_A_GPIO, GPIO_MODE_INPUT);
gpio_set_direction(CONFIG_IN_ENC_B_GPIO, GPIO_MODE_INPUT);
gpio_set_direction(CONFIG_IN_ENC_BUT_GPIO, GPIO_MODE_INPUT);
//gpio_set_direction(CONFIG_BUTTON_GPIO, GPIO_MODE_INPUT);
@@ -78,15 +90,17 @@ void configure_GPIO_dir(const char *TAG)
ESP_LOGI(TAG, "GPIO dirs configured for DIY power PCB");
gpio_config_t io_conf = {};
io_conf.pin_bit_mask = (1ULL << CONFIG_EXT_ENC_INDX_GPIO)| (1ULL << CONFIG_HALL_A_GPIO);
io_conf.pin_bit_mask = (1ULL << CONFIG_EXT_ENC_INDX_GPIO)| (1ULL << CONFIG_HALL_A_GPIO)| (1ULL << CONFIG_IN_ENC_A_GPIO)| (1ULL << CONFIG_IN_ENC_B_GPIO);
io_conf.mode = GPIO_MODE_INPUT;
io_conf.pull_up_en = GPIO_PULLUP_ENABLE;
io_conf.intr_type = GPIO_INTR_POSEDGE; // Interrupt auf steigende Flanke
io_conf.intr_type = GPIO_INTR_ANYEDGE; // Interrupt auf steigende Flanke
gpio_config(&io_conf);
gpio_install_isr_service(0);
gpio_isr_handler_add(CONFIG_EXT_ENC_INDX_GPIO, index_isr_handler, NULL);
gpio_isr_handler_add(CONFIG_HALL_A_GPIO, enc_ab_isr_handler, NULL);
gpio_isr_handler_add(CONFIG_IN_ENC_A_GPIO, enc_in_a_isr_handler, NULL);
gpio_isr_handler_add(CONFIG_IN_ENC_B_GPIO, enc_in_b_isr_handler, NULL);
}
/*############################################*/
/*################ ADC-Setup #################*/
@@ -538,6 +552,9 @@ void conf_mcpwm_timers(){
}
/*############################################*/
/*############ Blockkommutierung #############*/
/*############################################*/
bool get_Hall(int HallSensorGPIO){
char* TAG="";
@@ -561,6 +578,26 @@ bool get_Hall(int HallSensorGPIO){
}
return level;
}
/*############################################*/
/*############### Ext Encoder ################*/
/*############################################*/
void IRAM_ATTR index_isr_handler(void *arg){
uint64_t current_time = esp_timer_get_time();
if (last_index_time != 0){
delta_index_time = current_time - last_index_time;
}
last_index_time = current_time;
}
void IRAM_ATTR enc_ab_isr_handler(void *arg){
uint64_t current_time = esp_timer_get_time();
if (last_AB_time != 0){
delta_AB_time = current_time - last_AB_time;
}
last_AB_time = current_time;
}
int get_direction(){//-1=Error,0=right,1=left
bool right = gpio_get_level(CONFIG_EXT_ENC_RIGHT_GPIO);
bool left = gpio_get_level(CONFIG_EXT_ENC_LEFT_GPIO);
@@ -577,7 +614,6 @@ int get_direction(){//-1=Error,0=right,1=left
}
return direction;
}
float get_speed_index(){
uint64_t local_delta_time = delta_index_time;
float speed_rpm = 0;
@@ -596,6 +632,14 @@ float get_speed_AB(){
}
return speed_rpm;
}
/*############################################*/
/*############ Internal Encoder ##############*/
/*############################################*/
int16_t get_enc_in_counter(){
ESP_LOGI("Encoder_Int","Counter:%i",enc_in_counter);
return enc_in_counter;
}
/*############################################*/
/*################## MISC ####################*/