added onboard Encoder not working yet

2024-12-02 16:35:24 +01:00
parent f526d78f9a
commit 126f1925cb
4 changed files with 81 additions and 22 deletions
--- a/main/app_main.c
+++ b/main/app_main.c
@@ -13,6 +13,7 @@ void app_main(void)
    int32_t Current_V = 0;
    int32_t Current_W = 0;
    int32_t Current_bridge =0;
+    int16_t enc_counter = 0;
    bool Hall_A_On = false;
    bool Hall_B_On = false;
    bool Hall_C_On = false;
@@ -45,7 +46,7 @@ void app_main(void)
        Speed_indx = get_speed_index();
        Speed_AB = get_speed_AB();
        direction = get_direction();
-
+        enc_counter = get_enc_in_counter();
        Current_bridge = get_current_bridge(adc1_handle, CONFIG_I_SENSE_ADC);
        if (Voltage_IN >= 20000){
            ssd1306_display_text(dev_pt, 1, "Bridge=ON", 10, false);
@@ -78,10 +79,11 @@ void app_main(void)
        }
      
        }else{
-            ssd1306_display_text(dev_pt, 1, "Bridge=OFF", 10, false);
+            
            
        }
-        
+        snprintf(display_message, sizeof(display_message), "count: %d", enc_counter);
+        ssd1306_display_text(dev_pt, 1, display_message, 10, false);
        snprintf(display_message, sizeof(display_message), "Torque: %lu", Torque);
        ssd1306_display_text(dev_pt, 2, display_message, 11, false);    

--- a/main/functions.c
+++ b/main/functions.c
@@ -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();
+void IRAM_ATTR enc_in_a_isr_handler(void *arg){
   
-    if (last_index_time != 0){
-        delta_index_time = current_time - last_index_time;
+    portENTER_CRITICAL_ISR(&mux);
+    if (enc_in_b_flag){
+        enc_in_counter++;
+        enc_in_b_flag = false;
        }
-    last_index_time = current_time;
+    else{
+        enc_in_a_flag = true;
    }
-void IRAM_ATTR enc_ab_isr_handler(void *arg){
-    uint64_t current_time = esp_timer_get_time();
+    portEXIT_CRITICAL_ISR(&mux);
+}
+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;
        }
-    last_AB_time = current_time;
+    else{
+        enc_in_b_flag = true;
+    }
+    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 ####################*/
--- a/main/include/functions.h
+++ b/main/include/functions.h
@@ -54,6 +54,11 @@ int get_direction();
 float get_speed_index();
 float get_speed_AB();
 void conf_mcpwm_timers();
+void IRAM_ATTR index_isr_handler(void *arg);
+void IRAM_ATTR enc_ab_isr_handler(void *arg);
+//void IRAM_ATTR enc_in_a_isr_handler(void *arg);
+//void IRAM_ATTR enc_in_b_isr_handler(void *arg);
+int16_t get_enc_in_counter();
 void parse_3pins(const char *TAG, const char *pin_string, int *pins);
 SSD1306_t *configure_OLED(const char *TAG);

--- a/sdkconfig.old
+++ b/sdkconfig.old
@@ -1,6 +1,6 @@
 #
 # Automatically generated file. DO NOT EDIT.
-# Espressif IoT Development Framework (ESP-IDF) 5.3.0 Project Configuration
+# Espressif IoT Development Framework (ESP-IDF) 5.3.1 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_SAMPLER_NUM=1
+CONFIG_SOC_TOUCH_SAMPLE_CFG_NUM=1
 CONFIG_SOC_TWAI_CONTROLLER_NUM=1
 CONFIG_SOC_TWAI_BRP_MIN=2
 CONFIG_SOC_TWAI_CLK_SUPPORT_APB=y
@@ -725,6 +725,14 @@ 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
 #