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

added onboard Encoder not working yet

Browse Source
This commit is contained in:
der_zaske
2024-12-02 16:35:24 +01:00
parent f526d78f9a
commit 126f1925cb
4 changed files with 81 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
main/app_main.c
View File

@@ -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);

78
main/functions.c
View File

@@ -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 ####################*/

5
main/include/functions.h
View File

@@ -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);

12
sdkconfig.old
View File

@@ -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
#