zaske/BA_DIY_Power_PCB
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added smal menu

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This commit is contained in:
der_zaske
2024-12-14 18:44:20 +01:00
parent bdbcab0065
commit 792ef5fb2a
9 changed files with 603 additions and 347 deletions
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269
main/functions.c
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@@ -3,9 +3,12 @@
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_a_flag=false;
volatile bool enc_in_b_flag=false;
volatile int16_t enc_in_counter = 0;
volatile unsigned long last_interrupt_time_a = 0; // Entprellungs-Timer
volatile unsigned long last_interrupt_time_b = 0; // Entprellungs-Timer
volatile uint16_t last_interrupt_time_but = 0;
volatile bool enc_in_button_state = false;
portMUX_TYPE mux = portMUX_INITIALIZER_UNLOCKED;
uint64_t last_AB_time = 0; // Definition der Variablen
@@ -22,11 +25,11 @@ void configure_GPIO_dir(const char *TAG)
gpio_reset_pin(CONFIG_HIN_U_GPIO);
gpio_reset_pin(CONFIG_HIN_V_GPIO);
gpio_reset_pin(CONFIG_HIN_W_GPIO);
gpio_reset_pin(CONFIG_LIN_U_GPIO);
gpio_reset_pin(CONFIG_LIN_V_GPIO);
gpio_reset_pin(CONFIG_LIN_W_GPIO);
*/
// gpio_reset_pin(CONFIG_LIN_U_GPIO);
gpio_reset_pin(CONFIG_LIN_V_GPIO);
// gpio_reset_pin(CONFIG_LIN_W_GPIO);
gpio_reset_pin(CONFIG_HALL_A_GPIO);
gpio_reset_pin(CONFIG_HALL_B_GPIO);
gpio_reset_pin(CONFIG_HALL_C_GPIO);
@@ -44,19 +47,19 @@ void configure_GPIO_dir(const char *TAG)
/* Set the GPIO as a push/pull output
gpio_set_direction(CONFIG_HIN_U_GPIO, GPIO_MODE_OUTPUT);
gpio_set_direction(CONFIG_HIN_V_GPIO, GPIO_MODE_OUTPUT);
gpio_set_direction(CONFIG_HIN_W_GPIO, GPIO_MODE_OUTPUT);
gpio_set_direction(CONFIG_HIN_W_GPIO, GPIO_MODE_OUTPUT);*/
gpio_set_direction(CONFIG_LIN_U_GPIO, GPIO_MODE_OUTPUT);
// gpio_set_direction(CONFIG_LIN_U_GPIO, GPIO_MODE_OUTPUT);
gpio_set_direction(CONFIG_LIN_V_GPIO, GPIO_MODE_OUTPUT);
gpio_set_direction(CONFIG_LIN_W_GPIO, GPIO_MODE_OUTPUT);
*/
// gpio_set_direction(CONFIG_LIN_W_GPIO, GPIO_MODE_OUTPUT);
gpio_set_direction(CONFIG_HALL_A_GPIO, GPIO_MODE_INPUT);
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_B_GPIO, GPIO_MODE_INPUT);
//gpio_set_pull_mode(CONFIG_IN_ENC_B_GPIO, GPIO_PULLUP_ENABLE);
gpio_set_pull_mode(CONFIG_IN_ENC_B_GPIO, GPIO_PULLUP_ENABLE);
gpio_set_direction(CONFIG_IN_ENC_BUT_GPIO, GPIO_MODE_INPUT);
//gpio_set_direction(CONFIG_BUTTON_GPIO, GPIO_MODE_INPUT);
@@ -71,14 +74,24 @@ void configure_GPIO_dir(const char *TAG)
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_ANYEDGE; // Interrupt auf allen Flanken
io_conf.intr_type = GPIO_INTR_ANYEDGE; // Interrupt auf beiden Flanken
gpio_config(&io_conf);
gpio_config_t io_conf_negedge = {};
io_conf_negedge.pin_bit_mask = (1ULL << CONFIG_IN_ENC_BUT_GPIO);
io_conf_negedge.mode = GPIO_MODE_INPUT;
io_conf_negedge.pull_up_en = GPIO_PULLUP_ENABLE;
io_conf_negedge.intr_type = GPIO_INTR_POSEDGE; // Interrupt nur auf positive Flanken
gpio_config(&io_conf_negedge);
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_BUT_GPIO, enc_in_but_isr_handler, NULL));
}
/*############################################*/
/*################ ADC-Setup #################*/
@@ -191,131 +204,7 @@ SSD1306_t *configure_OLED(const char *TAG)
ssd1306_clear_screen(&dev, false);
return &dev;
}
/*############################################*/
/*################ PWM-Setup #################*/
/*############################################*/
void set_PWM_Timer()
{
ledc_timer_config_t ledc_timer = {
.speed_mode = LEDC_HIGH_SPEED_MODE,
.timer_num = LEDC_TIMER_0,
.duty_resolution = LEDC_TIMER_10_BIT,
.freq_hz = CONFIG_FREQ_PWM_HIN,
.clk_cfg = LEDC_AUTO_CLK
};
esp_err_t err = ledc_timer_config(&ledc_timer);
if (err != ESP_OK) {
printf("Fehler beim Konfigurieren des LEDC-Timers: %s\n", esp_err_to_name(err));
return;
}
}
void set_PWM()
{
ledc_channel_config_t ledc_channel_HIN_U =
{
.speed_mode = LEDC_HIGH_SPEED_MODE, // Gleicher Modus wie beim Timer
.channel = LEDC_CHANNEL_0, // Kanal 0 verwenden
.timer_sel = LEDC_TIMER_0, // Timer 0 zuweisen
.intr_type = LEDC_INTR_DISABLE, // Keine Interrupts
.gpio_num = CONFIG_HIN_U_GPIO,
.duty = 0, //
.hpoint = 0 // Start des PWM-Signals
};
ledc_channel_config(&ledc_channel_HIN_U); // Kanal konfigurieren
ledc_channel_config_t ledc_channel_HIN_V =
{
.speed_mode = LEDC_HIGH_SPEED_MODE, // Gleicher Modus wie beim Timer
.channel = LEDC_CHANNEL_1, // Kanal 0 verwenden
.timer_sel = LEDC_TIMER_0, // Timer 0 zuweisen
.intr_type = LEDC_INTR_DISABLE, // Keine Interrupts
.gpio_num = CONFIG_HIN_V_GPIO,
.duty = 0, //
.hpoint = 0 // Start des PWM-Signals
};
ledc_channel_config(&ledc_channel_HIN_V); // Kanal konfigurieren
ledc_channel_config_t ledc_channel_HIN_W =
{
.speed_mode = LEDC_HIGH_SPEED_MODE, // Gleicher Modus wie beim Timer
.channel = LEDC_CHANNEL_2, // Kanal 0 verwenden
.timer_sel = LEDC_TIMER_0, // Timer 0 zuweisen
.intr_type = LEDC_INTR_DISABLE, // Keine Interrupts
.gpio_num = CONFIG_HIN_W_GPIO,
.duty = 0, //
.hpoint = 0 // Start des PWM-Signals
};
ledc_channel_config(&ledc_channel_HIN_W); // Kanal konfigurieren
}
void pwmStart(int PWM_CH, int Duty){
ledc_set_duty(LEDC_HIGH_SPEED_MODE,PWM_CH, Duty);
ledc_update_duty(LEDC_HIGH_SPEED_MODE,PWM_CH);
}
void pwmStop(int PWM_CH){
ledc_stop(LEDC_HIGH_SPEED_MODE, PWM_CH, 0);
}
void pwmStopAll(){
ledc_stop(LEDC_HIGH_SPEED_MODE, HIN_U_CH, 0);
ledc_stop(LEDC_HIGH_SPEED_MODE, HIN_V_CH, 0);
ledc_stop(LEDC_HIGH_SPEED_MODE, HIN_W_CH, 0);
gpio_set_level(CONFIG_LIN_U_GPIO, 0);
gpio_set_level(CONFIG_LIN_V_GPIO, 0);
gpio_set_level(CONFIG_LIN_W_GPIO, 0);
}
void U_V_start(int duty)
{
//HIN_V und LIN_U abschalten
pwmStop(HIN_V_CH);
gpio_set_level(CONFIG_LIN_U_GPIO, 0);
//HIN_U und LIN_V einschalten
pwmStart(HIN_U_CH, duty);
gpio_set_level(CONFIG_LIN_V_GPIO, 1);
}
void V_U_start(int duty)
{
//HIN_U und LIN_V abschalten
pwmStop(HIN_U_CH);
gpio_set_level(CONFIG_LIN_V_GPIO, 0);
//HIN_V und LIN_U einschalten
pwmStart(HIN_V_CH, duty);
gpio_set_level(CONFIG_LIN_U_GPIO, 1);
}
void U_W_start(int duty)
{
//HIN_W und LIN_U abschalten
pwmStop(HIN_W_CH);
gpio_set_level(CONFIG_LIN_U_GPIO, 0);
//HIN_U und LIN_V einschalten
pwmStart(HIN_W_CH, duty);
gpio_set_level(CONFIG_LIN_V_GPIO, 1);
}
void W_U_start(int duty)
{
//HIN_U und LIN_W abschalten
pwmStop(HIN_U_CH);
gpio_set_level(CONFIG_LIN_W_GPIO, 0);
//HIN_U und LIN_V einschalten
pwmStart(HIN_W_CH, duty);
gpio_set_level(CONFIG_LIN_U_GPIO, 1);
}
void V_W_start(int duty)
{
//HIN_U und LIN_W abschalten
pwmStop(HIN_W_CH);
gpio_set_level(CONFIG_LIN_V_GPIO, 0);
//HIN_U und LIN_V einschalten
pwmStart(HIN_V_CH, duty);
gpio_set_level(CONFIG_LIN_W_GPIO, 1);
}
void W_V_start(int duty)
{
//HIN_U und LIN_W abschalten
pwmStop(HIN_V_CH);
gpio_set_level(CONFIG_LIN_W_GPIO, 0);
//HIN_U und LIN_V einschalten
pwmStart(HIN_W_CH, duty);
gpio_set_level(CONFIG_LIN_V_GPIO, 1);
}
/*############################################*/
/*############### MCPWM-Setup ################*/
@@ -325,7 +214,9 @@ void conf_mcpwm_timers(){
mcpwm_timer_handle_t timer_U = NULL;
mcpwm_timer_handle_t timer_V = NULL;
mcpwm_timer_handle_t timer_W = NULL;
uint16_t periode_ticks = 40000000/CONFIG_FREQ_PWM;
uint32_t periode_ticks = CONFIG_TIMER_BASE_FREQ/CONFIG_FREQ_PWM;
double tick_period_ns = 1e9 / CONFIG_TIMER_BASE_FREQ; // Zeit pro Tick in ns
uint32_t dead_time_ticks = (uint32_t)round(CONFIG_DEAD_TIME_PWM / tick_period_ns);
//creating timer configs and linking them with the timers
mcpwm_timer_config_t timer_config =
@@ -415,7 +306,7 @@ void conf_mcpwm_timers(){
mcpwm_gen_handle_t generator_U_LIN = NULL;
mcpwm_gen_handle_t generator_V_LIN = NULL;
mcpwm_gen_handle_t generator_W_LIN = NULL;
mcpwm_gen_handle_t *mcpwm_gens[] ={&generator_U_HIN,&generator_U_LIN,&generator_V_HIN,&generator_V_LIN,&generator_W_HIN,&generator_W_LIN};
//HIN Pins
//HIN_U
mcpwm_generator_config_t generator_U_HIN_config ={
@@ -467,7 +358,7 @@ void conf_mcpwm_timers(){
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_U_HIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comperator_U, MCPWM_GEN_ACTION_LOW)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_timer_event(generator_U_LIN, MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_U_LIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comperator_U, MCPWM_GEN_ACTION_LOW)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_timer_event(generator_V_HIN, MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
/* ESP_ERROR_CHECK(mcpwm_generator_set_action_on_timer_event(generator_V_HIN, MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_V_HIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comperator_V, MCPWM_GEN_ACTION_LOW)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_timer_event(generator_V_LIN, MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_V_LIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comperator_V, MCPWM_GEN_ACTION_LOW)));
@@ -475,21 +366,22 @@ void conf_mcpwm_timers(){
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_W_HIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comperator_W, MCPWM_GEN_ACTION_LOW)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_timer_event(generator_W_LIN, MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator_W_LIN, MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comperator_W, MCPWM_GEN_ACTION_LOW)));
*/
//set Dead times
mcpwm_dead_time_config_t deadtime_config = {
.posedge_delay_ticks = 20,
.posedge_delay_ticks = dead_time_ticks,
.negedge_delay_ticks = 0,
};
ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_U_HIN, generator_U_HIN,&deadtime_config));
ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_V_HIN, generator_V_HIN,&deadtime_config));
ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_W_HIN, generator_W_HIN,&deadtime_config));
// ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_V_HIN, generator_V_HIN,&deadtime_config));
// ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_W_HIN, generator_W_HIN,&deadtime_config));
deadtime_config.posedge_delay_ticks = 0;
deadtime_config.negedge_delay_ticks = 20;
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_V_HIN, generator_V_LIN, &deadtime_config));
//ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_W_HIN, generator_W_LIN, &deadtime_config));
}
/*############################################*/
@@ -576,59 +468,60 @@ return speed_rpm;
/*############ Internal Encoder ##############*/
/*############################################*/
void IRAM_ATTR enc_in_a_isr_handler(void *arg) {
int a = gpio_get_level(CONFIG_IN_ENC_A_GPIO);
int b = gpio_get_level(CONFIG_IN_ENC_B_GPIO);
portENTER_CRITICAL_ISR(&mux);
if (a == b) {
enc_in_counter++; // Richtung vorwärts
}else{
enc_in_a_flag = true;
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
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)) {
enc_in_counter--; // Drehung nach links
}
}
portEXIT_CRITICAL_ISR(&mux);
}
void IRAM_ATTR enc_in_b_isr_handler(void *arg) {
int a = gpio_get_level(CONFIG_IN_ENC_A_GPIO);
int b = gpio_get_level(CONFIG_IN_ENC_B_GPIO);
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
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)) {
enc_in_counter++;
}
portENTER_CRITICAL_ISR(&mux);
if (a == b) {
enc_in_counter--; // Richtung rückwärts
}else{
enc_in_b_flag = true;
}
portEXIT_CRITICAL_ISR(&mux);
}
void IRAM_ATTR enc_in_button_isr_handler(void *arg) {
if (enc_button_flag){
enc_button_state =
enc_button_flag = false;
}else{
enc_button_flag = true;
}
}
void IRAM_ATTR enc_in_but_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_but > (CONFIG_IN_ENCODER_DEBOUNCE_TIME*1000)) { // Entprellungszeit
last_interrupt_time_but = interrupt_time; // Entprellzeit zurücksetzen
// Bestimmen der Richtung anhand des Zustands von Pin A und B
if (gpio_get_level(CONFIG_IN_ENC_A_GPIO)) {
enc_in_button_state = true;
}
}
}
int16_t get_enc_in_counter(){
ESP_LOGI("Encoder_Int","Counter:%i",enc_in_counter);
return enc_in_counter;
}
bool get_enc_but()
void set_enc_in_counter(int16_t inital_value){
enc_in_counter = inital_value;
}
/*############################################*/
/*################## MISC ####################*/
/*############################################*/
//Ausgelagert in Preprocessing python program, generate_pins_header.py
void parse_3pins(const char *TAG, const char *pin_string, int *pins) {
int pin_count = 0; // Jetzt ein Integer, keine Null-Pointer-Dereferenzierung
char *token;
char *pin_list = strdup(pin_string); // Kopie der String-Option
token = strtok(pin_list, ",");
while (token != NULL && pin_count < 3) { // maximal 3 Pins
pins[pin_count] = atoi(token); // Umwandlung in Integer
pin_count++;
token = strtok(NULL, ",");
bool get_enc_in_but(){
if (enc_in_button_state){
enc_in_button_state = false;
return true;
}
else{
return false;
}
free(pin_list); // Speicher freigeben
}