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fixed internal Encoder

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This commit is contained in:
der_zaske
2024-12-03 15:13:40 +01:00
parent 49b25ce1ec
commit bdbcab0065
7 changed files with 135 additions and 518 deletions
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162
main/functions.c
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@@ -4,8 +4,8 @@ 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;
volatile bool enc_in_b_flag=false;
portMUX_TYPE mux = portMUX_INITIALIZER_UNLOCKED;
uint64_t last_AB_time = 0; // Definition der Variablen
@@ -15,30 +15,7 @@ adc_cali_handle_t cali_handle= NULL;
/*############################################*/
/*############### GPIO-Setup #################*/
/*############################################*/
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;
}
portEXIT_CRITICAL_ISR(&mux);
}
void IRAM_ATTR enc_in_b_isr_handler(void *arg){
portENTER_CRITICAL_ISR(&mux);
if (enc_in_a_flag){
enc_in_counter--;
enc_in_a_flag = false;
}
else{
enc_in_b_flag = true;
}
portEXIT_CRITICAL_ISR(&mux);
}
void configure_GPIO_dir(const char *TAG)
{
/* reset every used GPIO-pin *
@@ -79,6 +56,7 @@ void configure_GPIO_dir(const char *TAG)
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_direction(CONFIG_IN_ENC_BUT_GPIO, GPIO_MODE_INPUT);
//gpio_set_direction(CONFIG_BUTTON_GPIO, GPIO_MODE_INPUT);
@@ -93,14 +71,14 @@ 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 steigende Flanke
io_conf.intr_type = GPIO_INTR_ANYEDGE; // Interrupt auf allen Flanken
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);
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));
}
/*############################################*/
/*################ ADC-Setup #################*/
@@ -273,7 +251,6 @@ 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);
}
@@ -285,8 +262,6 @@ void pwmStopAll(){
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
@@ -332,7 +307,6 @@ void V_W_start(int duty)
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
@@ -351,36 +325,20 @@ 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;
//creating timer configs and linking them with the timers
mcpwm_timer_config_t timer_U_config =
mcpwm_timer_config_t timer_config =
{
.group_id = 0,
.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
.resolution_hz = 40000000, // 1MHz Auflösung
.period_ticks = 2000,
.resolution_hz = 40000000, //40MHz
.period_ticks = periode_ticks, //40MHz/2KHz = 20KHz
.count_mode = MCPWM_TIMER_COUNT_MODE_UP,
};
ESP_ERROR_CHECK(mcpwm_new_timer(&timer_U_config, &timer_U));
mcpwm_timer_config_t timer_V_config =
{
.group_id = 0,
.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
.resolution_hz = 40000000, // 1MHz Auflösung
.period_ticks = 2000,
.count_mode = MCPWM_TIMER_COUNT_MODE_UP,
};
ESP_ERROR_CHECK(mcpwm_new_timer(&timer_V_config, &timer_V));
mcpwm_timer_config_t timer_W_config =
{
.group_id = 0,
.clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
.resolution_hz = 40000000, // 1MHz Auflösung
.period_ticks = 2000,
.count_mode = MCPWM_TIMER_COUNT_MODE_UP,
};
ESP_ERROR_CHECK(mcpwm_new_timer(&timer_W_config, &timer_W));
ESP_ERROR_CHECK(mcpwm_new_timer(&timer_config, &timer_U));
ESP_ERROR_CHECK(mcpwm_new_timer(&timer_config, &timer_V));
ESP_ERROR_CHECK(mcpwm_new_timer(&timer_config, &timer_W));
ESP_ERROR_CHECK(mcpwm_timer_enable(timer_U));
ESP_ERROR_CHECK(mcpwm_timer_start_stop(timer_U,MCPWM_TIMER_START_NO_STOP));
@@ -403,14 +361,14 @@ void conf_mcpwm_timers(){
mcpwm_timer_sync_phase_config_t sync_phase_V_config =
{
.sync_src = sync_signal,
.count_value = 667, //120 degree delayed
.count_value = periode_ticks/3, //120 degree delayed
};
ESP_ERROR_CHECK(mcpwm_timer_set_phase_on_sync(timer_V,&sync_phase_V_config));
//set Timer_W as an Slave of Timer_U with another phase
mcpwm_timer_sync_phase_config_t sync_phase_W_config =
{
.sync_src = sync_signal,
.count_value = 1333, //240 degree delayed
.count_value = periode_ticks*2/3, //240 degree delayed
};
ESP_ERROR_CHECK(mcpwm_timer_set_phase_on_sync(timer_W,&sync_phase_W_config));
@@ -418,24 +376,15 @@ void conf_mcpwm_timers(){
mcpwm_oper_handle_t operator_U = NULL;
mcpwm_oper_handle_t operator_V = NULL;
mcpwm_oper_handle_t operator_W = NULL;
//Operator for Timer_U
mcpwm_operator_config_t operator_U_config =
mcpwm_operator_config_t operator_config =
{
.group_id=0,
};
ESP_ERROR_CHECK(mcpwm_new_operator(&operator_U_config,&operator_U));
//Operator for Timer_V
mcpwm_operator_config_t operator_V_config =
{
.group_id=0,
};
ESP_ERROR_CHECK(mcpwm_new_operator(&operator_V_config,&operator_V));
//Operator for Timer_W
mcpwm_operator_config_t operator_W_config =
{
.group_id=0,
};
ESP_ERROR_CHECK(mcpwm_new_operator(&operator_W_config,&operator_W));
ESP_ERROR_CHECK(mcpwm_new_operator(&operator_config,&operator_U));
ESP_ERROR_CHECK(mcpwm_new_operator(&operator_config,&operator_V));
ESP_ERROR_CHECK(mcpwm_new_operator(&operator_config,&operator_W));
//connect PWM-Signals with Timers
ESP_ERROR_CHECK(mcpwm_operator_connect_timer(operator_U, timer_U));
@@ -447,23 +396,18 @@ void conf_mcpwm_timers(){
mcpwm_cmpr_handle_t comperator_V = NULL;
mcpwm_cmpr_handle_t comperator_W = NULL;
mcpwm_comparator_config_t comparator_U_config = {
mcpwm_comparator_config_t comparator_config = {
.flags.update_cmp_on_tez = true,
};
ESP_ERROR_CHECK(mcpwm_new_comparator(operator_U, &comparator_U_config,&comperator_U));
ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comperator_U, 1000));//=50% Duty cycle
ESP_ERROR_CHECK(mcpwm_new_comparator(operator_U, &comparator_config,&comperator_U));
ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comperator_U, periode_ticks*CONFIG_DUTY_PWM/100));//Duty_cycle from Config
mcpwm_comparator_config_t comparator_V_config = {
.flags.update_cmp_on_tez = true,
};
ESP_ERROR_CHECK(mcpwm_new_comparator(operator_V, &comparator_V_config,&comperator_V));
ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comperator_V, 1000));//=50% Duty cycle
ESP_ERROR_CHECK(mcpwm_new_comparator(operator_V, &comparator_config,&comperator_V));
ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comperator_V, periode_ticks*CONFIG_DUTY_PWM/100));
ESP_ERROR_CHECK(mcpwm_new_comparator(operator_W, &comparator_config,&comperator_W));
ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comperator_W,periode_ticks*CONFIG_DUTY_PWM/100));
mcpwm_comparator_config_t comparator_W_config = {
.flags.update_cmp_on_tez = true,
};
ESP_ERROR_CHECK(mcpwm_new_comparator(operator_W, &comparator_W_config,&comperator_W));
ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comperator_W, 1000));//=50% Duty cycle
//create generators for every pin
mcpwm_gen_handle_t generator_U_HIN = NULL;
mcpwm_gen_handle_t generator_V_HIN = NULL;
@@ -471,7 +415,8 @@ 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;
//HIN Pins
//HIN Pins
//HIN_U
mcpwm_generator_config_t generator_U_HIN_config ={
.gen_gpio_num = CONFIG_HIN_U_GPIO,
@@ -517,12 +462,7 @@ void conf_mcpwm_timers(){
};
ESP_ERROR_CHECK(mcpwm_new_generator(operator_W, &generator_W_LIN_config, &generator_W_LIN));
/*ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_V_LIN, generator_V_HIN,&deadtime_config));
ESP_ERROR_CHECK(mcpwm_generator_set_dead_time(generator_W_LIN, generator_W_HIN,&deadtime_config));*/
//set generator action on timer event
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_timer_event(generator_U_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_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)));
@@ -535,7 +475,7 @@ 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,
.negedge_delay_ticks = 0,
@@ -635,11 +575,45 @@ 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;
}
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);
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;
}
}
int16_t get_enc_in_counter(){
ESP_LOGI("Encoder_Int","Counter:%i",enc_in_counter);
return enc_in_counter;
}
bool get_enc_but()
/*############################################*/
/*################## MISC ####################*/