394 lines
13 KiB
C
394 lines
13 KiB
C
#include <stdio.h>
|
|
#include <stdbool.h>
|
|
#include <stdint.h>
|
|
#include <string.h>
|
|
#include "esp_log.h"
|
|
#include "ssd1306.h"
|
|
#include "sdkconfig.h"
|
|
#include "parsed_pins.h"
|
|
#include "freertos/task.h"
|
|
#include "freertos/FreeRTOS.h"
|
|
#include "driver/gpio.h"
|
|
#include "GPIO.h"
|
|
#include "menu.h"
|
|
#include "esp_timer.h"
|
|
#include "mcpwm.h"
|
|
#include "ADC.h"
|
|
#include "functions.h"
|
|
|
|
|
|
|
|
/*############################################*/
|
|
/*############## Display-Setup ###############*/
|
|
/*############################################*/
|
|
static SSD1306_t dev;
|
|
void configure_OLED()
|
|
{
|
|
i2c_master_init(&dev, CONFIG_SDA_GPIO, CONFIG_SCL_GPIO, -1);
|
|
ESP_LOGI("OLED", "Panel is 128x64");
|
|
ssd1306_init(&dev, 128, 64);
|
|
ssd1306_clear_screen(&dev, false);
|
|
ssd1306_contrast(&dev, 0xff);
|
|
ssd1306_display_text_x3(&dev, 0, "Power", 5, false);
|
|
ssd1306_display_text_x3(&dev, 4, " PCB", 4, false);
|
|
|
|
vTaskDelay(2000 / portTICK_PERIOD_MS);
|
|
ssd1306_clear_screen(&dev, false);
|
|
}
|
|
|
|
/*############################################*/
|
|
/*############ Internal Encoder ##############*/
|
|
/*############################################*/
|
|
//Variablen
|
|
static volatile int enc_in_counter = 0;
|
|
static volatile int64_t last_interrupt_time = 0;
|
|
static volatile uint16_t last_interrupt_time_but = 0;
|
|
static volatile bool enc_in_button_flag = false;
|
|
static volatile uint8_t last_state = 0;
|
|
|
|
static void IRAM_ATTR enc_in_isr_handler(void *arg) {
|
|
static uint64_t last_interrupt_time = 0;
|
|
|
|
// Aktueller Zustand der Pins lesen
|
|
uint8_t current_state = (gpio_get_level(CONFIG_IN_ENC_A_GPIO) << 1) | gpio_get_level(CONFIG_IN_ENC_B_GPIO);
|
|
uint64_t interrupt_time = esp_timer_get_time();
|
|
|
|
// Zustandswechsel-Logik (FSM) ohne starre Entprellzeit
|
|
if (current_state != last_state) {
|
|
// Nur wenn der Wechsel signifikant verzögert ist (gute Flanke)
|
|
if ((interrupt_time - last_interrupt_time) > CONFIG_IN_ENCODER_DEBOUNCE_TIME) {
|
|
if ((last_state == 0b01 && current_state == 0b11) ||
|
|
(last_state == 0b10 && current_state == 0b00)) {
|
|
enc_in_counter++; // Vorwärtsdrehen
|
|
} else if ((last_state == 0b10 && current_state == 0b11) ||
|
|
(last_state == 0b01 && current_state == 0b00)) {
|
|
enc_in_counter--; // Rückwärtsdrehen
|
|
}
|
|
last_state = current_state; // Zustand aktualisieren
|
|
last_interrupt_time = interrupt_time;
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
static 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
|
|
if (gpio_get_level(CONFIG_IN_ENC_BUT_GPIO)) {
|
|
enc_in_button_flag = true;
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
void config_internal_Encoder(){
|
|
ESP_ERROR_CHECK(gpio_isr_handler_add(CONFIG_IN_ENC_A_GPIO, enc_in_isr_handler, NULL));
|
|
ESP_ERROR_CHECK(gpio_isr_handler_add(CONFIG_IN_ENC_B_GPIO, enc_in_isr_handler, NULL));
|
|
ESP_ERROR_CHECK(gpio_isr_handler_add(CONFIG_IN_ENC_BUT_GPIO, enc_in_but_isr_handler, NULL));
|
|
}
|
|
/*############################################*/
|
|
/*############### Menu-Setup #################*/
|
|
/*############################################*/
|
|
typedef enum {
|
|
MAIN_MENU,
|
|
CONFIGURE_MENU,
|
|
MORE_INFO_MENU
|
|
} MenuState;
|
|
|
|
typedef enum {
|
|
MCPWM_MODE,
|
|
BLDC_MODE,
|
|
DC_BRUSHED_MODE,
|
|
MODE_COUNT
|
|
}OperationMode;
|
|
|
|
const char *mode_names[] = {
|
|
"MCPWM ",
|
|
"BLDC ",
|
|
"DC Brush"
|
|
};
|
|
|
|
const char *OutCombi_names[]= {
|
|
"+U -V",
|
|
"+U -W",
|
|
"+V -W",
|
|
"+V -U",
|
|
"+W -U",
|
|
"+W -V",
|
|
" +U ",
|
|
" +V ",
|
|
" +W "
|
|
};
|
|
|
|
typedef enum {
|
|
STATE_ACTIVE,
|
|
STATE_DEAKTIVE,
|
|
STATE_UV,
|
|
STATE_OC
|
|
} BridgeState;
|
|
|
|
const char *state_names[] = {
|
|
"Active ",
|
|
"Deaktive ",
|
|
"UV ",
|
|
"RFE set(OC)"
|
|
};
|
|
|
|
|
|
//Globalevariablen
|
|
volatile MenuState current_menu = MAIN_MENU;
|
|
volatile OperationMode current_mode = MCPWM_MODE;
|
|
volatile BridgeState current_bridge_state = STATE_DEAKTIVE;
|
|
volatile OutCombis current_out_combi = OUT_U_V;
|
|
|
|
volatile bool ShouldState = false; //false==deaktive
|
|
int cursor_position = 0;
|
|
int max_cursor_pos = 0;
|
|
bool in_editing = false;
|
|
char display_message[100]; // Puffer für die Nachricht
|
|
bool flag;
|
|
uint16_t PWM_Frequency = 0;
|
|
static void check_button_pressed(){
|
|
if (enc_in_button_flag){
|
|
enc_in_button_flag=false;
|
|
|
|
switch (current_menu){
|
|
|
|
case MAIN_MENU:
|
|
switch(cursor_position){
|
|
case 0:
|
|
current_mode = (current_mode+1)% MODE_COUNT;
|
|
break;
|
|
case 1:
|
|
ShouldState = !ShouldState;
|
|
if(ShouldState){
|
|
start_mcpwm_output();
|
|
}else{
|
|
stop_mcpwm_output();
|
|
}
|
|
break;
|
|
case 2:
|
|
current_menu = CONFIGURE_MENU;
|
|
enc_in_counter=0;
|
|
break;
|
|
case 3:
|
|
current_menu = MORE_INFO_MENU;
|
|
enc_in_counter=0;
|
|
break;
|
|
case 4:
|
|
current_out_combi =(current_out_combi+1)%6;
|
|
stop_mcpwm_output();
|
|
configure_mcpwm_output(current_out_combi);
|
|
ShouldState = false;
|
|
break;
|
|
default:
|
|
snprintf(display_message, sizeof(display_message), "ERROR");
|
|
ssd1306_display_text(&dev, 7, display_message, strlen(display_message), false);
|
|
break;
|
|
}
|
|
break;
|
|
|
|
case CONFIGURE_MENU:
|
|
switch(cursor_position){
|
|
case 0:
|
|
if(in_editing){
|
|
set_mcpwm_frequency(enc_in_counter*1000);
|
|
in_editing = false;
|
|
enc_in_counter= cursor_position;
|
|
}else{
|
|
in_editing = true;
|
|
enc_in_counter = get_frequency()/1000;
|
|
}
|
|
|
|
break;
|
|
case 1:
|
|
if(in_editing){
|
|
set_mcpwm_duty((float)enc_in_counter);
|
|
in_editing = false;
|
|
enc_in_counter = cursor_position;
|
|
}else{
|
|
in_editing = true;
|
|
enc_in_counter = (int)get_duty();
|
|
}
|
|
break;
|
|
case 3:
|
|
current_menu = MAIN_MENU;
|
|
enc_in_counter=0;
|
|
break;
|
|
}
|
|
break;
|
|
case MORE_INFO_MENU:
|
|
current_menu = MAIN_MENU;
|
|
enc_in_counter=0;
|
|
break;
|
|
default:
|
|
ESP_LOGE("Error","Not yet programmed");
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
static void getset_bridge_state(){
|
|
|
|
bool RFE_Pulled = !(gpio_get_level(CONFIG_RFE_GPIO));
|
|
|
|
if (RFE_Pulled){
|
|
current_bridge_state=STATE_OC;
|
|
}else if(!ShouldState){
|
|
current_bridge_state=STATE_DEAKTIVE;
|
|
}else{
|
|
current_bridge_state=STATE_ACTIVE;
|
|
}
|
|
}
|
|
|
|
static void render_main_menu(){
|
|
max_cursor_pos = 4;
|
|
//Mode
|
|
snprintf(display_message, sizeof(display_message), "Mode: %s", mode_names[current_mode]);
|
|
ssd1306_display_text(&dev, 1, display_message, strlen(display_message), cursor_position == 0);
|
|
|
|
//ShouldState Started oder Stopped
|
|
snprintf(display_message, sizeof(display_message), "%s", ShouldState ? "Started" : "Stopped");
|
|
ssd1306_display_text(&dev, 2, display_message, strlen(display_message), cursor_position == 1);
|
|
|
|
//Configure_Menu
|
|
snprintf(display_message, sizeof(display_message), "Configure ->");
|
|
ssd1306_display_text(&dev, 3, display_message, strlen(display_message), cursor_position == 2);
|
|
|
|
//More_Info_Menu
|
|
snprintf(display_message, sizeof(display_message), "Sensor Info ->");
|
|
ssd1306_display_text(&dev, 4, display_message, strlen(display_message), cursor_position == 3);
|
|
|
|
//Output Selection
|
|
snprintf(display_message, sizeof(display_message), "Out: %s",OutCombi_names[current_out_combi]);
|
|
ssd1306_display_text(&dev, 5, display_message, strlen(display_message), cursor_position == 4);
|
|
|
|
|
|
//State
|
|
getset_bridge_state();
|
|
snprintf(display_message, sizeof(display_message), "State: %s",state_names[current_bridge_state]);
|
|
ssd1306_display_text(&dev, 6, display_message, strlen(display_message), true);
|
|
|
|
/*snprintf(display_message, sizeof(display_message), "cursor: %i %s",cursor_position,enc_in_button_flag ?"in" : "out");
|
|
ssd1306_display_text(&dev, 7, display_message, strlen(display_message), true);
|
|
*/}
|
|
|
|
static void render_config_menu(){
|
|
max_cursor_pos = 3;
|
|
|
|
switch(current_mode){
|
|
case MCPWM_MODE:
|
|
//Titel
|
|
snprintf(display_message, sizeof(display_message), "Conf. MCPWM");
|
|
ssd1306_display_text(&dev, 1, display_message, strlen(display_message), false);
|
|
|
|
//Frequenz
|
|
if(in_editing && cursor_position == 0){
|
|
snprintf(display_message, sizeof(display_message), "PWMFreq.:%ikHz", enc_in_counter);
|
|
ssd1306_display_text(&dev, 2, display_message, strlen(display_message), true);
|
|
set_mcpwm_frequency(enc_in_counter*1000);
|
|
}else{
|
|
snprintf(display_message, sizeof(display_message), "PWMFreq.:%lukHz", (get_frequency()/1000));
|
|
ssd1306_display_text(&dev, 2, display_message, strlen(display_message), cursor_position == 0);
|
|
|
|
}
|
|
//Duty cycle
|
|
if(in_editing && cursor_position == 1){
|
|
snprintf(display_message, sizeof(display_message), "Duty: %.1f%%", (float)enc_in_counter);
|
|
ssd1306_display_text(&dev, 3, display_message, strlen(display_message), cursor_position == 1);
|
|
set_mcpwm_duty((float)enc_in_counter);
|
|
}else{
|
|
snprintf(display_message, sizeof(display_message), "Duty: %.1f%%", get_duty());
|
|
ssd1306_display_text(&dev, 3, display_message, strlen(display_message), cursor_position == 1);
|
|
}
|
|
//Todzeit
|
|
snprintf(display_message, sizeof(display_message), "DeadTime: %ins", CONFIG_DEAD_TIME_PWM);
|
|
ssd1306_display_text(&dev, 4, display_message, strlen(display_message), cursor_position == 2);
|
|
|
|
//Back
|
|
snprintf(display_message, sizeof(display_message), "Back");
|
|
ssd1306_display_text(&dev, 5, display_message, strlen(display_message), cursor_position == 3);
|
|
|
|
//State
|
|
getset_bridge_state();
|
|
snprintf(display_message, sizeof(display_message), "State: %s",state_names[current_bridge_state]);
|
|
ssd1306_display_text(&dev, 6, display_message, strlen(display_message), true);
|
|
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
|
|
static void render_info_menu(){
|
|
max_cursor_pos = 1;
|
|
switch(current_mode){
|
|
case MCPWM_MODE:
|
|
|
|
//cur_U & Hall_A
|
|
snprintf(display_message, sizeof(display_message), "U:%ldmA H_A:%c", get_current_ASC712(CONFIG_I_SENSE_U_ADC),get_Hall(CONFIG_HALL_A_GPIO)?'1':'0');
|
|
ssd1306_display_text(&dev, 1, display_message, strlen(display_message), false);
|
|
//cur_V & Hall_B
|
|
snprintf(display_message, sizeof(display_message), "V:%ldmA H_B:%c", get_current_ASC712(CONFIG_I_SENSE_V_ADC),get_Hall(CONFIG_HALL_B_GPIO)?'1':'0');
|
|
ssd1306_display_text(&dev, 2, display_message, strlen(display_message), false);
|
|
//cur_W & Hall_C
|
|
snprintf(display_message, sizeof(display_message), "W:%ldmA H_C:%c", get_current_ASC712(CONFIG_I_SENSE_W_ADC),get_Hall(CONFIG_HALL_C_GPIO)?'1':'0');
|
|
ssd1306_display_text(&dev, 3, display_message, strlen(display_message), false);
|
|
//Bridge Current & Speed
|
|
snprintf(display_message, sizeof(display_message), "B:%ldmA SP.:%frpm", get_current_bridge(CONFIG_I_SENSE_ADC), get_speed_AB());
|
|
ssd1306_display_text(&dev, 4, display_message, strlen(display_message), false);
|
|
//Bridge Voltage & Torque
|
|
snprintf(display_message, sizeof(display_message), "U_in:%ldmV Torq.:%ldmV", get_voltage_in(), get_torque());
|
|
ssd1306_display_text(&dev, 5, display_message, strlen(display_message), false);
|
|
//Left/right
|
|
snprintf(display_message, sizeof(display_message), "Dir.:%s",
|
|
(get_direction() == -1) ? "Error" :
|
|
(get_direction() == 0) ? "Right" : "Left");
|
|
ssd1306_display_text(&dev, 6, display_message, strlen(display_message), false);
|
|
//Back
|
|
snprintf(display_message, sizeof(display_message), "Back");
|
|
ssd1306_display_text(&dev, 7, display_message, strlen(display_message), true);
|
|
|
|
break;
|
|
default:
|
|
break;
|
|
|
|
}
|
|
}
|
|
|
|
MenuState last_menu = MAIN_MENU; // Initialisiere mit dem Startmenü
|
|
void menu_loop(){
|
|
|
|
|
|
|
|
if(!in_editing){
|
|
if (enc_in_counter<0){
|
|
enc_in_counter = max_cursor_pos;
|
|
}
|
|
if (enc_in_counter> max_cursor_pos){
|
|
enc_in_counter =0;
|
|
}
|
|
cursor_position = enc_in_counter;
|
|
}
|
|
if (current_menu != last_menu) {
|
|
ssd1306_clear_screen(&dev, false); // Clear the screen on menu change
|
|
last_menu = current_menu; // Update to the new menu state
|
|
}
|
|
switch (current_menu)
|
|
{
|
|
case MAIN_MENU:
|
|
render_main_menu();
|
|
break;
|
|
case CONFIGURE_MENU:
|
|
render_config_menu();
|
|
break;
|
|
case MORE_INFO_MENU:
|
|
render_info_menu();
|
|
default:
|
|
break;
|
|
}
|
|
|
|
check_button_pressed();
|
|
} |