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https://github.com/demik/quack.git
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178 lines
4.2 KiB
C
178 lines
4.2 KiB
C
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/*
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* quad.c
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* quack
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*
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* Created by Michel DEPEIGE on 17/04/2021.
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* Copyright (c) 2021 Michel DEPEIGE.
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program (see the file COPYING); if not, write to the
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* Free Software Foundation, Inc.,
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* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA
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*
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*/
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#include <stdio.h>
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#include "driver/gpio.h"
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#include "sdkconfig.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "esp_system.h"
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#include "esp_err.h"
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#include "esp_log.h"
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#include "driver/timer.h"
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#include "esp_timer.h"
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#include "quad.h"
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#include "gpio.h"
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/* global variables for tasks handles */
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TaskHandle_t t_click, t_qx, t_qy;
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esp_timer_handle_t quad_qx, quad_qy;
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/* static functions */
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static void quad_timer(void* arg);
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/* phases */
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const bool q1[] = {true, false, false, true};
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const bool q2[] = {true, true, false, false};
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/* init all leds, blink everything once and start background tasks */
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void quad_init(void) {
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esp_timer_create_args_t args;
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/* create quadrature tasks */
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xTaskCreate(quad_click, "CLICK", 1024, NULL, tskIDLE_PRIORITY + 1, &t_click);
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xTaskCreate(quad_move_x, "QX", 1024, NULL, tskIDLE_PRIORITY + 1, &t_qx);
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xTaskCreate(quad_move_y, "QY", 1024, NULL, tskIDLE_PRIORITY + 1, &t_qy);
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/* click is active low */
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gpio_set_level(GPIO_CLICK, 1);
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/* init quadrature position */
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gpio_set_level(GPIO_QX1, q1[0]);
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gpio_set_level(GPIO_QX2, q2[0]);
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gpio_set_level(GPIO_QY1, q1[0]);
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gpio_set_level(GPIO_QY2, q2[0]);
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/* create timers for quadrature phases */
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args.callback = &quad_timer;
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args.arg = &t_qx;
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args.name = "quad_qx";
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ESP_ERROR_CHECK(esp_timer_create(&args, &quad_qx));
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args.callback = &quad_timer;
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args.arg = &t_qy;
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args.name = "quad_qy";
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ESP_ERROR_CHECK(esp_timer_create(&args, &quad_qy));
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ESP_LOGI("quad", "Quadrature tasks started");
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}
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void quad_click(void *pvParameters) {
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unsigned int click = 0;
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(void)pvParameters;
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while (true) {
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xTaskNotifyWait(0, 0, &click, portMAX_DELAY);
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switch (click)
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{
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case true:
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gpio_set_level(GPIO_CLICK, 0);
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break;
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case false:
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gpio_set_level(GPIO_CLICK, 1);
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break;
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default:
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break;
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}
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}
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}
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void quad_move_x(void *pvParameters) {
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unsigned int value = 0;
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int move = 0;
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uint8_t i = 0;
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(void)pvParameters;
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while (true) {
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xTaskNotifyWait(0, 0, &value, portMAX_DELAY);
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assert(value != 0);
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move = (signed)value;
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if (move > 0) {
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while (move--) {
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i++;
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gpio_set_level(GPIO_QX1, q1[i % 4]);
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gpio_set_level(GPIO_QX2, q2[i % 4]);
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ESP_ERROR_CHECK(esp_timer_start_once(quad_qx, QUAD_INTERVAL));
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vTaskSuspend(NULL);
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}
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}
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else {
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while (move++) {
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i--;
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gpio_set_level(GPIO_QX1, q1[i % 4]);
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gpio_set_level(GPIO_QX2, q2[i % 4]);
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ESP_ERROR_CHECK(esp_timer_start_once(quad_qx, QUAD_INTERVAL));
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vTaskSuspend(NULL);
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}
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}
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}
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}
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void quad_move_y(void *pvParameters) {
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unsigned int value = 0;
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int move = 0;
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uint8_t i = 0;
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(void)pvParameters;
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while (true) {
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xTaskNotifyWait(0, 0, &value, portMAX_DELAY);
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assert(value != 0);
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move = (signed)value;
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if (move > 0) {
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while (move--) {
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i++;
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gpio_set_level(GPIO_QY1, q1[i % 4]);
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gpio_set_level(GPIO_QY2, q2[i % 4]);
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ESP_ERROR_CHECK(esp_timer_start_once(quad_qy, QUAD_INTERVAL));
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vTaskSuspend(NULL);
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}
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}
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else {
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while (move++) {
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i--;
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gpio_set_level(GPIO_QY1, q1[i % 4]);
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gpio_set_level(GPIO_QY2, q2[i % 4]);
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ESP_ERROR_CHECK(esp_timer_start_once(quad_qy, QUAD_INTERVAL));
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vTaskSuspend(NULL);
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}
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}
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}
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}
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/* simple ISR function. Resume task that called the oneshot timer */
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static void quad_timer(void* arg) {
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BaseType_t xYieldRequired = pdFALSE;
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xYieldRequired = xTaskResumeFromISR(arg);
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/* switch context of needed */
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if( xYieldRequired == pdTRUE )
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portYIELD_FROM_ISR();
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}
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