quack/main/quad.c

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