From af205f720eb5b082050eef5dc099d6e1466af602 Mon Sep 17 00:00:00 2001
From: demik <demik475@gmail.com>
Date: Sun, 9 May 2021 00:45:40 +0200
Subject: [PATCH] Quadratures fixes: x movement, pullups, timings

---
 main/gpio.c | 10 +++++-----
 main/quad.c | 32 ++++++++++++++------------------
 main/quad.h |  2 +-
 3 files changed, 20 insertions(+), 24 deletions(-)

diff --git a/main/gpio.c b/main/gpio.c
index 4926c34..a3c50d6 100644
--- a/main/gpio.c
+++ b/main/gpio.c
@@ -65,11 +65,11 @@ void	gpio_init(void) {
 	gpio_reset_pin(GPIO_QX2);
 	gpio_reset_pin(GPIO_QY1);
 	gpio_reset_pin(GPIO_QY2);
-	gpio_set_pull_mode(GPIO_CLICK, GPIO_PULLDOWN_ONLY);
-	gpio_set_pull_mode(GPIO_QX1, GPIO_PULLDOWN_ONLY);
-	gpio_set_pull_mode(GPIO_QX2, GPIO_PULLDOWN_ONLY);
-	gpio_set_pull_mode(GPIO_QY1, GPIO_PULLDOWN_ONLY);
-	gpio_set_pull_mode(GPIO_QY2, GPIO_PULLDOWN_ONLY);
+	gpio_set_pull_mode(GPIO_CLICK, GPIO_PULLUP_ONLY);
+	gpio_set_pull_mode(GPIO_QX1, GPIO_PULLUP_ONLY);
+	gpio_set_pull_mode(GPIO_QX2, GPIO_PULLUP_ONLY);
+	gpio_set_pull_mode(GPIO_QY1, GPIO_PULLUP_ONLY);
+	gpio_set_pull_mode(GPIO_QY2, GPIO_PULLUP_ONLY);
 	gpio_set_direction(GPIO_CLICK, GPIO_MODE_OUTPUT);
 	gpio_set_direction(GPIO_QX1, GPIO_MODE_OUTPUT);
 	gpio_set_direction(GPIO_QX2, GPIO_MODE_OUTPUT);
diff --git a/main/quad.c b/main/quad.c
index b273e06..0a40363 100644
--- a/main/quad.c
+++ b/main/quad.c
@@ -41,7 +41,7 @@ TaskHandle_t t_click, t_qx, t_qy;
 esp_timer_handle_t quad_qx, quad_qy;
 
 /* static functions */
-static void	quad_timer(void* arg);
+static void	IRAM_ATTR quad_timer(void* arg);
 
 /* phases */
 const bool q1[] = {true, false, false, true};
@@ -52,7 +52,7 @@ void	quad_init(void) {
 	esp_timer_create_args_t args;
 
 	/* create quadrature tasks */
-	xTaskCreate(quad_click, "CLICK", 4 * 1024, NULL, tskIDLE_PRIORITY + 1, &t_click);
+	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);
 
@@ -78,7 +78,7 @@ void	quad_init(void) {
 	args.name = "quad_qy";
 	ESP_ERROR_CHECK(esp_timer_create(&args, &quad_qy));
 
-	ESP_LOGI("quad", "Quadrature tasks started");
+	ESP_LOGI("quad", "Quadrature tasks started on core %d", xPortGetCoreID());
 }
 
 void	quad_click(void *pvParameters) {
@@ -88,7 +88,6 @@ void	quad_click(void *pvParameters) {
 
 	while (true) {
 		xTaskNotifyWait(0, 0, &click, portMAX_DELAY);
-		printf("CLICK");
 		switch (click)
 		{
 			case true:
@@ -117,20 +116,20 @@ void	quad_move_x(void *pvParameters) {
 
 		if (move > 0) {
 			while (move--) {
-				i++;
-				printf("MOVE X %i %i %i\n", move, q1[i % 4], q2[i % 4]);
+				i--;
 				gpio_set_level(GPIO_QX1, q1[i % 4]);
 				gpio_set_level(GPIO_QX2, q2[i % 4]);
-				//ets_delay_us(QUAD_INTERVAL);
+				ESP_ERROR_CHECK(esp_timer_start_once(quad_qx, QUAD_INTERVAL));
+				vTaskSuspend(NULL);
 			}
 		}
 		else {
 			while (move++) {
-				i--;
-				printf("MOVE X %i %i %i\n", move, q1[i % 4], q2[i % 4]);
+				i++;
 				gpio_set_level(GPIO_QX1, q1[i % 4]);
 				gpio_set_level(GPIO_QX2, q2[i % 4]);
-				//ets_delay_us(QUAD_INTERVAL);
+				ESP_ERROR_CHECK(esp_timer_start_once(quad_qx, QUAD_INTERVAL));
+				vTaskSuspend(NULL);
 			}
 		}
 	}
@@ -151,30 +150,27 @@ void	quad_move_y(void *pvParameters) {
 		if (move > 0) {
 			while (move--) {
 				i++;
-				printf("MOVE Y %i %i %i\n", move, q1[i % 4], q2[i % 4]);
 				gpio_set_level(GPIO_QY1, q1[i % 4]);
 				gpio_set_level(GPIO_QY2, q2[i % 4]);
-				//ets_delay_us(QUAD_INTERVAL);
+				ESP_ERROR_CHECK(esp_timer_start_once(quad_qy, QUAD_INTERVAL));
+				vTaskSuspend(NULL);
 			}
 		}
 		else {
 			while (move++) {
 				i--;
-				printf("MOVE Y %i %i %i\n", move, q1[i % 4], q2[i % 4]);
 				gpio_set_level(GPIO_QY1, q1[i % 4]);
 				gpio_set_level(GPIO_QY2, q2[i % 4]);
-				//ets_delay_us(QUAD_INTERVAL);
+				ESP_ERROR_CHECK(esp_timer_start_once(quad_qy, QUAD_INTERVAL));
+				vTaskSuspend(NULL);
 			}
 		}
 	}
 }
 
 /* simple ISR function. Resume task that called the oneshot timer */
-static void quad_timer(void* arg) {
+static void IRAM_ATTR quad_timer(void* arg) {
 	BaseType_t xYieldRequired = pdFALSE;
-
-	printf(">>> TIMER %x\n", (unsigned int)arg);
-
 	xYieldRequired = xTaskResumeFromISR(arg);
 
 	/* switch context of needed */
diff --git a/main/quad.h b/main/quad.h
index 637a797..0c7166a 100644
--- a/main/quad.h
+++ b/main/quad.h
@@ -32,7 +32,7 @@ void		quad_move_x(void *pvParameters);
 void		quad_move_y(void *pvParameters);
 
 /* defines */
-#define QUAD_INTERVAL 20
+#define QUAD_INTERVAL 400
 
 #endif