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Quadratures fixes: x movement, pullups, timings

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This commit is contained in:
demik 2021-05-09 00:45:40 +02:00
parent 46f7a757ab
commit af205f720e
3 changed files with 20 additions and 24 deletions
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10
main/gpio.c
View File

@ -65,11 +65,11 @@ void gpio_init(void) {
gpio_reset_pin(GPIO_QX2); gpio_reset_pin(GPIO_QX2);
gpio_reset_pin(GPIO_QY1); gpio_reset_pin(GPIO_QY1);
gpio_reset_pin(GPIO_QY2); gpio_reset_pin(GPIO_QY2);
gpio_set_pull_mode(GPIO_CLICK, GPIO_PULLDOWN_ONLY); gpio_set_pull_mode(GPIO_CLICK, GPIO_PULLUP_ONLY);
gpio_set_pull_mode(GPIO_QX1, GPIO_PULLDOWN_ONLY); gpio_set_pull_mode(GPIO_QX1, GPIO_PULLUP_ONLY);
gpio_set_pull_mode(GPIO_QX2, GPIO_PULLDOWN_ONLY); gpio_set_pull_mode(GPIO_QX2, GPIO_PULLUP_ONLY);
gpio_set_pull_mode(GPIO_QY1, GPIO_PULLDOWN_ONLY); gpio_set_pull_mode(GPIO_QY1, GPIO_PULLUP_ONLY);
gpio_set_pull_mode(GPIO_QY2, GPIO_PULLDOWN_ONLY); gpio_set_pull_mode(GPIO_QY2, GPIO_PULLUP_ONLY);
gpio_set_direction(GPIO_CLICK, GPIO_MODE_OUTPUT); gpio_set_direction(GPIO_CLICK, GPIO_MODE_OUTPUT);
gpio_set_direction(GPIO_QX1, GPIO_MODE_OUTPUT); gpio_set_direction(GPIO_QX1, GPIO_MODE_OUTPUT);
gpio_set_direction(GPIO_QX2, GPIO_MODE_OUTPUT); gpio_set_direction(GPIO_QX2, GPIO_MODE_OUTPUT);

32
main/quad.c
View File

@ -41,7 +41,7 @@ TaskHandle_t t_click, t_qx, t_qy;
esp_timer_handle_t quad_qx, quad_qy; esp_timer_handle_t quad_qx, quad_qy;
/* static functions */ /* static functions */
static void quad_timer(void* arg); static void IRAM_ATTR quad_timer(void* arg);
/* phases */ /* phases */
const bool q1[] = {true, false, false, true}; const bool q1[] = {true, false, false, true};
@ -52,7 +52,7 @@ void quad_init(void) {
esp_timer_create_args_t args; esp_timer_create_args_t args;
/* create quadrature tasks */ /* 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_x, "QX", 4 * 1024, NULL, tskIDLE_PRIORITY + 1, &t_qx);
xTaskCreate(quad_move_y, "QY", 4 * 1024, NULL, tskIDLE_PRIORITY + 1, &t_qy); 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"; args.name = "quad_qy";
ESP_ERROR_CHECK(esp_timer_create(&args, &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) { void quad_click(void *pvParameters) {
@ -88,7 +88,6 @@ void quad_click(void *pvParameters) {
while (true) { while (true) {
xTaskNotifyWait(0, 0, &click, portMAX_DELAY); xTaskNotifyWait(0, 0, &click, portMAX_DELAY);
printf("CLICK");
switch (click) switch (click)
{ {
case true: case true:
@ -117,20 +116,20 @@ void quad_move_x(void *pvParameters) {
if (move > 0) { if (move > 0) {
while (move--) { while (move--) {
i++; i--;
printf("MOVE X %i %i %i\n", move, q1[i % 4], q2[i % 4]);
gpio_set_level(GPIO_QX1, q1[i % 4]); gpio_set_level(GPIO_QX1, q1[i % 4]);
gpio_set_level(GPIO_QX2, q2[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 { else {
while (move++) { while (move++) {
i--; i++;
printf("MOVE X %i %i %i\n", move, q1[i % 4], q2[i % 4]);
gpio_set_level(GPIO_QX1, q1[i % 4]); gpio_set_level(GPIO_QX1, q1[i % 4]);
gpio_set_level(GPIO_QX2, q2[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) { if (move > 0) {
while (move--) { while (move--) {
i++; 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_QY1, q1[i % 4]);
gpio_set_level(GPIO_QY2, q2[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 { else {
while (move++) { while (move++) {
i--; 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_QY1, q1[i % 4]);
gpio_set_level(GPIO_QY2, q2[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 */ /* 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; BaseType_t xYieldRequired = pdFALSE;
printf(">>> TIMER %x\n", (unsigned int)arg);
xYieldRequired = xTaskResumeFromISR(arg); xYieldRequired = xTaskResumeFromISR(arg);
/* switch context of needed */ /* switch context of needed */

2
main/quad.h
View File

@ -32,7 +32,7 @@ void quad_move_x(void *pvParameters);
void quad_move_y(void *pvParameters); void quad_move_y(void *pvParameters);
/* defines */ /* defines */
#define QUAD_INTERVAL 20 #define QUAD_INTERVAL 400
#endif #endif