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179 lines
4.4 KiB
C
179 lines
4.4 KiB
C
/*
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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 Apache License, Version 2.0 (the "License");
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* You may obtain a copy of the License at:
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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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/queue.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 "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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QueueHandle_t q_qx, q_qy;
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/* ISR functions */
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static void IRAM_ATTR quad_isr(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 queues */
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q_qx = xQueueCreate(4, sizeof(int8_t));
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q_qy = xQueueCreate(4, sizeof(int8_t));
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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", 4 * 1024, NULL, tskIDLE_PRIORITY + 1, &t_qx);
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xTaskCreate(quad_move_y, "QY", 4 * 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_isr;
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args.arg = t_qx;
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args.name = "quad_qx";
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args.dispatch_method = ESP_TIMER_ISR;
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ESP_ERROR_CHECK(esp_timer_create(&args, &quad_qx));
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args.callback = quad_isr;
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args.arg = t_qy;
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args.name = "quad_qy";
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args.dispatch_method = ESP_TIMER_ISR;
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ESP_ERROR_CHECK(esp_timer_create(&args, &quad_qy));
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ESP_LOGI("quad", "Quadrature tasks started on core %d", xPortGetCoreID());
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}
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void quad_click(void *pvParameters) {
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long 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 IRAM_ATTR quad_move_x(void *pvParameters) {
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int8_t 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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xQueueReceive(q_qx, &move, portMAX_DELAY);
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assert(move != 0);
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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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ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
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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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ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
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}
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}
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}
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}
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void IRAM_ATTR quad_move_y(void *pvParameters) {
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int8_t 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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xQueueReceive(q_qy, &move, portMAX_DELAY);
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assert(move != 0);
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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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ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
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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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ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
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}
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}
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}
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}
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/* simple ISR function. Resume the task that called the oneshot timer */
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static void IRAM_ATTR quad_isr(void* arg) {
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BaseType_t pxHigherPriorityTaskWoken = pdFALSE;
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vTaskNotifyGiveFromISR(arg, &pxHigherPriorityTaskWoken);
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/* switch context of needed */
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if( pxHigherPriorityTaskWoken == pdTRUE )
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portYIELD_FROM_ISR();
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}
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