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Add encoder lib; Custom task, init - functional

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currently handles encoder connected to pins configured in encoder.hpp
and receives and logs all available events in encoder task
Works as expected

TODO: migrate with previous implementation of commands in button.cpp
This commit is contained in:
jonny_jr9 2023-08-31 12:22:13 +02:00
parent 7df5bcaa2a
commit 881f0827d2
11 changed files with 593 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
board_control/main/CMakeLists.txt
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@ -8,6 +8,7 @@ idf_component_register(
"http.cpp"
"auto.cpp"
"uart.cpp"
"encoder.cpp"
INCLUDE_DIRS
"."
)

81
board_control/main/encoder.cpp Normal file
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@ -0,0 +1,81 @@
#include "encoder.h"
extern "C"
{
#include <stdio.h>
#include <esp_system.h>
#include <esp_event.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "driver/gpio.h"
#include "esp_log.h"
}
#include "encoder.hpp"
//-------------------------
//------- variables -------
//-------------------------
static const char * TAG = "encoder";
uint16_t encoderCount;
rotary_encoder_btn_state_t encoderButtonState = {};
QueueHandle_t encoderQueue = NULL;
//encoder config
rotary_encoder_t encoderConfig = {
.pin_a = PIN_A,
.pin_b = PIN_B,
.pin_btn = PIN_BUTTON,
.code = 1,
.store = encoderCount,
.index = 0,
.btn_pressed_time_us = 20000,
.btn_state = encoderButtonState
};
//==================================
//========== encoder_init ==========
//==================================
//initialize encoder
void encoder_init(){
encoderQueue = xQueueCreate(QUEUE_SIZE, sizeof(rotary_encoder_event_t));
rotary_encoder_init(encoderQueue);
rotary_encoder_add(&encoderConfig);
}
//==================================
//========== task_encoder ==========
//==================================
//receive and handle encoder events
void task_encoder(void *arg) {
rotary_encoder_event_t ev; //store event data
while (1) {
if (xQueueReceive(encoderQueue, &ev, portMAX_DELAY)) {
//log enocder events
switch (ev.type){
case RE_ET_CHANGED:
ESP_LOGI(TAG, "Event type: RE_ET_CHANGED, diff: %d", ev.diff);
break;
case RE_ET_BTN_PRESSED:
ESP_LOGI(TAG, "Button pressed");
break;
case RE_ET_BTN_RELEASED:
ESP_LOGI(TAG, "Button released");
break;
case RE_ET_BTN_CLICKED:
ESP_LOGI(TAG, "Button clicked");
break;
case RE_ET_BTN_LONG_PRESSED:
ESP_LOGI(TAG, "Button long-pressed");
break;
default:
ESP_LOGW(TAG, "Unknown event type");
break;
}
}
}
}

18
board_control/main/encoder.hpp Normal file
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@ -0,0 +1,18 @@
extern "C" {
#include "freertos/FreeRTOS.h" // FreeRTOS related headers
#include "freertos/task.h"
#include "encoder.h"
}
//config
#define QUEUE_SIZE 10
#define PIN_A GPIO_NUM_25
#define PIN_B GPIO_NUM_26
#define PIN_BUTTON GPIO_NUM_27
//init encoder with config in encoder.cpp
void encoder_init();
//task that handles encoder events
void task_encoder(void *arg);

29
board_control/main/main.cpp
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@ -18,6 +18,7 @@ extern "C"
#include "uart.hpp"
#include "encoder.hpp"
//=========================
@ -28,6 +29,13 @@ extern "C"
//#define UART_TEST_ONLY
//=========================
//====== encoder TEST =====
//=========================
//only start encoder task
#define ENCODER_TEST_ONLY
//tag for logging
static const char * TAG = "main";
@ -157,7 +165,7 @@ void setLoglevels(void){
//=========== app_main ============
//=================================
extern "C" void app_main(void) {
#ifndef UART_TEST_ONLY
#if !defined(ENCODER_TEST_ONLY) && !defined(UART_TEST_ONLY)
//enable 5V volate regulator
gpio_pad_select_gpio(GPIO_NUM_17);
gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT);
@ -214,24 +222,35 @@ extern "C" void app_main(void) {
// vTaskDelay(2000 / portTICK_PERIOD_MS);
// ESP_LOGI(TAG, "initializing http server");
// http_init_server();
#endif
//-------------------------------------------
//--- create tasks for uart communication ---
//-------------------------------------------
#ifndef ENCODER_TEST_ONLY
uart_init();
xTaskCreate(task_uartReceive, "task_uartReceive", 4096, NULL, 10, NULL);
xTaskCreate(task_uartSend, "task_uartSend", 4096, NULL, 10, NULL);
#endif
//--------------------------------------------
//----- create task that handles encoder -----
//--------------------------------------------
#ifndef UART_TEST_ONLY
encoder_init();
xTaskCreate(task_encoder, "task_encoder", 4096, NULL, 10, NULL);
#endif
//--- main loop ---
//does nothing except for testing things
//--- testing force http mode after startup ---
vTaskDelay(5000 / portTICK_PERIOD_MS);
control.changeMode(controlMode_t::HTTP);
//control.changeMode(controlMode_t::HTTP);
while(1){
vTaskDelay(1000 / portTICK_PERIOD_MS);
//---------------------------------

21
components/encoder/.eil.yml Normal file
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@ -0,0 +1,21 @@
name: encoder
description: HW timer-based driver for incremental rotary encoders
version: 1.0.0
groups:
- input
code_owners:
- UncleRus
depends:
- driver
- freertos
- log
thread_safe: yes
targets:
- esp32
- esp8266
- esp32s2
- esp32c3
license: BSD-3
copyrights:
- name: UncleRus
year: 2019

13
components/encoder/CMakeLists.txt Normal file
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@ -0,0 +1,13 @@
if(${IDF_TARGET} STREQUAL esp8266)
set(req esp8266 freertos log esp_timer)
elseif(${IDF_VERSION_MAJOR} STREQUAL 4 AND ${IDF_VERSION_MINOR} STREQUAL 1 AND ${IDF_VERSION_PATCH} STREQUAL 3)
set(req driver freertos log)
else()
set(req driver freertos log esp_timer)
endif()
idf_component_register(
SRCS encoder.c
INCLUDE_DIRS .
REQUIRES ${req}
)

27
components/encoder/Kconfig Normal file
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@ -0,0 +1,27 @@
menu "Rotary encoders"
config RE_MAX
int "Maximum number of rotary encoders"
default 1
config RE_INTERVAL_US
int "Polling interval, us"
default 1000
config RE_BTN_DEAD_TIME_US
int "Button dead time, us"
default 10000
choice RE_BTN_PRESSED_LEVEL
prompt "Logical level on pressed button"
config RE_BTN_PRESSED_LEVEL_0
bool "0"
config RE_BTN_PRESSED_LEVEL_1
bool "1"
endchoice
config RE_BTN_LONG_PRESS_TIME_US
int "Long press timeout, us"
default 500000
endmenu

26
components/encoder/LICENSE Normal file
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@ -0,0 +1,26 @@
Copyright 2019 Ruslan V. Uss <unclerus@gmail.com>
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
3. Neither the name of the copyright holder nor the names of itscontributors
may be used to endorse or promote products derived from this software without
specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

7
components/encoder/component.mk Normal file
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@ -0,0 +1,7 @@
COMPONENT_ADD_INCLUDEDIRS = .
ifdef CONFIG_IDF_TARGET_ESP8266
COMPONENT_DEPENDS = esp8266 freertos log
else
COMPONENT_DEPENDS = driver freertos log
endif

250
components/encoder/encoder.c Normal file
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@ -0,0 +1,250 @@
/*
* Copyright (c) 2019 Ruslan V. Uss <unclerus@gmail.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of the copyright holder nor the names of itscontributors
* may be used to endorse or promote products derived from this software without
* specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/**
* @file encoder.c
*
* ESP-IDF HW timer-based driver for rotary encoders
*
* Copyright (c) 2019 Ruslan V. Uss <unclerus@gmail.com>
*
* BSD Licensed as described in the file LICENSE
*/
#include "encoder.h"
#include <esp_log.h>
#include <string.h>
#include <freertos/semphr.h>
#include <esp_timer.h>
#define MUTEX_TIMEOUT 10
#ifdef CONFIG_RE_BTN_PRESSED_LEVEL_0
#define BTN_PRESSED_LEVEL 0
#else
#define BTN_PRESSED_LEVEL 1
#endif
static const char *TAG = "encoder";
static rotary_encoder_t *encs[CONFIG_RE_MAX] = { 0 };
static const int8_t valid_states[] = { 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0 };
static SemaphoreHandle_t mutex;
static QueueHandle_t _queue;
#define GPIO_BIT(x) ((x) < 32 ? BIT(x) : ((uint64_t)(((uint64_t)1)<<(x))))
#define CHECK(x) do { esp_err_t __; if ((__ = x) != ESP_OK) return __; } while (0)
#define CHECK_ARG(VAL) do { if (!(VAL)) return ESP_ERR_INVALID_ARG; } while (0)
inline static void read_encoder(rotary_encoder_t *re)
{
rotary_encoder_event_t ev = {
.sender = re
};
if (re->pin_btn < GPIO_NUM_MAX)
do
{
if (re->btn_state == RE_BTN_PRESSED && re->btn_pressed_time_us < CONFIG_RE_BTN_DEAD_TIME_US)
{
// Dead time
re->btn_pressed_time_us += CONFIG_RE_INTERVAL_US;
break;
}
// read button state
if (gpio_get_level(re->pin_btn) == BTN_PRESSED_LEVEL)
{
if (re->btn_state == RE_BTN_RELEASED)
{
// first press
re->btn_state = RE_BTN_PRESSED;
re->btn_pressed_time_us = 0;
ev.type = RE_ET_BTN_PRESSED;
xQueueSendToBack(_queue, &ev, 0);
break;
}
re->btn_pressed_time_us += CONFIG_RE_INTERVAL_US;
if (re->btn_state == RE_BTN_PRESSED && re->btn_pressed_time_us >= CONFIG_RE_BTN_LONG_PRESS_TIME_US)
{
// Long press
re->btn_state = RE_BTN_LONG_PRESSED;
ev.type = RE_ET_BTN_LONG_PRESSED;
xQueueSendToBack(_queue, &ev, 0);
}
}
else if (re->btn_state != RE_BTN_RELEASED)
{
bool clicked = re->btn_state == RE_BTN_PRESSED;
// released
re->btn_state = RE_BTN_RELEASED;
ev.type = RE_ET_BTN_RELEASED;
xQueueSendToBack(_queue, &ev, 0);
if (clicked)
{
ev.type = RE_ET_BTN_CLICKED;
xQueueSendToBack(_queue, &ev, 0);
}
}
} while(0);
re->code <<= 2;
re->code |= gpio_get_level(re->pin_a);
re->code |= gpio_get_level(re->pin_b) << 1;
re->code &= 0xf;
if (!valid_states[re->code])
return;
int8_t inc = 0;
re->store = (re->store << 4) | re->code;
if (re->store == 0xe817) inc = 1;
if (re->store == 0xd42b) inc = -1;
if (inc)
{
ev.type = RE_ET_CHANGED;
ev.diff = inc;
xQueueSendToBack(_queue, &ev, 0);
}
}
static void timer_handler(void *arg)
{
if (!xSemaphoreTake(mutex, 0))
return;
for (size_t i = 0; i < CONFIG_RE_MAX; i++)
if (encs[i])
read_encoder(encs[i]);
xSemaphoreGive(mutex);
}
static const esp_timer_create_args_t timer_args = {
.name = "__encoder__",
.arg = NULL,
.callback = timer_handler,
.dispatch_method = ESP_TIMER_TASK
};
static esp_timer_handle_t timer;
esp_err_t rotary_encoder_init(QueueHandle_t queue)
{
CHECK_ARG(queue);
_queue = queue;
mutex = xSemaphoreCreateMutex();
if (!mutex)
{
ESP_LOGE(TAG, "Failed to create mutex");
return ESP_ERR_NO_MEM;
}
CHECK(esp_timer_create(&timer_args, &timer));
CHECK(esp_timer_start_periodic(timer, CONFIG_RE_INTERVAL_US));
ESP_LOGI(TAG, "Initialization complete, timer interval: %dms", CONFIG_RE_INTERVAL_US / 1000);
return ESP_OK;
}
esp_err_t rotary_encoder_add(rotary_encoder_t *re)
{
CHECK_ARG(re);
if (!xSemaphoreTake(mutex, MUTEX_TIMEOUT))
{
ESP_LOGE(TAG, "Failed to take mutex");
return ESP_ERR_INVALID_STATE;
}
bool ok = false;
for (size_t i = 0; i < CONFIG_RE_MAX; i++)
if (!encs[i])
{
re->index = i;
encs[i] = re;
ok = true;
break;
}
if (!ok)
{
ESP_LOGE(TAG, "Too many encoders");
xSemaphoreGive(mutex);
return ESP_ERR_NO_MEM;
}
// setup GPIO
gpio_config_t io_conf;
memset(&io_conf, 0, sizeof(gpio_config_t));
io_conf.mode = GPIO_MODE_INPUT;
if (BTN_PRESSED_LEVEL == 0) {
io_conf.pull_up_en = GPIO_PULLUP_ENABLE;
io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE;
} else {
io_conf.pull_up_en = GPIO_PULLUP_DISABLE;
io_conf.pull_down_en = GPIO_PULLDOWN_ENABLE;
}
io_conf.intr_type = GPIO_INTR_DISABLE;
io_conf.pin_bit_mask = GPIO_BIT(re->pin_a) | GPIO_BIT(re->pin_b);
if (re->pin_btn < GPIO_NUM_MAX)
io_conf.pin_bit_mask |= GPIO_BIT(re->pin_btn);
CHECK(gpio_config(&io_conf));
re->btn_state = RE_BTN_RELEASED;
re->btn_pressed_time_us = 0;
xSemaphoreGive(mutex);
ESP_LOGI(TAG, "Added rotary encoder %d, A: %d, B: %d, BTN: %d", re->index, re->pin_a, re->pin_b, re->pin_btn);
return ESP_OK;
}
esp_err_t rotary_encoder_remove(rotary_encoder_t *re)
{
CHECK_ARG(re);
if (!xSemaphoreTake(mutex, MUTEX_TIMEOUT))
{
ESP_LOGE(TAG, "Failed to take mutex");
return ESP_ERR_INVALID_STATE;
}
for (size_t i = 0; i < CONFIG_RE_MAX; i++)
if (encs[i] == re)
{
encs[i] = NULL;
ESP_LOGI(TAG, "Removed rotary encoder %d", i);
xSemaphoreGive(mutex);
return ESP_OK;
}
ESP_LOGE(TAG, "Unknown encoder");
xSemaphoreGive(mutex);
return ESP_ERR_NOT_FOUND;
}

125
components/encoder/encoder.h Normal file
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@ -0,0 +1,125 @@
/*
* Copyright (c) 2019 Ruslan V. Uss <unclerus@gmail.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of the copyright holder nor the names of itscontributors
* may be used to endorse or promote products derived from this software without
* specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/**
* @file encoder.h
* @defgroup encoder encoder
* @{
*
* ESP-IDF HW timer-based driver for rotary encoders
*
* Copyright (c) 2019 Ruslan V. Uss <unclerus@gmail.com>
*
* BSD Licensed as described in the file LICENSE
*/
#ifndef __ENCODER_H__
#define __ENCODER_H__
#include <esp_err.h>
#include <driver/gpio.h>
#include <freertos/FreeRTOS.h>
#include <freertos/queue.h>
#ifdef __cplusplus
extern "C" {
#endif
/**
* Button state
*/
typedef enum {
RE_BTN_RELEASED = 0, //!< Button currently released
RE_BTN_PRESSED = 1, //!< Button currently pressed
RE_BTN_LONG_PRESSED = 2 //!< Button currently long pressed
} rotary_encoder_btn_state_t;
/**
* Rotary encoder descriptor
*/
typedef struct
{
gpio_num_t pin_a, pin_b, pin_btn; //!< Encoder pins. pin_btn can be >= GPIO_NUM_MAX if no button used
uint8_t code;
uint16_t store;
size_t index;
uint64_t btn_pressed_time_us;
rotary_encoder_btn_state_t btn_state;
} rotary_encoder_t;
/**
* Event type
*/
typedef enum {
RE_ET_CHANGED = 0, //!< Encoder turned
RE_ET_BTN_RELEASED, //!< Button released
RE_ET_BTN_PRESSED, //!< Button pressed
RE_ET_BTN_LONG_PRESSED, //!< Button long pressed (press time (us) > RE_BTN_LONG_PRESS_TIME_US)
RE_ET_BTN_CLICKED //!< Button was clicked
} rotary_encoder_event_type_t;
/**
* Event
*/
typedef struct
{
rotary_encoder_event_type_t type; //!< Event type
rotary_encoder_t *sender; //!< Pointer to descriptor
int32_t diff; //!< Difference between new and old positions (only if type == RE_ET_CHANGED)
} rotary_encoder_event_t;
/**
* @brief Initialize library
*
* @param queue Event queue to send encoder events
* @return `ESP_OK` on success
*/
esp_err_t rotary_encoder_init(QueueHandle_t queue);
/**
* @brief Add new rotary encoder
*
* @param re Encoder descriptor
* @return `ESP_OK` on success
*/
esp_err_t rotary_encoder_add(rotary_encoder_t *re);
/**
* @brief Remove previously added rotary encoder
*
* @param re Encoder descriptor
* @return `ESP_OK` on success
*/
esp_err_t rotary_encoder_remove(rotary_encoder_t *re);
#ifdef __cplusplus
}
#endif
/**@}*/
#endif /* __ENCODER_H__ */