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Move code from main to control.cpp, display pages

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- move code from testing task to control.cpp
- outsource functions for initializing display and encoder
- delete testing code
- add two display pages (current distance and counter)
- run handle functions for each button
This commit is contained in:
jonny_ji7 2022-08-17 13:08:05 +02:00
parent 739f5ef4c2
commit 22f8aef8d2
5 changed files with 181 additions and 160 deletions
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2
connection-plan.drawio
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1
main/config.hpp
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@ -46,7 +46,6 @@
//-------------------------- //--------------------------
//----- encoder config ----- //----- encoder config -----
//-------------------------- //--------------------------
#define TAG "app"
#define ROT_ENC_A_GPIO GPIO_NUM_19 #define ROT_ENC_A_GPIO GPIO_NUM_19
#define ROT_ENC_B_GPIO GPIO_NUM_21 #define ROT_ENC_B_GPIO GPIO_NUM_21
#define ENABLE_HALF_STEPS false // Set to true to enable tracking of rotary encoder at half step resolution #define ENABLE_HALF_STEPS false // Set to true to enable tracking of rotary encoder at half step resolution

160
main/control.cpp
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@ -1,10 +1,168 @@
#include "control.hpp" #include "control.hpp"
//========================
//===== init display =====
//========================
max7219_t init_display(){
// Configure SPI bus
spi_bus_config_t cfg;
cfg.mosi_io_num = DISPLAY_PIN_NUM_MOSI;
cfg.miso_io_num = -1;
cfg.sclk_io_num = DISPLAY_PIN_NUM_CLK;
cfg.quadwp_io_num = -1;
cfg.quadhd_io_num = -1;
cfg.max_transfer_sz = 0;
cfg.flags = 0;
ESP_ERROR_CHECK(spi_bus_initialize(HOST, &cfg, 1));
// Configure device
max7219_t dev;
dev.cascade_size = 1;
dev.digits = 8;
dev.mirrored = true;
ESP_ERROR_CHECK(max7219_init_desc(&dev, HOST, MAX7219_MAX_CLOCK_SPEED_HZ, DISPLAY_PIN_NUM_CS));
ESP_ERROR_CHECK(max7219_init(&dev));
//0...15
ESP_ERROR_CHECK(max7219_set_brightness(&dev, 12));
return dev;
}
//========================
//===== init encoder =====
//========================
QueueHandle_t init_encoder(rotary_encoder_info_t * info){
// esp32-rotary-encoder requires that the GPIO ISR service is installed before calling rotary_encoder_register()
ESP_ERROR_CHECK(gpio_install_isr_service(0));
// Initialise the rotary encoder device with the GPIOs for A and B signals
ESP_ERROR_CHECK(rotary_encoder_init(info, ROT_ENC_A_GPIO, ROT_ENC_B_GPIO));
ESP_ERROR_CHECK(rotary_encoder_enable_half_steps(info, ENABLE_HALF_STEPS));
#ifdef FLIP_DIRECTION
ESP_ERROR_CHECK(rotary_encoder_flip_direction(info));
#endif
// Create a queue for events from the rotary encoder driver.
// Tasks can read from this queue to receive up to date position information.
QueueHandle_t event_queue = rotary_encoder_create_queue();
ESP_ERROR_CHECK(rotary_encoder_set_queue(info, event_queue));
return event_queue;
}
//============================
//===== display distance =====
//============================
//display current position in meters from current encoder count
void display_current_distance(max7219_t * dev, rotary_encoder_info_t * info){
// --- event based action ---
// Wait for incoming events on the event queue.
// rotary_encoder_event_t event;
// if (xQueueReceive(event_queue, &event, 1000 / portTICK_PERIOD_MS) == pdTRUE)
// {
// ESP_LOGI(TAG, "Event: position %d, direction %s", event.state.position,
// event.state.direction ? (event.state.direction == ROTARY_ENCODER_DIRECTION_CLOCKWISE ? "CW" : "CCW") : "NOT_SET");
// //--- calculate distalce ---
// distance_mm = event.state.position * (MEASURING_ROLL_DIAMETER * PI / 600); //TODO dont calculate constant factor every time
// //--- show current position on display ---
// //sprintf(buf, "%08d", event.state.position);
// //--- show current distance in cm on display ---
// sprintf(buf, "%06.1f cm", (float)distance_mm/10);
// //printf("float num\n");
// max7219_clear(&dev);
// max7219_draw_text_7seg(&dev, 0, buf);
// }
// else //no event for 1s
// {
// // Poll current position and direction
// rotary_encoder_state_t state;
// ESP_ERROR_CHECK(rotary_encoder_get_state(&info, &state));
// ESP_LOGI(TAG, "Poll: position %d, direction %s", state.position,
// state.direction ? (state.direction == ROTARY_ENCODER_DIRECTION_CLOCKWISE ? "CW" : "CCW") : "NOT_SET");
// }
// Poll current position and direction
rotary_encoder_state_t state;
rotary_encoder_get_state(info, &state);
//--- calculate distalce ---
float distance_mm = state.position * (MEASURING_ROLL_DIAMETER * PI / 600); //TODO dont calculate constant factor every time
//--- show current position on display ---
char buf[10]; // 8 digits + decimal point + \0
sprintf(buf, "%06.1f cm", (float)distance_mm/10);
//printf("float num\n");
max7219_clear(dev);
max7219_draw_text_7seg(dev, 0, buf);
}
//====================
//==== variables =====
//====================
static const char *TAG = "control";
char display_buf[10]; // 8 digits + decimal point + \0
max7219_t display; //display device
QueueHandle_t encoder_queue = NULL; //encoder event queue
rotary_encoder_info_t encoder; //encoder device/info
uint8_t count = 0; //count for testing
uint32_t timestamp_pageSwitched = 0;
bool page = false; //store page number currently displayed
//========================
//===== control task =====
//========================
void task_control(void *pvParameter) void task_control(void *pvParameter)
{ {
//initialize display
display = init_display();
//initialize encoder
encoder_queue = init_encoder(&encoder);
//display startup message
max7219_clear(&display);
ESP_LOGI(TAG, "showing startup message...");
max7219_draw_text_7seg(&display, 0, "ABCDEFGH");
vTaskDelay(pdMS_TO_TICKS(500));
//===== loop =====
while(1){ while(1){
vTaskDelay(500 / portTICK_PERIOD_MS); vTaskDelay(20 / portTICK_PERIOD_MS);
//run handle functions for all switches
SW_START.handle();
SW_RESET.handle();
SW_SET.handle();
SW_PRESET1.handle();
SW_PRESET2.handle();
SW_PRESET3.handle();
//switch between two display pages
if (esp_log_timestamp() - timestamp_pageSwitched > 1000){
timestamp_pageSwitched = esp_log_timestamp();
page = !page;
}
max7219_clear(&display);
if (page){
//display current position
display_current_distance(&display, &encoder);
} else {
//display counter
sprintf(display_buf, "cnt: %02d", count);
max7219_draw_text_7seg(&display, 0, display_buf);
count++;
}
//test button
if(SW_START.risingEdge){
buzzer.beep(1, 100, 100);
}
} }
} }

10
main/control.hpp
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@ -1,5 +1,6 @@
#pragma once #pragma once
extern "C"
{
#include <stdio.h> #include <stdio.h>
#include <freertos/FreeRTOS.h> #include <freertos/FreeRTOS.h>
#include <freertos/task.h> #include <freertos/task.h>
@ -8,7 +9,14 @@
#include "esp_system.h" #include "esp_system.h"
#include "esp_log.h" #include "esp_log.h"
#include <max7219.h>
#include "rotary_encoder.h"
}
#include "config.hpp" #include "config.hpp"
#include "gpio_evaluateSwitch.hpp"
#include "buzzer.hpp"
void task_control(void *pvParameter); void task_control(void *pvParameter);

168
main/main.cpp
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@ -7,25 +7,22 @@ extern "C"
#include "freertos/queue.h" #include "freertos/queue.h"
#include "esp_system.h" #include "esp_system.h"
#include "esp_log.h" #include "esp_log.h"
#include <max7219.h>
#include "rotary_encoder.h"
} }
#include "gpio_evaluateSwitch.hpp"
#include "config.hpp" #include "config.hpp"
#include "control.hpp" #include "control.hpp"
#include "buzzer.hpp" #include "buzzer.hpp"
//=================================
//=========== functions ===========
//=================================
//function to configure gpio pin as output //function to configure gpio pin as output
void gpio_configure_output(gpio_num_t gpio_pin){ void gpio_configure_output(gpio_num_t gpio_pin){
gpio_pad_select_gpio(gpio_pin); gpio_pad_select_gpio(gpio_pin);
gpio_set_direction(gpio_pin, GPIO_MODE_OUTPUT); gpio_set_direction(gpio_pin, GPIO_MODE_OUTPUT);
} }
void init_gpios(){ void init_gpios(){
//initialize all outputs //initialize all outputs
//4x stepper mosfets //4x stepper mosfets
@ -45,150 +42,6 @@ void init_gpios(){
//task for testing the encoder and display
void task_testing(void *pvParameter)
{
//========================
//===== init encoder =====
//========================
// esp32-rotary-encoder requires that the GPIO ISR service is installed before calling rotary_encoder_register()
ESP_ERROR_CHECK(gpio_install_isr_service(0));
// Initialise the rotary encoder device with the GPIOs for A and B signals
rotary_encoder_info_t info;
ESP_ERROR_CHECK(rotary_encoder_init(&info, ROT_ENC_A_GPIO, ROT_ENC_B_GPIO));
ESP_ERROR_CHECK(rotary_encoder_enable_half_steps(&info, ENABLE_HALF_STEPS));
#ifdef FLIP_DIRECTION
ESP_ERROR_CHECK(rotary_encoder_flip_direction(&info));
#endif
// Create a queue for events from the rotary encoder driver.
// Tasks can read from this queue to receive up to date position information.
QueueHandle_t event_queue = rotary_encoder_create_queue();
ESP_ERROR_CHECK(rotary_encoder_set_queue(&info, event_queue));
//========================
//===== init display =====
//========================
// Configure SPI bus
spi_bus_config_t cfg;
cfg.mosi_io_num = DISPLAY_PIN_NUM_MOSI;
cfg.miso_io_num = -1;
cfg.sclk_io_num = DISPLAY_PIN_NUM_CLK;
cfg.quadwp_io_num = -1;
cfg.quadhd_io_num = -1;
cfg.max_transfer_sz = 0;
cfg.flags = 0;
ESP_ERROR_CHECK(spi_bus_initialize(HOST, &cfg, 1));
// Configure device
max7219_t dev;
dev.cascade_size = 1;
dev.digits = 8;
dev.mirrored = true;
ESP_ERROR_CHECK(max7219_init_desc(&dev, HOST, MAX7219_MAX_CLOCK_SPEED_HZ, DISPLAY_PIN_NUM_CS));
ESP_ERROR_CHECK(max7219_init(&dev));
//0...15
ESP_ERROR_CHECK(max7219_set_brightness(&dev, 12));
char buf[10]; // 8 digits + decimal point + \0
int32_t distance_mm = 0;
//display startup message
max7219_clear(&dev);
max7219_draw_text_7seg(&dev, 0, "ABCDEFGH");
printf("showing startup message...");
vTaskDelay(pdMS_TO_TICKS(1000));
//===== loop =====
while (1)
{
vTaskDelay(pdMS_TO_TICKS(10)); //limit processing of events
// Wait for incoming events on the event queue.
rotary_encoder_event_t event;
if (xQueueReceive(event_queue, &event, 1000 / portTICK_PERIOD_MS) == pdTRUE)
{
ESP_LOGI(TAG, "Event: position %d, direction %s", event.state.position,
event.state.direction ? (event.state.direction == ROTARY_ENCODER_DIRECTION_CLOCKWISE ? "CW" : "CCW") : "NOT_SET");
//--- calculate distalce ---
distance_mm = event.state.position * (MEASURING_ROLL_DIAMETER * PI / 600); //TODO dont calculate constant factor every time
//--- show current position on display ---
//sprintf(buf, "%08d", event.state.position);
//--- show current distance in cm on display ---
sprintf(buf, "%06.1f cm", (float)distance_mm/10);
//printf("float num\n");
max7219_clear(&dev);
max7219_draw_text_7seg(&dev, 0, buf);
}
else //no event for 1s
{
// Poll current position and direction
rotary_encoder_state_t state;
ESP_ERROR_CHECK(rotary_encoder_get_state(&info, &state));
ESP_LOGI(TAG, "Poll: position %d, direction %s", state.position,
state.direction ? (state.direction == ROTARY_ENCODER_DIRECTION_CLOCKWISE ? "CW" : "CCW") : "NOT_SET");
}
}
}
//display test
//float count = 0;
// printf("Display cycle\n");
//
// max7219_clear(&dev);
// max7219_draw_text_7seg(&dev, 0, "12345678");
// printf("num");
// vTaskDelay(pdMS_TO_TICKS(DISPLAY_DELAY));
//
// max7219_clear(&dev);
// max7219_draw_text_7seg(&dev, 0, "ABCDEFGH");
// printf("text");
// vTaskDelay(pdMS_TO_TICKS(DISPLAY_DELAY));
//
//
// if (count > 20){
// count = 0;
// } else {
// count += 0.005;
// }
//
// sprintf(buf, "%06.3f m", count);
// //printf("float num\n");
// max7219_clear(&dev);
// max7219_draw_text_7seg(&dev, 0, buf);
// vTaskDelay(pdMS_TO_TICKS(10));
//
// max7219_clear(&dev);
// sprintf(buf, "%08x", 12345678);
// printf("num\n");
// max7219_draw_text_7seg(&dev, 0, buf);
// vTaskDelay(pdMS_TO_TICKS(DISPLAY_DELAY));
// }
//}
//====================================== //======================================
//============ buzzer task ============= //============ buzzer task =============
//====================================== //======================================
@ -205,21 +58,24 @@ void task_buzzer( void * pvParameters ){
//======================================
//=========== main function ============
//======================================
extern "C" void app_main() extern "C" void app_main()
{ {
//init outputs //init outputs
init_gpios(); init_gpios();
//enable 5V volate regulator //enable 5V volate regulator
gpio_set_level(GPIO_NUM_17, 1); gpio_set_level(GPIO_NUM_17, 1);
//define loglevel
esp_log_level_set("*", ESP_LOG_INFO);
esp_log_level_set("control", ESP_LOG_INFO);
//--- create task testing --- //create task for controlling the machine
xTaskCreate(task_testing, "task_testing", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
//--- create task control ---
xTaskCreate(task_control, "task_control", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL); xTaskCreate(task_control, "task_control", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
//--- create task for buzzer --- //create task for handling the buzzer
xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL); xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
//beep at startup //beep at startup