Outsource encoder code to encoder.cpp

To be able to use the encoder in future stepper task as well
- make certain variables global
- initialize encoder in main
- outsorce encoder functions in encoder.cpp / h
- adjust config

main/CMakeLists.txt

@@ -9,6 +9,7 @@ idf_component_register(
         "cutter.cpp"
         "switchesAnalog.cpp"
         "guide-stepper.cpp"
+        "encoder.cpp"
     INCLUDE_DIRS 
         "."
     )

main/config.hpp

@@ -85,7 +85,10 @@ extern "C" {
 //----- stepper config -----
 //--------------------------
 //enable stepper test mode (dont start control and encoder task)
-#define STEPPER_TEST
+//#define STEPPER_TEST
+#define STEPPER_STEP_PIN GPIO_NUM_18 //(mos1)
+#define STEPPER_DIR_PIN GPIO_NUM_5   //(mos2)
+#define STEPPER_EN_PIN GPIO_NUM_0 //not connected (stepper always on)
 //more detailed options for testing are currently defined in guide-stepper.cpp
 
 
@@ -98,7 +101,7 @@ extern "C" {
 //#define ENCODER_TEST
 
 //steps per meter
-#define STEPS_PER_METER 2127 //roll-v3-gummi-86.6mm - d=89.8mm
+#define ENCODER_STEPS_PER_METER 2127 //roll-v3-gummi-86.6mm - d=89.8mm
 
 //millimetres added to target length
 //to ensure that length does not fall short when spool slightly rotates back after stop

main/control.cpp

@@ -1,27 +1,5 @@
 #include "control.hpp"
-
-
-//========================
-//===== 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;
-}
-
+#include "encoder.hpp"
 
 
 //====================
@@ -38,8 +16,6 @@ char buf_disp1[10];// 8 digits + decimal point + \0
 char buf_disp2[10];// 8 digits + decimal point + \0
 char buf_tmp[15];
 
-rotary_encoder_info_t encoder; //encoder device/info
-QueueHandle_t encoder_queue = NULL; //encoder event queue
 rotary_encoder_state_t encoderState;
 
 int lengthNow = 0; //length measured in mm
@@ -135,8 +111,6 @@ void setDynSpeedLvl(uint8_t lvlMax = 3){
 //========================
 void task_control(void *pvParameter)
 {
-    //initialize encoder
-    encoder_queue = init_encoder(&encoder);
 
     //initialize display
     max7219_t two7SegDisplays = display_init();
@@ -182,7 +156,7 @@ void task_control(void *pvParameter)
         // Poll current position and direction
         rotary_encoder_get_state(&encoder, &encoderState);
         //--- calculate distance ---
-        lengthNow = (float)encoderState.position * 1000 / STEPS_PER_METER;
+        lengthNow = (float)encoderState.position * 1000 / ENCODER_STEPS_PER_METER;
 
 
         //---------------------------

main/encoder.cpp

@@ -0,0 +1,39 @@
+extern "C" {
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+#include "esp_system.h"
+#include "esp_log.h"
+}
+
+#include "encoder.hpp"
+
+
+//----------------------------
+//----- global variables -----
+//----------------------------
+rotary_encoder_info_t encoder; //encoder device/info
+QueueHandle_t encoder_queue = NULL; //encoder event queue
+
+
+//-------------------------
+//------- functions -------
+//-------------------------
+//--- init_encoder ---
+//initialize encoder and return event queue
+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;
+}

main/encoder.hpp

@@ -0,0 +1,20 @@
+#pragma once
+extern "C" {
+#include "rotary_encoder.h"
+#include <freertos/task.h>
+}
+
+#include "config.hpp"
+
+
+//----------------------------
+//----- global variables -----
+//----------------------------
+extern rotary_encoder_info_t encoder; //encoder device/info
+extern QueueHandle_t encoder_queue; //encoder event queue
+
+
+//------------------------
+//----- init encoder -----
+//------------------------
+QueueHandle_t init_encoder(rotary_encoder_info_t * info);

main/main.cpp

@@ -15,6 +15,7 @@ extern "C"
 #include "buzzer.hpp"
 #include "switchesAnalog.hpp"
 #include "guide-stepper.hpp"
+#include "encoder.hpp"
 
 
 //=================================
@@ -77,6 +78,9 @@ extern "C" void app_main()
     //enable 5V volate regulator
     gpio_set_level(GPIO_NUM_17, 1);
 
+    //init encoder (global)
+    encoder_queue = init_encoder(&encoder);
+    
     //define loglevel
     esp_log_level_set("*", ESP_LOG_INFO);
     esp_log_level_set("buzzer", ESP_LOG_ERROR);
@@ -86,10 +90,11 @@ extern "C" void app_main()
 
 #ifdef STEPPER_TEST
     //create task for stepper testing
-    xTaskCreate(task_stepper, "task_stepper-test", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
+    xTaskCreate(task_stepper_test, "task_stepper-test", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
 #else
     //create task for controlling the machine
     xTaskCreate(task_control, "task_control", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
+
     //create task for handling the buzzer
     xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
 #endif