Fix variable scopes (static), Simplify encoder

- add static type to all local variables in every source file
  so the scope of each variable is limited to that file.
  This prevents conflicting variable names with other source file
  (e.g. 'state' variable in vfd.cpp)

- simplify encoder concept
  wrap all used functions from rotary_encoder.h library in
  custom encoder.hpp file
   -> only one file has to be included where encoder is used
   -> global variable 'encoder' is not necessary anymore
   -> reduces duplicate code for length calculation
- update all files where encoder functions where used accordingly

main/control.cpp

@@ -9,29 +9,23 @@ static const char *TAG = "control"; //tag for logging
 
 const char* systemStateStr[7] = {"COUNTING", "WINDING_START", "WINDING", "TARGET_REACHED", "AUTO_CUT_WAITING", "CUTTING", "MANUAL"};
 systemState_t controlState = systemState_t::COUNTING;
-uint32_t timestamp_changedState = 0;
+static uint32_t timestamp_changedState = 0;
 
-char buf_disp[20]; //both displays
+static char buf_disp1[10];// 8 digits + decimal point + \0
-char buf_disp1[10];// 8 digits + decimal point + \0
+static char buf_disp2[10];// 8 digits + decimal point + \0
-char buf_disp2[10];// 8 digits + decimal point + \0
+static char buf_tmp[15];
-char buf_tmp[15];
 
-rotary_encoder_state_t encoderState;
+static int lengthNow = 0; //length measured in mm
-
+static int lengthTarget = 5000; //default target length in mm
-int lengthNow = 0; //length measured in mm
+static int lengthRemaining = 0; //(target - now) length needed for reaching the target
-int lengthTarget = 5000; //default target length in mm
+static int potiRead = 0; //voltage read from adc
-int lengthRemaining = 0; //(target - now) length needed for reaching the target
+static uint32_t timestamp_motorStarted = 0; //timestamp winding started
-int potiRead = 0; //voltage read from adc
-uint32_t timestamp_motorStarted = 0; //timestamp winding started
                                      
-//encoder test / calibration
-int lengthBeeped = 0; //only beep once per meter during encoder test
-                      
 //automatic cut
-int cut_msRemaining = 0;
+static int cut_msRemaining = 0;
-uint32_t timestamp_cut_lastBeep = 0;
+static uint32_t timestamp_cut_lastBeep = 0;
-uint32_t autoCut_delayMs = 2500; //TODO add this to config
+static uint32_t autoCut_delayMs = 2500; //TODO add this to config
-bool autoCutEnabled = false; //store state of toggle switch (no hotswitch)
+static bool autoCutEnabled = false; //store state of toggle switch (no hotswitch)
 
 
 //===== change State =====
@@ -153,10 +147,8 @@ void task_control(void *pvParameter)
         //----------------------------
         //------ rotary encoder ------
         //----------------------------
-        // Poll current position and direction
+        //--- get current length since last reset ---
-        rotary_encoder_get_state(&encoder, &encoderState);
+        lengthNow = encoder_getLenMm();
-        //--- calculate distance ---
-        lengthNow = (float)encoderState.position * 1000 / ENCODER_STEPS_PER_METER;
 
 
         //---------------------------
@@ -166,7 +158,7 @@ void task_control(void *pvParameter)
         if (SW_RESET.risingEdge) {
             //dont reset when press used for stopping pending auto-cut
             if (controlState != systemState_t::AUTO_CUT_WAITING) {
-                rotary_encoder_reset(&encoder);
+                encoder_reset();
                 lengthNow = 0;
                 buzzer.beep(1, 700, 100);
                 displayTop.blink(2, 100, 100, "1ST     ");
@@ -371,7 +363,7 @@ void task_control(void *pvParameter)
                     //TODO stop if start buttons released?
                     changeState(systemState_t::COUNTING);
                     //TODO reset automatically or wait for manual reset?
-                    rotary_encoder_reset(&encoder);
+                    encoder_reset();
                     lengthNow = 0;
                     buzzer.beep(1, 700, 100);
                 }
@@ -417,7 +409,7 @@ void task_control(void *pvParameter)
         displayTop.handle();
         displayBot.handle();
         //-- show encoder steps on display1 ---
-        sprintf(buf_disp1, "EN %05d", encoderState.position); //count
+        sprintf(buf_disp1, "EN %05d", encoder_getSteps); //count
         displayTop.showString(buf_disp1);
         //--- show converted distance on display2 ---
         sprintf(buf_disp2, "Met %5.3f", (float)lengthNow/1000); //m

main/control.hpp

@@ -10,7 +10,6 @@ extern "C"
 #include "esp_log.h"
 #include "driver/adc.h"
 
-#include "rotary_encoder.h"
 #include "max7219.h"
 
 }

main/cutter.cpp

@@ -15,9 +15,9 @@ bool checkTimeout();
 //---------------------------
 //----- local variables -----
 //---------------------------
-cutter_state_t cutter_state = cutter_state_t::IDLE;
+static cutter_state_t cutter_state = cutter_state_t::IDLE;
-uint32_t timestamp_turnedOn;
+static uint32_t timestamp_turnedOn;
-uint32_t msTimeout = 3000;
+static uint32_t msTimeout = 3000;
 static const char *TAG = "cutter"; //tag for logging
 
 

main/encoder.cpp

@@ -3,6 +3,8 @@ extern "C" {
 #include <freertos/task.h>
 #include "esp_system.h"
 #include "esp_log.h"
+
+#include "rotary_encoder.h"
 }
 
 #include "encoder.hpp"
@@ -11,29 +13,55 @@ extern "C" {
 //----------------------------
 //----- global variables -----
 //----------------------------
-rotary_encoder_info_t encoder; //encoder device/info
+static rotary_encoder_info_t encoder; //encoder device/info
 QueueHandle_t encoder_queue = NULL; //encoder event queue
 
 
 //-------------------------
 //------- functions -------
 //-------------------------
-//--- init_encoder ---
+//--- encoder_init ---
 //initialize encoder and return event queue
-QueueHandle_t init_encoder(rotary_encoder_info_t * info){
+QueueHandle_t encoder_init(){
     // 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_init(&encoder, ROT_ENC_A_GPIO, ROT_ENC_B_GPIO));
-    ESP_ERROR_CHECK(rotary_encoder_enable_half_steps(info, ENABLE_HALF_STEPS));
+    ESP_ERROR_CHECK(rotary_encoder_enable_half_steps(&encoder, ENABLE_HALF_STEPS));
 #ifdef FLIP_DIRECTION
-    ESP_ERROR_CHECK(rotary_encoder_flip_direction(info));
+    ESP_ERROR_CHECK(rotary_encoder_flip_direction(&encoder));
 #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));
+    ESP_ERROR_CHECK(rotary_encoder_set_queue(&encoder, event_queue));
     return event_queue;
 }
+
+
+//--- encoder_getSteps ---
+//get steps counted since last reset
+int encoder_getSteps(){
+    // Poll current position and direction
+    rotary_encoder_state_t encoderState;
+    rotary_encoder_get_state(&encoder, &encoderState);
+    //calculate total distance since last reset
+    return encoderState.position; 
+}
+
+
+//--- encoder_getLenMm ---
+//get current length in Mm since last reset
+int encoder_getLenMm(){
+    return (float)encoder_getSteps() * 1000 / ENCODER_STEPS_PER_METER; 
+}
+
+
+//--- encoder_reset ---
+//reset counted steps / length to 0
+void encoder_reset(){
+    rotary_encoder_reset(&encoder);
+    return;
+}    

main/encoder.hpp

@@ -1,6 +1,8 @@
+/* in this file all used functions from original rotary_encoder.h library are wrapped with custom functions to reduce global variables and duplicate code
+*/
+//TODO create a cpp class for an encoder?
 #pragma once
 extern "C" {
-#include "rotary_encoder.h"
 #include <freertos/task.h>
 }
 
@@ -10,11 +12,29 @@ extern "C" {
 //----------------------------
 //----- global variables -----
 //----------------------------
-extern rotary_encoder_info_t encoder; //encoder device/info
+//TODO ignore global encoder queue, since it is not used?
 extern QueueHandle_t encoder_queue; //encoder event queue
 
 
-//------------------------
+//-------------------------
-//----- init encoder -----
+//------- functions -------
-//------------------------
+//-------------------------
-QueueHandle_t init_encoder(rotary_encoder_info_t * info);
+
+//--- encoder_init ---
+//init encoder
+QueueHandle_t encoder_init();
+
+//--- encoder_getSteps ---
+//get steps counted since last reset
+int encoder_getSteps();
+
+
+//--- encoder_getLenMm ---
+//get current length in Mm since last reset
+int encoder_getLenMm();
+
+
+    
+//--- encoder_reset ---
+//reset counted steps / length to 0
+void encoder_reset();

main/main.cpp

@@ -79,7 +79,7 @@ extern "C" void app_main()
     gpio_set_level(GPIO_NUM_17, 1);
 
     //init encoder (global)
-    encoder_queue = init_encoder(&encoder);
+    encoder_queue = encoder_init();
     
     //define loglevel
     esp_log_level_set("*", ESP_LOG_INFO);
@@ -95,6 +95,9 @@ extern "C" void app_main()
     //create task for controlling the machine
     xTaskCreate(task_control, "task_control", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
 
+    //create task for controlling the stepper
+    xTaskCreate(task_stepper_ctl, "task_stepper-test", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
+
     //create task for handling the buzzer
     xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
 #endif

main/vfd.cpp

@@ -4,9 +4,9 @@
 
 const char* vfd_directionStr[2] = {"FWD", "REV"};
 static const char *TAG = "vfd";
-uint8_t level = 0; //current speed level
+static uint8_t level = 0; //current speed level
-bool state = false; //current state
+static bool state = false; //current state
-vfd_direction_t direction = FWD; //current direction
+static vfd_direction_t direction = FWD; //current direction
 
 
 //=============================