Add rotary encoder test

for testing the rotary encoder the count is displayed on the 7 segment display
(1 rotation = 600)

main/main.c

@@ -2,25 +2,66 @@
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
 #include <esp_idf_version.h>
+#include "freertos/queue.h"
+#include "esp_system.h"
+#include "esp_log.h"
+
 #include <max7219.h>
+#include "rotary_encoder.h"
 
-#ifndef APP_CPU_NUM
+//--------------------------
-#define APP_CPU_NUM PRO_CPU_NUM
+//----- display config -----
-#endif
+//--------------------------
-
 #if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(4, 0, 0)
 #define HOST    HSPI_HOST
 #else
 #define HOST    SPI2_HOST
 #endif
-
 #define DISPLAY_PIN_NUM_MOSI 23
 #define DISPLAY_PIN_NUM_CLK 18
 #define DISPLAY_PIN_NUM_CS 21
 #define DISPLAY_DELAY 2000
 
+//--------------------------
+//----- encoder config -----
+//--------------------------
+#define TAG "app"
+#define ROT_ENC_A_GPIO 16
+#define ROT_ENC_B_GPIO 17
+#define ENABLE_HALF_STEPS false  // Set to true to enable tracking of rotary encoder at half step resolution
+#define FLIP_DIRECTION    false  // Set to true to reverse the clockwise/counterclockwise sense
+
+
+
+
 void task(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 = { 0 };
+    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 = {
        .mosi_io_num = DISPLAY_PIN_NUM_MOSI,
@@ -41,14 +82,60 @@ void task(void *pvParameter)
     };
     ESP_ERROR_CHECK(max7219_init_desc(&dev, HOST, MAX7219_MAX_CLOCK_SPEED_HZ, DISPLAY_PIN_NUM_CS));
 
-    char buf[10]; // 8 digits + decimal point + \0
-
     ESP_ERROR_CHECK(max7219_init(&dev));
 
-    float count = 0;
 
-    while (1)
+    char buf[10]; // 8 digits + decimal point + \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 = { 0 };
+            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");
+
+
+                //--- show current position on display ---
+                sprintf(buf, "%08d", event.state.position);
+                //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 = { 0 };
+                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);
@@ -61,30 +148,32 @@ void task(void *pvParameter)
 //        printf("text");
 //        vTaskDelay(pdMS_TO_TICKS(DISPLAY_DELAY));
 //
-
+//
-        if (count > 20){
+//        if (count > 20){
-            count = 0;
+//            count = 0;
-        } else {
+//        } else {
-            count += 0.005;
+//            count += 0.005;
-        }
+//        }
-
+//
-        sprintf(buf, "%06.3f m", count);
+//        sprintf(buf, "%06.3f m", count);
-        //printf("float num\n");
+//        //printf("float num\n");
-        max7219_clear(&dev);
+//        max7219_clear(&dev);
-        max7219_draw_text_7seg(&dev, 0, buf);
+//        max7219_draw_text_7seg(&dev, 0, buf);
-        vTaskDelay(pdMS_TO_TICKS(10));
+//        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));
-    }
+
-}
+
+//    }
+//}
 
 void app_main()
 {
-    xTaskCreatePinnedToCore(task, "task", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL, APP_CPU_NUM);
+    xTaskCreate(task, "task", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
 }