#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 = 2;
dev.digits = 0;
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[20]; // 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
bool state = false; //store state of motor
//========================
//===== control task =====
//========================
void task_control(void *pvParameter)
{
//initialize display
display = init_display();
//initialize encoder
encoder_queue = init_encoder(&encoder);
//---- startup message ----
//display welcome message on 7 segment display
ESP_LOGI(TAG, "showing startup message...");
max7219_clear(&display);
max7219_draw_text_7seg(&display, 0, "CUTTER 20.08.2022");
// 1234567812 34 5678
vTaskDelay(pdMS_TO_TICKS(700));
for (int offset = 0; offset < 23; offset++) {
max7219_clear(&display);
char hello[23] = " HELL0 ";
max7219_draw_text_7seg(&display, 0, hello + (22 - offset) );
vTaskDelay(pdMS_TO_TICKS(50));
}
max7219_clear(&display);
sprintf(display_buf, "1ST 987.4");
max7219_draw_text_7seg(&display, 0, display_buf);
//===== loop =====
while(1){
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, "lvl: %02d", count);
// max7219_draw_text_7seg(&display, 0, display_buf);
// //count++;
// }
sprintf(display_buf, "S0LL 12.3");
max7219_draw_text_7seg(&display, 8, display_buf);
//testing: rotate through speed levels
if(SW_SET.risingEdge){
//rotate count 0-7
if (count >= 7){
count = 0;
} else {
count ++;
}
//set motor level
vfd_setSpeedLevel(count);
buzzer.beep(1, 100, 100);
}
//testing: toggle motor state
if(SW_START.risingEdge){
state = !state;
vfd_setState(state);
buzzer.beep(1, 500, 100);
}
}
}