1d4e83a2ea
shutdown:
- add functions to read/write last encoder steps from nvs
- store encoder steps at shutdown
guide:
- add function to calculate layer count from cable length
- read last encoder-steps at startup
- if length >2m calculate layers, dont home
- home at move-to-zero when not done at startup
encoder library:
- add function to set encoder steps
control:
- read last encoder-steps at startup
- apply last steps if >2m
89 lines
2.4 KiB
C++
89 lines
2.4 KiB
C++
extern "C" {
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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#include "esp_system.h"
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#include "esp_log.h"
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#include "rotary_encoder.h"
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}
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#include "encoder.hpp"
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#include "config.h"
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#include "global.hpp"
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//----------------------------
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//----- global variables -----
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//----------------------------
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static rotary_encoder_info_t encoder; //encoder device/info
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QueueHandle_t encoder_queue = NULL; //encoder event queue
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//-------------------------
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//------- functions -------
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//-------------------------
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//======================
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//==== encoder_init ====
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//======================
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//initialize encoder and return event queue
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QueueHandle_t encoder_init(){
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// esp32-rotary-encoder requires that the GPIO ISR service is installed before calling rotary_encoder_register()
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ESP_ERROR_CHECK(gpio_install_isr_service(0));
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// Initialise the rotary encoder device with the GPIOs for A and B signals
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ESP_ERROR_CHECK(rotary_encoder_init(&encoder, ROT_ENC_A_GPIO, ROT_ENC_B_GPIO));
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ESP_ERROR_CHECK(rotary_encoder_enable_half_steps(&encoder, ENABLE_HALF_STEPS));
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#ifdef FLIP_DIRECTION
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ESP_ERROR_CHECK(rotary_encoder_flip_direction(&encoder));
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#endif
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// Create a queue for events from the rotary encoder driver.
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// Tasks can read from this queue to receive up to date position information.
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QueueHandle_t event_queue = rotary_encoder_create_queue();
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ESP_ERROR_CHECK(rotary_encoder_set_queue(&encoder, event_queue));
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return event_queue;
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}
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//========================
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//=== encoder_getSteps ===
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//========================
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//get steps counted since last reset
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int encoder_getSteps(){
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// Poll current position and direction
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rotary_encoder_state_t encoderState;
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rotary_encoder_get_state(&encoder, &encoderState);
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//calculate total distance since last reset
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return encoderState.position;
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}
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//========================
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//=== encoder_getLenMm ===
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//========================
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//get current length in Mm since last reset
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int encoder_getLenMm(){
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return (float)encoder_getSteps() * 1000 / ENCODER_STEPS_PER_METER;
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}
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//=======================
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//==== encoder_reset ====
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//=======================
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//reset counted steps / length to 0
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void encoder_reset(){
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rotary_encoder_reset(&encoder);
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return;
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}
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//========================
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//==== encoder_setPos ====
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//========================
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//set encoder position to certain Steps
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void encoder_setPos(uint32_t posNew){
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rotary_encoder_set_position(&encoder, posNew);
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return;
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}
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