ac4ca5450a
- 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
68 lines
2.0 KiB
C++
68 lines
2.0 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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//----------------------------
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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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//--- encoder_init ---
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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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//--- encoder_getSteps ---
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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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//--- encoder_getLenMm ---
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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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//--- encoder_reset ---
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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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