5dd392586d
To be able to use the encoder in future stepper task as well - make certain variables global - initialize encoder in main - outsorce encoder functions in encoder.cpp / h - adjust config
40 lines
1.3 KiB
C++
40 lines
1.3 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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}
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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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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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//--- init_encoder ---
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//initialize encoder and return event queue
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QueueHandle_t init_encoder(rotary_encoder_info_t * info){
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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(info, ROT_ENC_A_GPIO, ROT_ENC_B_GPIO));
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ESP_ERROR_CHECK(rotary_encoder_enable_half_steps(info, ENABLE_HALF_STEPS));
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#ifdef FLIP_DIRECTION
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ESP_ERROR_CHECK(rotary_encoder_flip_direction(info));
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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(info, event_queue));
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return event_queue;
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}
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