Use rotary module in RIOT
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9ef4de1d39
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1
Makefile
1
Makefile
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@ -9,6 +9,7 @@ USEMODULE += ps
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USEMODULE += xtimer
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USEMODULE += nrf24l01p
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USEMODULE += servo
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USEMODULE += rotary_encoder
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# set default device parameters in case they are undefined
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NRF_SPI_PORT ?= SPI_0
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271
main.c
271
main.c
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@ -129,71 +129,24 @@ static const shell_command_t shell_commands[] = {
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#include "rotary.h"
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#if 0
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// No complete step yet.
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#define DIR_NONE 0x0
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// Clockwise step.
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#define DIR_CW 0x10
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// Anti-clockwise step.
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#define DIR_CCW 0x20
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#define R_START 0x0
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//#define HALF_STEP 1
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#ifdef HALF_STEP
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// Use the half-step state table (emits a code at 00 and 11)
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#define R_CCW_BEGIN 0x1
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#define R_CW_BEGIN 0x2
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#define R_START_M 0x3
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#define R_CW_BEGIN_M 0x4
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#define R_CCW_BEGIN_M 0x5
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const unsigned char ttable[6][4] = {
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// R_START (00)
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{R_START_M, R_CW_BEGIN, R_CCW_BEGIN, R_START},
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// R_CCW_BEGIN
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{R_START_M | DIR_CCW, R_START, R_CCW_BEGIN, R_START},
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// R_CW_BEGIN
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{R_START_M | DIR_CW, R_CW_BEGIN, R_START, R_START},
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// R_START_M (11)
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{R_START_M, R_CCW_BEGIN_M, R_CW_BEGIN_M, R_START},
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// R_CW_BEGIN_M
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{R_START_M, R_START_M, R_CW_BEGIN_M, R_START | DIR_CW},
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// R_CCW_BEGIN_M
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{R_START_M, R_CCW_BEGIN_M, R_START_M, R_START | DIR_CCW},
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};
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#else
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// Use the full-step state table (emits a code at 00 only)
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#define R_CW_FINAL 0x1
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#define R_CW_BEGIN 0x2
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#define R_CW_NEXT 0x3
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#define R_CCW_BEGIN 0x4
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#define R_CCW_FINAL 0x5
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#define R_CCW_NEXT 0x6
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const unsigned char ttable[7][4] = {
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// R_START
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{R_START, R_CW_BEGIN, R_CCW_BEGIN, R_START},
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// R_CW_FINAL
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{R_CW_NEXT, R_START, R_CW_FINAL, R_START | DIR_CW},
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// R_CW_BEGIN
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{R_CW_NEXT, R_CW_BEGIN, R_START, R_START},
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// R_CW_NEXT
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{R_CW_NEXT, R_CW_BEGIN, R_CW_FINAL, R_START},
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// R_CCW_BEGIN
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{R_CCW_NEXT, R_START, R_CCW_BEGIN, R_START},
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// R_CCW_FINAL
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{R_CCW_NEXT, R_CCW_FINAL, R_START, R_START | DIR_CCW},
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// R_CCW_NEXT
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{R_CCW_NEXT, R_CCW_FINAL, R_CCW_BEGIN, R_START},
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};
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#endif
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/* #if 0 */
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/* // No complete step yet. */
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/* #define DIR_NONE 0x0 */
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/* // Clockwise step. */
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/* #define DIR_CW 0x10 */
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/* // Anti-clockwise step. */
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/* #define DIR_CCW 0x20 */
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/* #define R_START 0x0 */
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/* #define R_CCW_BEGIN 0x1 */
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/* #define R_CW_BEGIN 0x2 */
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/* #define R_START_M 0x3 */
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/* #define R_CW_BEGIN_M 0x4 */
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/* //#define HALF_STEP 1 */
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/* #ifdef HALF_STEP */
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/* // Use the half-step state table (emits a code at 00 and 11) */
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/* #define R_CCW_BEGIN 0x1 */
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/* #define R_CW_BEGIN 0x2 */
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/* #define R_START_M 0x3 */
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/* #define R_CW_BEGIN_M 0x4 */
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/* #define R_CCW_BEGIN_M 0x5 */
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/* const unsigned char ttable[6][4] = { */
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/* // R_START (00) */
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@ -209,58 +162,107 @@ const unsigned char ttable[7][4] = {
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/* // R_CCW_BEGIN_M */
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/* {R_START_M, R_CCW_BEGIN_M, R_START_M, R_START | DIR_CCW}, */
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/* }; */
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/* #else */
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/* // Use the full-step state table (emits a code at 00 only) */
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/* #define R_CW_FINAL 0x1 */
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/* #define R_CW_BEGIN 0x2 */
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/* #define R_CW_NEXT 0x3 */
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/* #define R_CCW_BEGIN 0x4 */
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/* #define R_CCW_FINAL 0x5 */
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/* #define R_CCW_NEXT 0x6 */
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#endif /* 0 */
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/* const unsigned char ttable[7][4] = { */
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/* // R_START */
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/* {R_START, R_CW_BEGIN, R_CCW_BEGIN, R_START}, */
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/* // R_CW_FINAL */
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/* {R_CW_NEXT, R_START, R_CW_FINAL, R_START | DIR_CW}, */
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/* // R_CW_BEGIN */
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/* {R_CW_NEXT, R_CW_BEGIN, R_START, R_START}, */
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/* // R_CW_NEXT */
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/* {R_CW_NEXT, R_CW_BEGIN, R_CW_FINAL, R_START}, */
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/* // R_CCW_BEGIN */
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/* {R_CCW_NEXT, R_START, R_CCW_BEGIN, R_START}, */
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/* // R_CCW_FINAL */
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/* {R_CCW_NEXT, R_CCW_FINAL, R_START, R_START | DIR_CCW}, */
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/* // R_CCW_NEXT */
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/* {R_CCW_NEXT, R_CCW_FINAL, R_CCW_BEGIN, R_START}, */
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/* }; */
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/* #endif */
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unsigned int state = R_START;
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/* /\* #define R_START 0x0 *\/ */
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/* /\* #define R_CCW_BEGIN 0x1 *\/ */
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/* /\* #define R_CW_BEGIN 0x2 *\/ */
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/* /\* #define R_START_M 0x3 *\/ */
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/* /\* #define R_CW_BEGIN_M 0x4 *\/ */
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/* /\* #define R_CCW_BEGIN_M 0x5 *\/ */
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/* /\* const unsigned char ttable[6][4] = { *\/ */
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/* /\* // R_START (00) *\/ */
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/* /\* {R_START_M, R_CW_BEGIN, R_CCW_BEGIN, R_START}, *\/ */
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/* /\* // R_CCW_BEGIN *\/ */
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/* /\* {R_START_M | DIR_CCW, R_START, R_CCW_BEGIN, R_START}, *\/ */
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/* /\* // R_CW_BEGIN *\/ */
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/* /\* {R_START_M | DIR_CW, R_CW_BEGIN, R_START, R_START}, *\/ */
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/* /\* // R_START_M (11) *\/ */
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/* /\* {R_START_M, R_CCW_BEGIN_M, R_CW_BEGIN_M, R_START}, *\/ */
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/* /\* // R_CW_BEGIN_M *\/ */
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/* /\* {R_START_M, R_START_M, R_CW_BEGIN_M, R_START | DIR_CW}, *\/ */
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/* /\* // R_CCW_BEGIN_M *\/ */
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/* /\* {R_START_M, R_CCW_BEGIN_M, R_START_M, R_START | DIR_CCW}, *\/ */
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/* /\* }; *\/ */
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/* #endif /\* 0 *\/ */
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/* unsigned int state = R_START; */
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void rotary_cb(void *unused) {
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unsigned int b1_v = gpio_read(ROTARY_PIN1) ? 1 : 0;
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unsigned int b2_v = gpio_read(ROTARY_PIN2) ? 1 : 0;
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#if ENABLE_SERVO
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int dir = 0;
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#endif
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unsigned char pinstate = ( b1_v? 2 : 0) | (b2_v ? 1 : 0);
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/* printf("state %d pinstate : %x, b1 %d b2 %d\n", state, pinstate, b1_v, b2_v); */
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state = ttable[state & 0xf][pinstate];
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switch(state & 0x30){
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case DIR_CCW:
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printf("CCW\n");
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#if ENABLE_SERVO
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dir=1;
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#endif
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break;
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case DIR_CW:
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printf("CW\n");
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#if ENABLE_SERVO
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dir=-1;
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#endif
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break;
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case DIR_NONE:
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default:
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break;
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}
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#if ENABLE_SERVO
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if(dir){
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current_pulse += (dir * 10);
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printf("curr %d\n", current_pulse);
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if (current_pulse >= 1000 && current_pulse <= 2000){
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// scale back servo value in our range
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unsigned long long tmp = MS_TO_SERVO(current_pulse);
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printf("Scaled : %lx\n", (unsigned long)tmp);
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servo_set(&servo1, tmp);
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}
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}
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#endif
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}
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/* unsigned int b1_v = gpio_read(ROTARY_PIN1) ? 1 : 0; */
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/* unsigned int b2_v = gpio_read(ROTARY_PIN2) ? 1 : 0; */
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/* #if ENABLE_SERVO */
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/* int dir = 0; */
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/* #endif */
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/* unsigned char pinstate = ( b1_v? 2 : 0) | (b2_v ? 1 : 0); */
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/* /\* printf("state %d pinstate : %x, b1 %d b2 %d\n", state, pinstate, b1_v, b2_v); *\/ */
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/* state = ttable[state & 0xf][pinstate]; */
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/* switch(state & 0x30){ */
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/* case DIR_CCW: */
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/* printf("CCW\n"); */
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/* #if ENABLE_SERVO */
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/* dir=1; */
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/* #endif */
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/* break; */
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/* case DIR_CW: */
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/* printf("CW\n"); */
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/* #if ENABLE_SERVO */
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/* dir=-1; */
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/* #endif */
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/* break; */
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/* case DIR_NONE: */
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/* default: */
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/* break; */
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/* } */
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/* #if ENABLE_SERVO */
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/* if(dir){ */
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/* current_pulse += (dir * 10); */
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/* printf("curr %d\n", current_pulse); */
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/* if (current_pulse >= 1000 && current_pulse <= 2000){ */
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/* // scale back servo value in our range */
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/* unsigned long long tmp = MS_TO_SERVO(current_pulse); */
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/* printf("Scaled : %lx\n", (unsigned long)tmp); */
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/* servo_set(&servo1, tmp); */
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/* } */
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/* } */
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/* #endif */
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/* } */
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#endif /* ENABLE_ROTARY */
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@ -457,6 +459,40 @@ void *ws2812_thread(void *arg){
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}
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#endif /* ENABLE_WS2812 */
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#ifdef ENABLE_ROTARY
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char rotary_thread_stack[THREAD_STACKSIZE_MAIN];
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rotary_t rotarydev;
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/* RX handler that waits for a message from the ISR */
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void *rotary_thread(void *arg){
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msg_t msg_q[1];
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msg_init_queue(msg_q, 1);
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unsigned int pid = thread_getpid();
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puts("Registering rotary_handler thread...");
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rotary_register(&rotarydev, pid);
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msg_t m;
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while (msg_receive(&m)) {
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puts("rotary Received msg.");
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switch (m.type) {
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case ROTARY_EVT:
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if (m.content.value == DIR_CW){
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puts("DIR CW\n");
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} else {
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puts("DIR CCW\n");
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}
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break;
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default:
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break;
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}
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}
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return NULL;
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}
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#endif
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#ifdef ENABLE_NRF_COMM
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char rx_handler_stack[THREAD_STACKSIZE_MAIN];
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@ -1073,6 +1109,7 @@ int main(void)
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gpio_init_int(rot_pin, GPIO_PULLUP, GPIO_BOTH, test_cb, &rot_but_arg);
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#endif
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#ifdef ENABLE_SEND_LED
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gpio_init(led, GPIO_DIR_OUT, GPIO_NOPULL);
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gpio_clear(led);
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@ -1082,13 +1119,25 @@ int main(void)
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#ifdef ENABLE_NRF_COMM
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cmd_uber_setup(0, NULL);
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#endif
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puts("HEYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYY\n");
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//shell_run(shell_commands, line_buf, SHELL_DEFAULT_BUFSIZE);
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#ifdef ENABLE_ROTARY
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gpio_init_int(ROTARY_PIN1, GPIO_PULLUP, GPIO_BOTH, rotary_cb, NULL);
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#if 0
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gpio_init_int(ROTARY_PIN1, GPIO_PULLUP, GPIO_BOTH, rotary_cb, NULL);
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gpio_init_int(ROTARY_PIN2, GPIO_PULLUP, GPIO_BOTH, rotary_cb, NULL); //GPIO_DIR_IN, GPIO_PULLUP);
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#else
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rotary_init(&rotarydev, ROTARY_PIN1, ROTARY_PIN2);
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if (thread_create(
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rotary_thread_stack, sizeof(rotary_thread_stack), THREAD_PRIORITY_MAIN - 1, 0,
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rotary_thread, 0, "rotary_thread") < 0) {
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puts("Error in thread_create for rotary");
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return 1;
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}
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#endif
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#endif
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#ifdef ENABLE_RES_LADDER
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adc_init(RES_LADDER_ADC, 10);
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