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Use rotary module in RIOT

master
Marc Poulhiès 6 years ago
parent
9ef4de1d39
commit
bffbf6abdb
2 changed files with 162 additions and 112 deletions
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  1. 1
      Makefile
  2. 273
      main.c

1
Makefile
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@ -9,6 +9,7 @@ USEMODULE += ps
USEMODULE += xtimer
USEMODULE += nrf24l01p
USEMODULE += servo
USEMODULE += rotary_encoder
# set default device parameters in case they are undefined
NRF_SPI_PORT ?= SPI_0

273
main.c
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@ -129,71 +129,24 @@ static const shell_command_t shell_commands[] = {
#include "rotary.h"
#if 0
// No complete step yet.
#define DIR_NONE 0x0
// Clockwise step.
#define DIR_CW 0x10
// Anti-clockwise step.
#define DIR_CCW 0x20
#define R_START 0x0
//#define HALF_STEP 1
#ifdef HALF_STEP
// Use the half-step state table (emits a code at 00 and 11)
#define R_CCW_BEGIN 0x1
#define R_CW_BEGIN 0x2
#define R_START_M 0x3
#define R_CW_BEGIN_M 0x4
#define R_CCW_BEGIN_M 0x5
const unsigned char ttable[6][4] = {
// R_START (00)
{R_START_M, R_CW_BEGIN, R_CCW_BEGIN, R_START},
// R_CCW_BEGIN
{R_START_M | DIR_CCW, R_START, R_CCW_BEGIN, R_START},
// R_CW_BEGIN
{R_START_M | DIR_CW, R_CW_BEGIN, R_START, R_START},
// R_START_M (11)
{R_START_M, R_CCW_BEGIN_M, R_CW_BEGIN_M, R_START},
// R_CW_BEGIN_M
{R_START_M, R_START_M, R_CW_BEGIN_M, R_START | DIR_CW},
// R_CCW_BEGIN_M
{R_START_M, R_CCW_BEGIN_M, R_START_M, R_START | DIR_CCW},
};
#else
// Use the full-step state table (emits a code at 00 only)
#define R_CW_FINAL 0x1
#define R_CW_BEGIN 0x2
#define R_CW_NEXT 0x3
#define R_CCW_BEGIN 0x4
#define R_CCW_FINAL 0x5
#define R_CCW_NEXT 0x6
const unsigned char ttable[7][4] = {
// R_START
{R_START, R_CW_BEGIN, R_CCW_BEGIN, R_START},
// R_CW_FINAL
{R_CW_NEXT, R_START, R_CW_FINAL, R_START | DIR_CW},
// R_CW_BEGIN
{R_CW_NEXT, R_CW_BEGIN, R_START, R_START},
// R_CW_NEXT
{R_CW_NEXT, R_CW_BEGIN, R_CW_FINAL, R_START},
// R_CCW_BEGIN
{R_CCW_NEXT, R_START, R_CCW_BEGIN, R_START},
// R_CCW_FINAL
{R_CCW_NEXT, R_CCW_FINAL, R_START, R_START | DIR_CCW},
// R_CCW_NEXT
{R_CCW_NEXT, R_CCW_FINAL, R_CCW_BEGIN, R_START},
};
#endif
/* #if 0 */
/* // No complete step yet. */
/* #define DIR_NONE 0x0 */
/* // Clockwise step. */
/* #define DIR_CW 0x10 */
/* // Anti-clockwise step. */
/* #define DIR_CCW 0x20 */
/* #define R_START 0x0 */
/* #define R_CCW_BEGIN 0x1 */
/* #define R_CW_BEGIN 0x2 */
/* #define R_START_M 0x3 */
/* #define R_CW_BEGIN_M 0x4 */
/* //#define HALF_STEP 1 */
/* #ifdef HALF_STEP */
/* // Use the half-step state table (emits a code at 00 and 11) */
/* #define R_CCW_BEGIN 0x1 */
/* #define R_CW_BEGIN 0x2 */
/* #define R_START_M 0x3 */
/* #define R_CW_BEGIN_M 0x4 */
/* #define R_CCW_BEGIN_M 0x5 */
/* const unsigned char ttable[6][4] = { */
/* // R_START (00) */
@ -209,58 +162,107 @@ const unsigned char ttable[7][4] = {
/* // R_CCW_BEGIN_M */
/* {R_START_M, R_CCW_BEGIN_M, R_START_M, R_START | DIR_CCW}, */
/* }; */
#endif /* 0 */
unsigned int state = R_START;
/* #else */
/* // Use the full-step state table (emits a code at 00 only) */
/* #define R_CW_FINAL 0x1 */
/* #define R_CW_BEGIN 0x2 */
/* #define R_CW_NEXT 0x3 */
/* #define R_CCW_BEGIN 0x4 */
/* #define R_CCW_FINAL 0x5 */
/* #define R_CCW_NEXT 0x6 */
/* const unsigned char ttable[7][4] = { */
/* // R_START */
/* {R_START, R_CW_BEGIN, R_CCW_BEGIN, R_START}, */
/* // R_CW_FINAL */
/* {R_CW_NEXT, R_START, R_CW_FINAL, R_START | DIR_CW}, */
/* // R_CW_BEGIN */
/* {R_CW_NEXT, R_CW_BEGIN, R_START, R_START}, */
/* // R_CW_NEXT */
/* {R_CW_NEXT, R_CW_BEGIN, R_CW_FINAL, R_START}, */
/* // R_CCW_BEGIN */
/* {R_CCW_NEXT, R_START, R_CCW_BEGIN, R_START}, */
/* // R_CCW_FINAL */
/* {R_CCW_NEXT, R_CCW_FINAL, R_START, R_START | DIR_CCW}, */
/* // R_CCW_NEXT */
/* {R_CCW_NEXT, R_CCW_FINAL, R_CCW_BEGIN, R_START}, */
/* }; */
/* #endif */
/* /\* #define R_START 0x0 *\/ */
/* /\* #define R_CCW_BEGIN 0x1 *\/ */
/* /\* #define R_CW_BEGIN 0x2 *\/ */
/* /\* #define R_START_M 0x3 *\/ */
/* /\* #define R_CW_BEGIN_M 0x4 *\/ */
/* /\* #define R_CCW_BEGIN_M 0x5 *\/ */
/* /\* const unsigned char ttable[6][4] = { *\/ */
/* /\* // R_START (00) *\/ */
/* /\* {R_START_M, R_CW_BEGIN, R_CCW_BEGIN, R_START}, *\/ */
/* /\* // R_CCW_BEGIN *\/ */
/* /\* {R_START_M | DIR_CCW, R_START, R_CCW_BEGIN, R_START}, *\/ */
/* /\* // R_CW_BEGIN *\/ */
/* /\* {R_START_M | DIR_CW, R_CW_BEGIN, R_START, R_START}, *\/ */
/* /\* // R_START_M (11) *\/ */
/* /\* {R_START_M, R_CCW_BEGIN_M, R_CW_BEGIN_M, R_START}, *\/ */
/* /\* // R_CW_BEGIN_M *\/ */
/* /\* {R_START_M, R_START_M, R_CW_BEGIN_M, R_START | DIR_CW}, *\/ */
/* /\* // R_CCW_BEGIN_M *\/ */
/* /\* {R_START_M, R_CCW_BEGIN_M, R_START_M, R_START | DIR_CCW}, *\/ */
/* /\* }; *\/ */
/* #endif /\* 0 *\/ */
/* unsigned int state = R_START; */
void rotary_cb(void *unused) {
unsigned int b1_v = gpio_read(ROTARY_PIN1) ? 1 : 0;
unsigned int b2_v = gpio_read(ROTARY_PIN2) ? 1 : 0;
#if ENABLE_SERVO
int dir = 0;
#endif
}
/* unsigned int b1_v = gpio_read(ROTARY_PIN1) ? 1 : 0; */
/* unsigned int b2_v = gpio_read(ROTARY_PIN2) ? 1 : 0; */
/* #if ENABLE_SERVO */
/* int dir = 0; */
/* #endif */
unsigned char pinstate = ( b1_v? 2 : 0) | (b2_v ? 1 : 0);
/* unsigned char pinstate = ( b1_v? 2 : 0) | (b2_v ? 1 : 0); */
/* printf("state %d pinstate : %x, b1 %d b2 %d\n", state, pinstate, b1_v, b2_v); */
state = ttable[state & 0xf][pinstate];
switch(state & 0x30){
case DIR_CCW:
printf("CCW\n");
#if ENABLE_SERVO
dir=1;
#endif
break;
case DIR_CW:
printf("CW\n");
#if ENABLE_SERVO
dir=-1;
#endif
break;
case DIR_NONE:
default:
break;
}
#if ENABLE_SERVO
if(dir){
current_pulse += (dir * 10);
printf("curr %d\n", current_pulse);
if (current_pulse >= 1000 && current_pulse <= 2000){
// scale back servo value in our range
unsigned long long tmp = MS_TO_SERVO(current_pulse);
printf("Scaled : %lx\n", (unsigned long)tmp);
servo_set(&servo1, tmp);
}
}
#endif
}
/* /\* printf("state %d pinstate : %x, b1 %d b2 %d\n", state, pinstate, b1_v, b2_v); *\/ */
/* state = ttable[state & 0xf][pinstate]; */
/* switch(state & 0x30){ */
/* case DIR_CCW: */
/* printf("CCW\n"); */
/* #if ENABLE_SERVO */
/* dir=1; */
/* #endif */
/* break; */
/* case DIR_CW: */
/* printf("CW\n"); */
/* #if ENABLE_SERVO */
/* dir=-1; */
/* #endif */
/* break; */
/* case DIR_NONE: */
/* default: */
/* break; */
/* } */
/* #if ENABLE_SERVO */
/* if(dir){ */
/* current_pulse += (dir * 10); */
/* printf("curr %d\n", current_pulse); */
/* if (current_pulse >= 1000 && current_pulse <= 2000){ */
/* // scale back servo value in our range */
/* unsigned long long tmp = MS_TO_SERVO(current_pulse); */
/* printf("Scaled : %lx\n", (unsigned long)tmp); */
/* servo_set(&servo1, tmp); */
/* } */
/* } */
/* #endif */
/* } */
#endif /* ENABLE_ROTARY */
@ -457,6 +459,40 @@ void *ws2812_thread(void *arg){
}
#endif /* ENABLE_WS2812 */
#ifdef ENABLE_ROTARY
char rotary_thread_stack[THREAD_STACKSIZE_MAIN];
rotary_t rotarydev;
/* RX handler that waits for a message from the ISR */
void *rotary_thread(void *arg){
msg_t msg_q[1];
msg_init_queue(msg_q, 1);
unsigned int pid = thread_getpid();
puts("Registering rotary_handler thread...");
rotary_register(&rotarydev, pid);
msg_t m;
while (msg_receive(&m)) {
puts("rotary Received msg.");
switch (m.type) {
case ROTARY_EVT:
if (m.content.value == DIR_CW){
puts("DIR CW\n");
} else {
puts("DIR CCW\n");
}
break;
default:
break;
}
}
return NULL;
}
#endif
#ifdef ENABLE_NRF_COMM
char rx_handler_stack[THREAD_STACKSIZE_MAIN];
@ -1073,6 +1109,7 @@ int main(void)
gpio_init_int(rot_pin, GPIO_PULLUP, GPIO_BOTH, test_cb, &rot_but_arg);
#endif
#ifdef ENABLE_SEND_LED
gpio_init(led, GPIO_DIR_OUT, GPIO_NOPULL);
gpio_clear(led);
@ -1082,13 +1119,25 @@ int main(void)
#ifdef ENABLE_NRF_COMM
cmd_uber_setup(0, NULL);
#endif
puts("HEYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYY\n");
//shell_run(shell_commands, line_buf, SHELL_DEFAULT_BUFSIZE);
#ifdef ENABLE_ROTARY
gpio_init_int(ROTARY_PIN1, GPIO_PULLUP, GPIO_BOTH, rotary_cb, NULL);
#if 0
gpio_init_int(ROTARY_PIN1, GPIO_PULLUP, GPIO_BOTH, rotary_cb, NULL);
gpio_init_int(ROTARY_PIN2, GPIO_PULLUP, GPIO_BOTH, rotary_cb, NULL); //GPIO_DIR_IN, GPIO_PULLUP);
#else
rotary_init(&rotarydev, ROTARY_PIN1, ROTARY_PIN2);
if (thread_create(
rotary_thread_stack, sizeof(rotary_thread_stack), THREAD_PRIORITY_MAIN - 1, 0,
rotary_thread, 0, "rotary_thread") < 0) {
puts("Error in thread_create for rotary");
return 1;
}
#endif
#endif
#ifdef ENABLE_RES_LADDER
adc_init(RES_LADDER_ADC, 10);

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