76 lines
2.2 KiB
C++
76 lines
2.2 KiB
C++
#include "encoder.hpp"
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#include "defines.h"
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#include "driver/gpio.h"
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#include "esp_log.h"
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#include "esp_pm.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "esp_sleep.h"
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#include "soc/gpio_struct.h" // <--- REQUIRED for GPIO.in.val
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volatile int32_t encoder_count = 0;
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static const char *TAG = "ENCODER_DEMO";
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// --- THE SAFE ISR (RAM ONLY) ---
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static void IRAM_ATTR encoder_isr_handler(void* arg)
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{
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static uint8_t last_state_a = 0;
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static uint8_t last_state_b = 0;
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static int8_t last_count_base = 0;
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// READ HARDWARE DIRECTLY: This effectively bypasses the Flash crash risk
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uint32_t gpio_levels = GPIO.in.val;
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uint8_t current_a = (gpio_levels >> ENCODER_PIN_A) & 0x1;
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uint8_t current_b = (gpio_levels >> ENCODER_PIN_B) & 0x1;
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// LOGIC
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if (current_a != last_state_a) {
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if (!current_a) {
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if (current_b) last_count_base++;
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else last_count_base--;
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}
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else {
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if (current_b) last_count_base--;
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else last_count_base++;
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}
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}
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else if (current_b != last_state_b) {
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if (!current_b) {
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if (current_a) last_count_base--;
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else last_count_base++;
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}
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else {
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if (current_a) last_count_base++;
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else last_count_base--;
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}
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}
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if (last_count_base > 3) {
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encoder_count += 1;
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last_count_base -= 4;
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}
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else if (last_count_base < 0) {
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encoder_count -= 1;
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last_count_base += 4;
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}
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last_state_a = current_a;
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last_state_b = current_b;
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}
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void encoder_init(void)
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{
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gpio_config_t io_conf = {};
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io_conf.intr_type = GPIO_INTR_ANYEDGE;
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io_conf.pin_bit_mask = (1ULL << ENCODER_PIN_A) | (1ULL << ENCODER_PIN_B);
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io_conf.mode = GPIO_MODE_INPUT;
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// Internal Pull-ups prevent "floating" inputs waking the chip randomly
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io_conf.pull_up_en = GPIO_PULLUP_ENABLE;
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io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE;
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gpio_config(&io_conf);
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gpio_install_isr_service(ESP_INTR_FLAG_IRAM); // IRAM is vital for Sleep
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gpio_isr_handler_add(ENCODER_PIN_A, encoder_isr_handler, NULL);
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gpio_isr_handler_add(ENCODER_PIN_B, encoder_isr_handler, NULL);
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ESP_LOGI(TAG, "Encoder initialized with Sleep Wakeup support.");
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} |