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esp32-bldc-pwm.ino
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esp32-bldc-pwm.ino
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#define P0_LIN 25
#define P0_HIN 26
#define P1_LIN 32
#define P1_HIN 33
#define P2_LIN 14
#define P2_HIN 12
#define P_FLOAT 0
#define P_HI 1
#define P_LO 2
#define INDEX_CHANGE_MS 1
#define EYE_PIN 27
HardwareSerial &Debug = Serial;
const char *compileDate = __DATE__;
const char *compileTime = __TIME__;
const int commPattern[6][3] = {
{P_HI, P_LO, P_FLOAT},
{P_HI, P_FLOAT, P_LO},
{P_FLOAT, P_HI, P_LO},
{P_LO, P_HI, P_FLOAT},
{P_LO, P_FLOAT, P_HI},
{P_FLOAT, P_LO, P_HI}};
int idx = 0;
int testLIN = P0_LIN;
int testHIN = P0_HIN;
boolean ledOn = false;
volatile int interruptCounter;
int totalInterruptCounter;
int totalCycleCounter;
int cycleResetSlow = 1000;
int cycleResetFast = 150;
int cycleReset;
int accelerateCycles = 30000;
int steadyCycles = 100000;
bool accel = true;
bool decel = false;
int accelCounter;
int accelCountPerCycleReset;
hw_timer_t *timer = NULL;
portMUX_TYPE timerMux = portMUX_INITIALIZER_UNLOCKED;
void IRAM_ATTR onTimer();
void setPhaseState(int lin, int hin, int state);
void setCommIndex(int commIdx);
volatile int encoderCounter;
long totalEncoderCount;
long lastReportMillis;
portMUX_TYPE encoderMux = portMUX_INITIALIZER_UNLOCKED;
void attachInts();
void detachInts();
void IRAM_ATTR onEncoder();
void setup()
{
Debug.begin(115200);
Debug.println("Booting");
Debug.print("Compile date: ");
Debug.println(compileDate);
Debug.print("Compile time: ");
Debug.println(compileTime);
interruptCounter = 0;
totalInterruptCounter = 0;
totalCycleCounter = 0;
accelCounter = 0;
accelCountPerCycleReset = accelerateCycles / (cycleResetSlow - cycleResetFast);
Debug.printf("Accel count: %d\n", accelCountPerCycleReset);
cycleReset = cycleResetSlow;
pinMode(LED_BUILTIN, OUTPUT);
digitalWrite(LED_BUILTIN, ledOn ? HIGH : LOW);
pinMode(P0_LIN, OUTPUT);
pinMode(P0_HIN, OUTPUT);
ledcSetup(0, 50000, 8);
ledcAttachPin(P0_HIN, 0);
pinMode(P1_LIN, OUTPUT);
pinMode(P1_HIN, OUTPUT);
ledcSetup(1, 50000, 8);
ledcAttachPin(P1_HIN, 1);
pinMode(P2_LIN, OUTPUT);
pinMode(P2_HIN, OUTPUT);
ledcSetup(2, 50000, 8);
ledcAttachPin(P2_HIN, 2);
digitalWrite(P0_LIN, HIGH);
ledcWrite(0, 0);
digitalWrite(P1_LIN, HIGH);
ledcWrite(1, 0);
digitalWrite(P2_LIN, HIGH);
ledcWrite(2, 0);
timer = timerBegin(0, 80, true);
timerAttachInterrupt(timer, &onTimer, true);
timerAlarmWrite(timer, 30000, true);
timerAlarmEnable(timer);
encoderCounter = 0;
totalEncoderCount = 0;
lastReportMillis = 0;
attachInts();
setCommIndex(idx);
}
void loop()
{
if (millis() > (lastReportMillis + 500))
{
lastReportMillis = millis();
Debug.printf("Encoder count: %ld\n", totalEncoderCount);
}
if (encoderCounter > 0)
{
portENTER_CRITICAL(&encoderMux);
encoderCounter--;
portEXIT_CRITICAL(&encoderMux);
totalEncoderCount++;
}
if (interruptCounter > 0)
{
portENTER_CRITICAL(&timerMux);
interruptCounter--;
portEXIT_CRITICAL(&timerMux);
totalInterruptCounter++;
// if (totalCycleCounter >= (int)cycleReset)
// {
idx++;
if (idx > 5)
{
idx = 0;
}
setCommIndex(idx);
ledOn = !ledOn;
digitalWrite(LED_BUILTIN, ledOn ? HIGH : LOW);
}
}
void IRAM_ATTR onTimer()
{
portENTER_CRITICAL_ISR(&timerMux);
interruptCounter++;
portEXIT_CRITICAL_ISR(&timerMux);
}
void setPhaseState(int lin, int hin, int state)
{
switch (state)
{
case P_FLOAT:
// Float
// Debug.println(lin + " Float");
digitalWrite(lin, LOW);
ledcWrite(hin, 0);
// digitalWrite(hin, LOW);
break;
case P_HI:
// HI
// Debug.println(lin + " HI");
digitalWrite(lin, LOW);
ledcWrite(hin, 127);
// digitalWrite(hin, HIGH);
break;
case P_LO:
// LO
// Debug.println(lin + " LO");
ledcWrite(hin, 0);
// digitalWrite(hin, LOW);
digitalWrite(lin, HIGH);
break;
}
}
void setCommIndex(int commIdx)
{
setPhaseState(P0_LIN, 0, commPattern[commIdx][0]);
setPhaseState(P1_LIN, 1, commPattern[commIdx][1]);
setPhaseState(P2_LIN, 2, commPattern[commIdx][2]);
}
void IRAM_ATTR onEncoder()
{
portENTER_CRITICAL_ISR(&encoderMux);
encoderCounter++;
portEXIT_CRITICAL_ISR(&encoderMux);
}
void attachInts()
{
attachInterrupt(digitalPinToInterrupt(EYE_PIN), onEncoder, FALLING);
}
void detachInts()
{
detachInterrupt(digitalPinToInterrupt(EYE_PIN));
}