Test joint encoder

esp/Joint/.gitignore

@@ -0,0 +1,5 @@
+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

esp/Joint/.travis.yml

@@ -0,0 +1,67 @@
+# Continuous Integration (CI) is the practice, in software
+# engineering, of merging all developer working copies with a shared mainline
+# several times a day < https://docs.platformio.org/page/ci/index.html >
+#
+# Documentation:
+#
+# * Travis CI Embedded Builds with PlatformIO
+#   < https://docs.travis-ci.com/user/integration/platformio/ >
+#
+# * PlatformIO integration with Travis CI
+#   < https://docs.platformio.org/page/ci/travis.html >
+#
+# * User Guide for `platformio ci` command
+#   < https://docs.platformio.org/page/userguide/cmd_ci.html >
+#
+#
+# Please choose one of the following templates (proposed below) and uncomment
+# it (remove "# " before each line) or use own configuration according to the
+# Travis CI documentation (see above).
+#
+
+
+#
+# Template #1: General project. Test it using existing `platformio.ini`.
+#
+
+# language: python
+# python:
+#     - "2.7"
+#
+# sudo: false
+# cache:
+#     directories:
+#         - "~/.platformio"
+#
+# install:
+#     - pip install -U platformio
+#     - platformio update
+#
+# script:
+#     - platformio run
+
+
+#
+# Template #2: The project is intended to be used as a library with examples.
+#
+
+# language: python
+# python:
+#     - "2.7"
+#
+# sudo: false
+# cache:
+#     directories:
+#         - "~/.platformio"
+#
+# env:
+#     - PLATFORMIO_CI_SRC=path/to/test/file.c
+#     - PLATFORMIO_CI_SRC=examples/file.ino
+#     - PLATFORMIO_CI_SRC=path/to/test/directory
+#
+# install:
+#     - pip install -U platformio
+#     - platformio update
+#
+# script:
+#     - platformio ci --lib="." --board=ID_1 --board=ID_2 --board=ID_N

esp/Joint/.vscode/extensions.json

@@ -0,0 +1,10 @@
+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ],
+    "unwantedRecommendations": [
+        "ms-vscode.cpptools-extension-pack"
+    ]
+}

esp/Joint/README.md

@@ -0,0 +1,10 @@
+# matty
+Conection joint encoder to esp board:
+
+  black   - GND
+
+  red     - 3V3
+
+  white   - IO5 
+
+![Conection joint encoder - esp board](../../images/encoder-esp.jpg)

esp/Joint/include/README

@@ -0,0 +1,39 @@
+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

esp/Joint/platformio.ini

@@ -0,0 +1,17 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:esp32doit-devkit-v1]
+platform = espressif32
+board = esp32doit-devkit-v1
+framework = arduino
+upload_port = COM8
+; board_build.partitions = min_spiffs.csv
+monitor_speed = 115200

esp/Joint/src/as5600.cpp

@@ -0,0 +1,34 @@
+#include "as5600.h"
+
+volatile uint32_t pulseStart = 0;
+volatile uint32_t pulseEnd = 0;
+volatile uint32_t pulseWidth = 0;
+volatile uint32_t pulsePeriod = 0;
+
+void IRAM_ATTR interruptAS5600() {
+  uint32_t x = micros();
+  bool     e = digitalRead(AS5600_GPIO);
+  if (e == 1) {
+    pulsePeriod = x - pulseStart;
+    pulseStart = x;
+  } else {
+    pulseEnd = x;
+    pulseWidth = pulseEnd - pulseStart;
+  }
+}
+
+AS5600::AS5600(float zero) {
+  this->zero = (zero + 0.5f) * 100;
+}
+
+void AS5600::init() {
+  pinMode(AS5600_GPIO, INPUT);
+  attachInterrupt(AS5600_GPIO, interruptAS5600, CHANGE);
+}
+
+int AS5600::angle() {
+  int y = (pulseWidth * 4095 / AS5600_GAIN - AS5600_OFFS) * 36000 / 4095 - zero;
+  return y;
+}  
+
+

esp/Joint/src/as5600.h

@@ -0,0 +1,20 @@
+#ifndef AS5600_H
+#define AS5600_H
+
+#include <Arduino.h>
+
+#define AS5600_GPIO   5
+#define AS5600_ZERO   200
+#define AS5600_GAIN   4131
+#define AS5600_OFFS   127
+
+class AS5600 {
+  public:
+    AS5600(float zero = 180.0f);
+    void  init();
+    int   angle();
+  private:
+    int zero;
+};
+
+#endif

esp/Joint/src/main.cpp

@@ -0,0 +1,53 @@
+#include <Arduino.h>
+#include "as5600.h"
+
+AS5600 as5600(0);
+
+/*
+  Conection joint encoder - esp board
+  black   - GND
+  red     - 3V3
+  white   - IO5 
+*/
+
+/*
+bool cap_ISR_cb(mcpwm_unit_t mcpwm, mcpwm_capture_channel_id_t cap_channel, const cap_event_data_t *edata,void *user_data){ //this function need to be in that format to be recognized as cap_isr_cb_t type
+  uint32_t x = (uint32_t) edata->cap_value; //same as mcpwm_capture_signal_get_value()
+  mcpwm_capture_on_edge_t e = edata->cap_edge;
+  if (e & MCPWM_POS_EDGE) {
+  pulseStart = x;
+  }
+  if (e & MCPWM_NEG_EDGE) {
+    pulseEnd = x;
+    pulseWidth = pulseEnd - pulseStart;
+  }
+  return 0; //Whether a task switch is needed after the callback function returns, this is usually due to the callback wakes up some high priority task.
+}
+*/
+
+/**
+ * @brief Initialize capture submodule
+ *
+ * @param mcpwm_num set MCPWM unit(0-1)
+ * @param cap_edge set capture edge, BIT(0) - negative edge, BIT(1) - positive edge
+ * @param cap_sig capture pin, which needs to be enabled
+ * @param num_of_pulse count time between rising/falling edge between 2 *(pulses mentioned), counter uses APB_CLK
+ *
+ * @return
+ *     - ESP_OK Success
+ *     - ESP_ERR_INVALID_ARG Parameter error
+ */
+
+//esp_err_t mcpwm_capture_enable(mcpwm_unit_t mcpwm_num, mcpwm_capture_signal_t cap_sig, mcpwm_capture_on_edge_t cap_edge, uint32_t num_of_pulse); 
+
+void setup() {
+  Serial.begin(115200);
+  as5600.init();
+}
+
+void loop() {
+  int x = pulseIn(AS5600_GPIO, 1);
+  int z = as5600.angle();
+  Serial.printf("Width: %5d Angle: %3d.%02d\n\r", x, z/100, abs(z%100));
+  delay(100);
+}

esp/Joint/test/README

@@ -0,0 +1,11 @@
+
+This directory is intended for PIO Unit Testing and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PIO Unit Testing:
+- https://docs.platformio.org/page/plus/unit-testing.html