pile_com_stm32/main/stm32/capture.c

/*

*/

#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/queue.h"
#include "esp_log.h"
#include "esp_check.h"
#include "soc/rtc.h"
#include "driver/mcpwm.h"

const static char *TAG = "capture";

typedef struct capture_event
{
    int ch;
    uint32_t val;
} capture_event_t;

#define FLOW1_PIN_ECHO GPIO_NUM_39  // 捕获GPIO端口
#define FLOW2_PIN_ECHO GPIO_NUM_38 // 捕获GPIO端口

#define TRIGGER_THREAD_PRIORITY 5

typedef struct
{
    uint32_t capture_signal;
    mcpwm_capture_signal_t sel_cap_signal;
} capture;

static uint32_t cap_val_begin_of_flow1 = 0;
static uint32_t cap_val_end_of_flow1 = 0;
static uint32_t cap_val_begin_of_flow2 = 0;
static uint32_t cap_val_end_of_flow2 = 0;

// static xQueueHandle cap_queue;
extern uint32_t rtc_clk_apb_freq;
uint32_t volatile t15_ccr[2];
uint16_t volatile t15_ccr_times[2];

static bool flow1_isr_handler(mcpwm_unit_t mcpwm, mcpwm_capture_channel_id_t cap_sig, const cap_event_data_t *edata,
                              void *arg)
{
    // calculate the interval in the ISR,
    // so that the interval will be always correct even when cap_queue is not handled in time and overflow.
    BaseType_t high_task_wakeup = pdFALSE;

    cap_val_end_of_flow1 = edata->cap_value;
    capture_event_t cap_event = {.val = 0, .ch = 1};
    cap_event.val = cap_val_end_of_flow1 - cap_val_begin_of_flow1;
    t15_ccr_times[0] = cap_event.val * (1000000.0 / rtc_clk_apb_freq);
    t15_ccr[0]++;
    return high_task_wakeup == pdTRUE;
}

void capture_flow1_init()
{
    ESP_ERROR_CHECK(mcpwm_gpio_init(MCPWM_UNIT_1, MCPWM_CAP_1, FLOW1_PIN_ECHO));
    // enable pull down CAP0, to reduce noise
    ESP_ERROR_CHECK(gpio_pullup_en(FLOW1_PIN_ECHO));
    // enable both edge capture on CAP0
    mcpwm_capture_config_t conf = {
        .cap_edge = MCPWM_NEG_EDGE,
        .cap_prescale = 1,
        .capture_cb = flow1_isr_handler, // 绑定流量捕获中断处理函数
        .user_data = NULL};
    ESP_ERROR_CHECK(mcpwm_capture_enable_channel(MCPWM_UNIT_1, MCPWM_SELECT_CAP1, &conf));
    mcpwm_set_frequency(MCPWM_UNIT_1, MCPWM_TIMER_1, 1000000);
    int value = mcpwm_capture_signal_get_value(MCPWM_UNIT_1, MCPWM_SELECT_CAP1);
    ESP_LOGI(TAG, "capture_flow_init value=%d", value);
}

static bool flow2_isr_handler(mcpwm_unit_t mcpwm, mcpwm_capture_channel_id_t cap_sig, const cap_event_data_t *edata,
                              void *arg)
{
    // calculate the interval in the ISR,
    // so that the interval will be always correct even when cap_queue is not handled in time and overflow.
    BaseType_t high_task_wakeup = pdFALSE;

    cap_val_end_of_flow2 = edata->cap_value;
    capture_event_t cap_event = {.val = 0, .ch = 2};
    cap_event.val = cap_val_end_of_flow2 - cap_val_begin_of_flow2;
    t15_ccr_times[1] = cap_event.val * (1000000.0 / rtc_clk_apb_freq);
    t15_ccr[1]++;
    // send measurement back though queue
    // xQueueSendFromISR(cap_queue, &cap_event, &high_task_wakeup);

    return high_task_wakeup == pdTRUE;
}

void capture_flow2_init()
{
    ESP_ERROR_CHECK(mcpwm_gpio_init(MCPWM_UNIT_1, MCPWM_CAP_2, FLOW2_PIN_ECHO));
    // enable pull down CAP0, to reduce noise
    ESP_ERROR_CHECK(gpio_pulldown_en(FLOW2_PIN_ECHO));
    // enable both edge capture on CAP0
    mcpwm_capture_config_t conf = {
        .cap_edge = MCPWM_NEG_EDGE,
        .cap_prescale = 1,
        .capture_cb = flow2_isr_handler, // 绑定流量捕获中断处理函数
        .user_data = NULL};
    ESP_ERROR_CHECK(mcpwm_capture_enable_channel(MCPWM_UNIT_1, MCPWM_SELECT_CAP2, &conf));
    mcpwm_set_frequency(MCPWM_UNIT_1, MCPWM_TIMER_2, 1000000);
    ESP_LOGI(TAG, "capture_flow_init");
}

// void capture_task(void)
// {
//    while (true) {
//         capture_event_t cap_event = {.val = 0, .ch = 1};
//         uint32_t pulse_width_us = 0;
//         // block and wait for new measurement
//         // ESP_LOGI(TAG, "xQueueReceive started");
//         xQueueReceive(cap_queue, &cap_event, portMAX_DELAY);
//         // ESP_LOGI(TAG, "xQueueReceive after");
//         // ESP_LOGI(TAG, " cap_event.val: %d, cap_event.ch : %d", cap_event.val, cap_event.ch);
//         switch (cap_event.ch)
//         {
//             case 1:   //flow1 capture
//                 pulse_width_us = cap_event.val * (1000000.0 / rtc_clk_apb_freq);

//                 ESP_LOGI(TAG, " (flow1 capture) Pulse width: %uus", pulse_width_us);
//                 break;
//             case 2:  //flow2 capture
//                 pulse_width_us = cap_event.val * (1000000.0 / rtc_clk_apb_freq);
//                 ESP_LOGI(TAG, "(flow2 capture)  Pulse width: %uus", pulse_width_us);
//                 break;
//             default:  ESP_LOGI(TAG, " default\n");
//                 break;
//         }
//     }
// }

// void capture_depth_init();
// void pcnt_rotary_encoder_init(void);
void capture_init(void)
{
    // cap_queue = xQueueCreate(3, sizeof(capture_event_t));
    // if (cap_queue == NULL) {
    //     ESP_LOGE(TAG, "failed to alloc cap_queue");
    //     return;
    // }

    // capture_depth_init();
    capture_flow1_init();
    capture_flow2_init();
    // start gcapture_task
    // xTaskCreate(capture_task, "capture_task", 4096, NULL, TRIGGER_THREAD_PRIORITY, NULL);
    // ESP_LOGI(TAG, "capture_task started");
    // pcnt_rotary_encoder_init();
}