AB位相信号の取り込み（エンコーダー入力）

　 エンコーダー拡張

前回作ったパルスカウンタは低速では特に問題ないのですが、高速では取りこぼしが有るようです。

カウントの取りこぼしは無いようですが、時々出力値が乱れます（対策を考え中）

#include "driver/pcnt.h"

#define PULSE_INPUT_PIN_X 4 //パルスの入力ピン 今回はエンコーダのA相を接続
#define PULSE_CTRL_PIN_X 2 //制御ピン 今回はエンコーダのB相を接続

#define PULSE_INPUT_PIN_Y 35 //パルスの入力ピン 今回はエンコーダのA相を接続
#define PULSE_CTRL_PIN_Y 34 //制御ピン 今回はエンコーダのB相を接続

#define PULSE_INPUT_PIN_Z 36 //パルスの入力ピン 今回はエンコーダのA相を接続
#define PULSE_CTRL_PIN_Z 39 //制御ピン 今回はエンコーダのB相を接続

#define PCNT_H_LIM_VAL   30000 //カウンタの上限
#define PCNT_L_LIM_VAL  -30000 //カウンタの下限

int16_t count_x; //カウント数
int16_t count_y; //カウント数
int16_t count_z; //カウント数

int32_t prev_count_x = 0;
int32_t current_count_x = 0;
int32_t overflow_count_x = 0;


int32_t prev_count_y = 0;
int32_t current_count_y = 0;
int32_t overflow_count_y = 0;


int32_t prev_count_z = 0;
int32_t current_count_z = 0;
int32_t overflow_count_z = 0;



void ScaleInit_x() {
  pcnt_config_t pcnt_config_x;//設定用の構造体の宣言
  pcnt_config_x.pulse_gpio_num = PULSE_INPUT_PIN_X;
  pcnt_config_x.ctrl_gpio_num = PULSE_CTRL_PIN_X;
  pcnt_config_x.lctrl_mode = PCNT_MODE_REVERSE;
  pcnt_config_x.hctrl_mode = PCNT_MODE_KEEP;
  pcnt_config_x.channel = PCNT_CHANNEL_1;
  pcnt_config_x.unit = PCNT_UNIT_2;
  pcnt_config_x.pos_mode = PCNT_COUNT_INC;
  pcnt_config_x.neg_mode = PCNT_COUNT_DEC;
  pcnt_config_x.counter_h_lim = PCNT_H_LIM_VAL;
  pcnt_config_x.counter_l_lim = PCNT_L_LIM_VAL;
  pcnt_unit_config(&pcnt_config_x);//ユニット初期化
  pcnt_counter_pause(PCNT_UNIT_2);//カウンタ一時停止
  pcnt_counter_clear(PCNT_UNIT_2);//カウンタ初期化
  pcnt_counter_resume(PCNT_UNIT_2);//カウント開始

}


void ScaleInit_y() {
  pcnt_config_t pcnt_config_y;//設定用の構造体の宣言
  pcnt_config_y.pulse_gpio_num = PULSE_INPUT_PIN_Y;
  pcnt_config_y.ctrl_gpio_num = PULSE_CTRL_PIN_Y;
  pcnt_config_y.lctrl_mode = PCNT_MODE_REVERSE;
  pcnt_config_y.hctrl_mode = PCNT_MODE_KEEP;
  pcnt_config_y.channel = PCNT_CHANNEL_1;
  pcnt_config_y.unit = PCNT_UNIT_3;
  pcnt_config_y.pos_mode = PCNT_COUNT_INC;
  pcnt_config_y.neg_mode = PCNT_COUNT_DEC;
  pcnt_config_y.counter_h_lim = PCNT_H_LIM_VAL;
  pcnt_config_y.counter_l_lim = PCNT_L_LIM_VAL;
  pcnt_unit_config(&pcnt_config_y);//ユニット初期化
  pcnt_counter_pause(PCNT_UNIT_3);//カウンタ一時停止
  pcnt_counter_clear(PCNT_UNIT_3);//カウンタ初期化
  pcnt_counter_resume(PCNT_UNIT_3);//カウント開始
}


void ScaleInit_z() {
  pcnt_config_t pcnt_config_z;//設定用の構造体の宣言
  pcnt_config_z.pulse_gpio_num = PULSE_INPUT_PIN_Z;
  pcnt_config_z.ctrl_gpio_num = PULSE_CTRL_PIN_Z;
  pcnt_config_z.lctrl_mode = PCNT_MODE_REVERSE;
  pcnt_config_z.hctrl_mode = PCNT_MODE_KEEP;
  pcnt_config_z.channel = PCNT_CHANNEL_1;
  pcnt_config_z.unit = PCNT_UNIT_4;
  pcnt_config_z.pos_mode = PCNT_COUNT_INC;
  pcnt_config_z.neg_mode = PCNT_COUNT_DEC;
  pcnt_config_z.counter_h_lim = PCNT_H_LIM_VAL;
  pcnt_config_z.counter_l_lim = PCNT_L_LIM_VAL;
  pcnt_unit_config(&pcnt_config_z);//ユニット初期化
  pcnt_counter_pause(PCNT_UNIT_4);//カウンタ一時停止
  pcnt_counter_clear(PCNT_UNIT_4);//カウンタ初期化
  pcnt_counter_resume(PCNT_UNIT_4);//カウント開始

}


void CountReset_x(void) {
  ScaleInit_x();
  overflow_count_x = 0;
  prev_count_x = 0;

}


void CountReset_y(void) {
  ScaleInit_y();
  overflow_count_y = 0;
  prev_count_y = 0;

}



void CountReset_z(void) {
  ScaleInit_z();
  overflow_count_z = 0;
  prev_count_z = 0;

}


int ret_count_x(void) {
  char i;

  pcnt_get_counter_value(PCNT_UNIT_2, &count_x);

  current_count_x = (int32_t)count_x;


  if ((abs(prev_count_x) - abs(current_count_x)) > PCNT_H_LIM_VAL / 2 ) {

    if (current_count_x < prev_count_x) {
      overflow_count_x++;
      i = 1;
    } else {
      overflow_count_x--;
      i = -1;
    }
  }

  prev_count_x = current_count_x;


  return int32_t((current_count_x + overflow_count_x * (int32_t(PCNT_H_LIM_VAL + i))) * (int32_t)2);
}



int32_t ret_count_y(void) {
  char i;

  pcnt_get_counter_value(PCNT_UNIT_3, &count_y);

  current_count_y = (int32_t)count_y;


  if ((abs(prev_count_y) - abs(current_count_y)) > PCNT_H_LIM_VAL / 2 ) {

    if (current_count_y < prev_count_y) {
      overflow_count_y++;
      i = 1;
    } else {
      overflow_count_y--;
      i = -1;
    }
  }

  prev_count_y = current_count_y;

  return int32_t((current_count_y + overflow_count_y * (int32_t(PCNT_H_LIM_VAL + i))) * (int32_t)2);
}



int ret_count_z(void) {

  char i;

  pcnt_get_counter_value(PCNT_UNIT_4, &count_z);

  current_count_z = (int32_t)count_z;


  if ((abs(prev_count_z) - abs(current_count_z)) > PCNT_H_LIM_VAL / 2 ) {

    if (current_count_z < prev_count_z) {
      overflow_count_z++;
      i = 1;
    } else {
      overflow_count_z--;
      i = -1;
    }
  }

  prev_count_z = current_count_z;

  return int32_t((current_count_z + overflow_count_z * (int32_t(PCNT_H_LIM_VAL + i))) * (int32_t)2);
}

void setup() {
  //エンコーダー初期化
  ScaleInit_x();
  ScaleInit_y();
  ScaleInit_z();

  Serial.begin(115200);


}

  //エンコーダーカウント値を出力    
  Serial.printf("S:%10d:%10d:%10d:\n", (int)ret_count_x(),(int)ret_count_y(), (int)ret_count_z() / 5);
  



  //エンコーダーカウントリセット
  if (###) {//ボタンやシリアル通信からのリセット条件
    CountReset_x();
  }
  if (###) {
    CountReset_y();
  }
  if (####) {
    CountReset_z();

  }

}

こちらの記事を参考にほぼコピーしています。