On Thu, Jun 8, 2023 at 8:12 PM Tomek CEDRO <to...@cedro.info> wrote: > On Fri, Jun 9, 2023 at 1:53 AM Tomek CEDRO wrote: > > I am working on ESP32 (no FPU) and using Quadrature Encoder for motor > > control and range positioning. Current qencoder implementation stores > > counted values on int32_t so the maximum and minimum value is only > > around +/- 32k. I need far bigger numbers to be counted and available > > for readout quickly. > > Sorry its 2AM here and I sit too much in front of the computer with no > fresh air :-P > > int is 32 bit with range unsigned 4.294E9 aka 4,294,967,295 and > -2,147,483,648 to 2,147,483,647 signed. > > long is 64 bit with range 1.833E19 unsigned and > -9,223,372,036,854,775,808 to 9,223,372,036,854,775,807 signed. > > I need to get familiar with the qencoder code more and know why there > is a 32k modulo. > > I know that float and double are discouraged in embedded. Maybe its a > silly idea to use floating numbers where speed is important. Will > changing INT to LONG impact performance a lot?
I know it is sometimes unpopular to suggest adding more Kconfigs but maybe this is something that should be configurable, allowing developers to choose if they need a 64-bit count for range or a 32- (or even 16-) bit count for efficiency. The needed speed and counter size really depends on how the application is going to use the qencoder. Nathan
