问ESP32 FreeRTOS如何使用MCP23017避免硬件冲突

EN

SemaphoreHandle_t rotaryISRSemaphore = nullptr;
// MCP23017
Adafruit_MCP23017 mcp;
....

void setup(){
   ....
   rotaryISRSemaphore = xSemaphoreCreateBinary();
   mcp.begin(1);      // use default address 0

   xTaskCreatePinnedToCore(&rotaryReaderTask, "rotary reader", 2048, NULL, 20, NULL, 1);
   attachInterrupt(esp32IntPin, intCallBack, FALLING);
  
   xTaskCreate(stepperMotor,"Stepper Motor",2048, NULL, 1, NULL);
}

// The int handler will just signal that the int has happened
// we will do the work from a task.
void IRAM_ATTR intCallBack() {
   //Serial.println("intCallback");
    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
    xSemaphoreGiveFromISR(rotaryISRSemaphore, &xHigherPriorityTaskWoken);
    if(xHigherPriorityTaskWoken) {
        portYIELD_FROM_ISR ();
    }
}

void rotaryReaderTask(void* pArgs) {
    (void)pArgs;
    Serial.println("Started rotary reader task.");
    while(true) {
        if(xSemaphoreTake(rotaryISRSemaphore, portMAX_DELAY) == pdPASS) {
        
            handleInterrupt();
         
        }

void handleInterrupt(){

    //Read the entire state when the interrupt occurred
    ....
    // Here some work to do with the MCP23017
}

void loop() {


}

int stepperValues[4][4] = {{HIGH,LOW,HIGH,LOW},{LOW,HIGH,HIGH,LOW},{LOW,HIGH,LOW,HIGH}, {HIGH,LOW,LOW,HIGH}};

void stepperMotor(void * params){
  (void) params;
  for(;;){ 
         if(!stopStepper){
        for ( int i = 0; i < 4; ++i ) {

      // loop through columns of current row
        mcp.digitalWrite(10, stepperValues[i][0]);
        mcp.digitalWrite(11, stepperValues[i][1]);
        mcp.digitalWrite(12, stepperValues[i][2]);
        mcp.digitalWrite(13, stepperValues[i][3]);
       } 
    }
    vTaskDelay(10 / portTICK_PERIOD_MS);
  }
}