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Update rotaryio implementation

This commit is contained in:
microDev 2020-11-08 11:12:32 +05:30
parent 479567059e
commit 55e0e2c4ba
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GPG Key ID: 2C0867BE60967730
2 changed files with 29 additions and 59 deletions
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79
ports/esp32s2/common-hal/rotaryio/IncrementalEncoder.c
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@ -3,7 +3,7 @@
* *
* The MIT License (MIT) * The MIT License (MIT)
* *
* Copyright (c) 2018 Scott Shawcroft for Adafruit Industries * Copyright (c) 2020 microDev
* *
* Permission is hereby granted, free of charge, to any person obtaining a copy * Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal * of this software and associated documentation files (the "Software"), to deal
@ -25,29 +25,22 @@
*/ */
#include "common-hal/rotaryio/IncrementalEncoder.h" #include "common-hal/rotaryio/IncrementalEncoder.h"
#include "common-hal/microcontroller/Pin.h"
#include "py/runtime.h" #include "py/runtime.h"
#include "supervisor/shared/translate.h" #include "supervisor/shared/translate.h"
#include "driver/pcnt.h" void common_hal_rotaryio_incrementalencoder_construct(rotaryio_incrementalencoder_obj_t* self,
const mcu_pin_obj_t* pin_a, const mcu_pin_obj_t* pin_b) {
claim_pin(pin_a);
claim_pin(pin_b);
static void pcnt_reset(int unit) {
// Initialize PCNT's counter
pcnt_counter_pause(unit);
pcnt_counter_clear(unit);
// Everything is set up, now go to counting
pcnt_counter_resume(unit);
}
static void pcnt_init(int unit, rotaryio_incrementalencoder_obj_t* self) {
// Prepare configuration for the PCNT unit // Prepare configuration for the PCNT unit
pcnt_config_t pcnt_config = { const pcnt_config_t pcnt_config = {
// Set PCNT input signal and control GPIOs // Set PCNT input signal and control GPIOs
.pulse_gpio_num = self->pin_a->number, .pulse_gpio_num = pin_a->number,
.ctrl_gpio_num = self->pin_b->number, .ctrl_gpio_num = pin_b->number,
.channel = PCNT_CHANNEL_0, .channel = PCNT_CHANNEL_0,
.unit = unit,
// What to do on the positive / negative edge of pulse input? // What to do on the positive / negative edge of pulse input?
.pos_mode = PCNT_COUNT_DEC, // Count up on the positive edge .pos_mode = PCNT_COUNT_DEC, // Count up on the positive edge
.neg_mode = PCNT_COUNT_INC, // Keep the counter value on the negative edge .neg_mode = PCNT_COUNT_INC, // Keep the counter value on the negative edge
@ -55,61 +48,39 @@ static void pcnt_init(int unit, rotaryio_incrementalencoder_obj_t* self) {
.lctrl_mode = PCNT_MODE_REVERSE, // Reverse counting direction if low .lctrl_mode = PCNT_MODE_REVERSE, // Reverse counting direction if low
.hctrl_mode = PCNT_MODE_KEEP, // Keep the primary counter mode if high .hctrl_mode = PCNT_MODE_KEEP, // Keep the primary counter mode if high
}; };
// Initialize PCNT unit // Initialize PCNT unit
pcnt_unit_config(&pcnt_config); const int8_t unit = peripherals_pcnt_init(pcnt_config);
if (unit == -1) {
mp_raise_RuntimeError(translate("All PCNT units in use"));
}
// Configure channel 1 self->pin_a = pin_a->number;
pcnt_config.pulse_gpio_num = self->pin_b->number; self->pin_b = pin_b->number;
pcnt_config.ctrl_gpio_num = self->pin_a->number; self->unit = (pcnt_unit_t)unit;
pcnt_config.channel = PCNT_CHANNEL_1;
pcnt_config.pos_mode = PCNT_COUNT_INC;
pcnt_config.neg_mode = PCNT_COUNT_DEC;
pcnt_unit_config(&pcnt_config);
// Configure and enable the input filter
pcnt_set_filter_value(unit, 100);
pcnt_filter_enable(unit);
pcnt_reset(unit);
}
void common_hal_rotaryio_incrementalencoder_construct(rotaryio_incrementalencoder_obj_t* self,
const mcu_pin_obj_t* pin_a, const mcu_pin_obj_t* pin_b) {
claim_pin(pin_a);
claim_pin(pin_b);
self->pin_a = pin_a;
self->pin_b = pin_b;
self->position = 0;
pcnt_init(PCNT_UNIT_0, self);
} }
bool common_hal_rotaryio_incrementalencoder_deinited(rotaryio_incrementalencoder_obj_t* self) { bool common_hal_rotaryio_incrementalencoder_deinited(rotaryio_incrementalencoder_obj_t* self) {
return self->pin_a == NULL; return self->unit == PCNT_UNIT_MAX;
} }
void common_hal_rotaryio_incrementalencoder_deinit(rotaryio_incrementalencoder_obj_t* self) { void common_hal_rotaryio_incrementalencoder_deinit(rotaryio_incrementalencoder_obj_t* self) {
if (common_hal_rotaryio_incrementalencoder_deinited(self)) { if (common_hal_rotaryio_incrementalencoder_deinited(self)) {
return; return;
} }
reset_pin_number(self->pin_a);
reset_pin_number(self->pin_a->number); reset_pin_number(self->pin_b);
self->pin_a = NULL; peripherals_pcnt_deinit(&self->unit);
reset_pin_number(self->pin_b->number);
self->pin_b = NULL;
} }
mp_int_t common_hal_rotaryio_incrementalencoder_get_position(rotaryio_incrementalencoder_obj_t* self) { mp_int_t common_hal_rotaryio_incrementalencoder_get_position(rotaryio_incrementalencoder_obj_t* self) {
int16_t count = 0; int16_t count;
pcnt_get_counter_value(PCNT_UNIT_0, &count); pcnt_get_counter_value(self->unit, &count);
return self->position+count; return (count/2)+self->position;
} }
void common_hal_rotaryio_incrementalencoder_set_position(rotaryio_incrementalencoder_obj_t* self, void common_hal_rotaryio_incrementalencoder_set_position(rotaryio_incrementalencoder_obj_t* self,
mp_int_t new_position) { mp_int_t new_position) {
self->position = new_position; self->position = new_position;
pcnt_reset(PCNT_UNIT_0); pcnt_counter_clear(self->unit);
} }

9
ports/esp32s2/common-hal/rotaryio/IncrementalEncoder.h
View File

@ -3,7 +3,7 @@
* *
* The MIT License (MIT) * The MIT License (MIT)
* *
* Copyright (c) 2018 Scott Shawcroft for Adafruit Industries * Copyright (c) 2020 microDev
* *
* Permission is hereby granted, free of charge, to any person obtaining a copy * Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal * of this software and associated documentation files (the "Software"), to deal
@ -27,15 +27,14 @@
#ifndef MICROPY_INCLUDED_ESP32S2_COMMON_HAL_ROTARYIO_INCREMENTALENCODER_H #ifndef MICROPY_INCLUDED_ESP32S2_COMMON_HAL_ROTARYIO_INCREMENTALENCODER_H
#define MICROPY_INCLUDED_ESP32S2_COMMON_HAL_ROTARYIO_INCREMENTALENCODER_H #define MICROPY_INCLUDED_ESP32S2_COMMON_HAL_ROTARYIO_INCREMENTALENCODER_H
#include "common-hal/microcontroller/Pin.h"
#include "py/obj.h" #include "py/obj.h"
#include "peripherals/pcnt.h"
typedef struct { typedef struct {
mp_obj_base_t base; mp_obj_base_t base;
const mcu_pin_obj_t * pin_a; uint8_t pin_a, pin_b;
const mcu_pin_obj_t * pin_b;
mp_int_t position; mp_int_t position;
pcnt_unit_t unit;
} rotaryio_incrementalencoder_obj_t; } rotaryio_incrementalencoder_obj_t;
#endif // MICROPY_INCLUDED_ESP32S2_COMMON_HAL_ROTARYIO_INCREMENTALENCODER_H #endif // MICROPY_INCLUDED_ESP32S2_COMMON_HAL_ROTARYIO_INCREMENTALENCODER_H