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Add espressif rotaryio divisor support.

This commit is contained in:
Dominic Davis-Foster 2022-03-28 08:55:04 +01:00
parent 8ebab7625e
commit 6d025a239e
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GPG Key ID: 3DCA8C2F52EC3292
5 changed files with 60 additions and 10 deletions
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51
ports/espressif/common-hal/rotaryio/IncrementalEncoder.c
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@ -29,7 +29,6 @@
#include "common-hal/microcontroller/Pin.h"
#include "py/runtime.h"
#include "supervisor/shared/translate.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) {
@ -37,7 +36,7 @@ void common_hal_rotaryio_incrementalencoder_construct(rotaryio_incrementalencode
claim_pin(pin_b);
// Prepare configuration for the PCNT unit
const pcnt_config_t pcnt_config = {
pcnt_config_t pcnt_config = {
// Set PCNT input signal and control GPIOs
.pulse_gpio_num = pin_a->number,
.ctrl_gpio_num = pin_b->number,
@ -51,11 +50,46 @@ void common_hal_rotaryio_incrementalencoder_construct(rotaryio_incrementalencode
};
// Initialize PCNT unit
const int8_t unit = peripherals_pcnt_init(pcnt_config);
const int8_t unit = peripherals_pcnt_get_unit(pcnt_config);
if (unit == -1) {
mp_raise_RuntimeError(translate("All PCNT units in use"));
}
pcnt_unit_config(&pcnt_config);
if ((self->divisor == 2) || (self->divisor == 1)) {
// Setup channel 1 for divisor=2 or divisor=1
pcnt_config.pulse_gpio_num = pin_b->number; // What was control is now signal
pcnt_config.ctrl_gpio_num = pin_a->number; // What was signal is now control
pcnt_config.channel = PCNT_CHANNEL_1;
// What to do on the positive / negative edge of pulse input?
pcnt_config.pos_mode = PCNT_COUNT_DEC; // Count up on the positive edge
pcnt_config.neg_mode = PCNT_COUNT_INC; // Keep the counter value on the negative edge
// What to do when control input is low or high?
pcnt_config.lctrl_mode = PCNT_MODE_KEEP; // Keep the primary counter mode if low
pcnt_config.hctrl_mode = PCNT_MODE_REVERSE; // Reverse counting direction if high
} else {
// Ensure channel 1 is disabled for divisor=4
pcnt_config.pulse_gpio_num = pin_b->number; // What was control is now signal
pcnt_config.ctrl_gpio_num = pin_a->number; // What was signal is now control
pcnt_config.channel = PCNT_CHANNEL_1;
// What to do on the positive / negative edge of pulse input?
pcnt_config.pos_mode = PCNT_COUNT_DIS; // Disabled
pcnt_config.neg_mode = PCNT_COUNT_DIS; // Disabled
// What to do when control input is low or high?
pcnt_config.lctrl_mode = PCNT_MODE_DISABLE; // Disabled
pcnt_config.hctrl_mode = PCNT_MODE_DISABLE; // Disabled
}
pcnt_unit_config(&pcnt_config);
// Initialize PCNT's counter
pcnt_counter_pause(pcnt_config.unit);
pcnt_counter_clear(pcnt_config.unit);
// Everything is set up, now go to counting
pcnt_counter_resume(pcnt_config.unit);
self->pin_a = pin_a->number;
self->pin_b = pin_b->number;
self->unit = (pcnt_unit_t)unit;
@ -77,7 +111,12 @@ void common_hal_rotaryio_incrementalencoder_deinit(rotaryio_incrementalencoder_o
mp_int_t common_hal_rotaryio_incrementalencoder_get_position(rotaryio_incrementalencoder_obj_t *self) {
int16_t count;
pcnt_get_counter_value(self->unit, &count);
if ((self->divisor == 4) || (self->divisor == 2)) {
return (count / 2) + self->position;
} else {
return (count) + self->position;
}
}
void common_hal_rotaryio_incrementalencoder_set_position(rotaryio_incrementalencoder_obj_t *self,
@ -87,11 +126,9 @@ void common_hal_rotaryio_incrementalencoder_set_position(rotaryio_incrementalenc
}
mp_int_t common_hal_rotaryio_incrementalencoder_get_divisor(rotaryio_incrementalencoder_obj_t *self) {
return 4;
return self->divisor;
}
void common_hal_rotaryio_incrementalencoder_set_divisor(rotaryio_incrementalencoder_obj_t *self, mp_int_t divisor) {
if (divisor != 4) {
mp_raise_ValueError(translate("divisor must be 4"));
}
self->divisor = divisor;
}

1
ports/espressif/common-hal/rotaryio/IncrementalEncoder.h
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@ -35,6 +35,7 @@ typedef struct {
uint8_t pin_a, pin_b;
mp_int_t position;
pcnt_unit_t unit;
int8_t divisor; // Number of quadrature edges required per count
} rotaryio_incrementalencoder_obj_t;
#endif // MICROPY_INCLUDED_ESPRESSIF_COMMON_HAL_ROTARYIO_INCREMENTALENCODER_H

13
ports/espressif/peripherals/pcnt.c
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@ -37,7 +37,7 @@ void peripherals_pcnt_reset(void) {
}
}
int peripherals_pcnt_init(pcnt_config_t pcnt_config) {
int peripherals_pcnt_get_unit(pcnt_config_t pcnt_config) {
// Look for available pcnt unit
for (uint8_t i = 0; i <= 3; i++) {
if (pcnt_unit_state[i] == PCNT_UNIT_INACTIVE) {
@ -49,6 +49,17 @@ int peripherals_pcnt_init(pcnt_config_t pcnt_config) {
}
}
return pcnt_config.unit;
}
int peripherals_pcnt_init(pcnt_config_t pcnt_config) {
// Look for available pcnt unit
const int8_t unit = peripherals_pcnt_get_unit(pcnt_config);
if (unit == -1) {
return -1;
}
// Initialize PCNT unit
pcnt_unit_config(&pcnt_config);

1
ports/espressif/peripherals/pcnt.h
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@ -31,6 +31,7 @@
#include "soc/pcnt_struct.h"
extern int peripherals_pcnt_init(pcnt_config_t pcnt_config);
extern int peripherals_pcnt_get_unit(pcnt_config_t pcnt_config);
extern void peripherals_pcnt_deinit(pcnt_unit_t *unit);
extern void peripherals_pcnt_reset(void);

2
shared-bindings/rotaryio/IncrementalEncoder.c
View File

@ -77,9 +77,9 @@ STATIC mp_obj_t rotaryio_incrementalencoder_make_new(const mp_obj_type_t *type,
rotaryio_incrementalencoder_obj_t *self = m_new_obj(rotaryio_incrementalencoder_obj_t);
self->base.type = &rotaryio_incrementalencoder_type;
common_hal_rotaryio_incrementalencoder_set_divisor(self, args[ARG_divisor].u_int);
common_hal_rotaryio_incrementalencoder_construct(self, pin_a, pin_b);
common_hal_rotaryio_incrementalencoder_set_divisor(self, args[ARG_divisor].u_int);
return MP_OBJ_FROM_PTR(self);
}