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Espressif: fix allocation of multiple Incremental Encoders

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This commit is contained in:
Dan Halbert 2022-05-24 22:32:17 -04:00
parent eb4ed30b47
commit b143314b22
5 changed files with 49 additions and 51 deletions
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4
ports/espressif/common-hal/countio/Counter.c
View File

@ -36,7 +36,7 @@ void common_hal_countio_counter_construct(countio_counter_obj_t *self,
claim_pin(pin);
// 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->number,
.ctrl_gpio_num = PCNT_PIN_NOT_USED,
@ -48,7 +48,7 @@ void common_hal_countio_counter_construct(countio_counter_obj_t *self,
};
// Initialize PCNT unit
const int8_t unit = peripherals_pcnt_init(pcnt_config);
const int8_t unit = peripherals_pcnt_init(&pcnt_config);
if (unit == -1) {
mp_raise_RuntimeError(translate("All PCNT units in use"));
}

4
ports/espressif/common-hal/frequencyio/FrequencyIn.c
View File

@ -69,7 +69,7 @@ static void IRAM_ATTR timer_interrupt_handler(void *self_in) {
static void init_pcnt(frequencyio_frequencyin_obj_t *self) {
// 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 = self->pin,
.ctrl_gpio_num = PCNT_PIN_NOT_USED,
@ -83,7 +83,7 @@ static void init_pcnt(frequencyio_frequencyin_obj_t *self) {
};
// initialize PCNT
const int8_t unit = peripherals_pcnt_init(pcnt_config);
const int8_t unit = peripherals_pcnt_init(&pcnt_config);
if (unit == -1) {
mp_raise_RuntimeError(translate("All PCNT units in use"));
}

36
ports/espressif/common-hal/rotaryio/IncrementalEncoder.c
View File

@ -36,7 +36,7 @@ void common_hal_rotaryio_incrementalencoder_construct(rotaryio_incrementalencode
claim_pin(pin_b);
// Prepare configuration for the PCNT unit
pcnt_config_t pcnt_config = {
pcnt_config_t pcnt_config_channel_0 = {
// Set PCNT input signal and control GPIOs
.pulse_gpio_num = pin_a->number,
.ctrl_gpio_num = pin_b->number,
@ -49,32 +49,28 @@ void common_hal_rotaryio_incrementalencoder_construct(rotaryio_incrementalencode
.hctrl_mode = PCNT_MODE_KEEP, // Keep the primary counter mode if high
};
// Initialize PCNT unit
const int8_t unit = peripherals_pcnt_get_unit(pcnt_config);
// Allocate and initialize PCNT unit, CHANNEL_0.
const int8_t unit = peripherals_pcnt_init(&pcnt_config_channel_0);
if (unit == -1) {
mp_raise_RuntimeError(translate("All PCNT units in use"));
}
pcnt_unit_config(&pcnt_config);
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;
pcnt_config_t pcnt_config_channel_1 = {
// Set PCNT input signal and control GPIOs
.pulse_gpio_num = pin_b->number, // Pins are reversed from above
.ctrl_gpio_num = pin_a->number,
.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
.pos_mode = PCNT_COUNT_DEC, // Count up on the positive edge
.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
.lctrl_mode = PCNT_MODE_KEEP, // Keep the primary counter mode if low
.hctrl_mode = PCNT_MODE_REVERSE, // Reverse counting direction if high
.unit = unit,
};
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);
// Reinitalize same unit, CHANNEL_1 with different parameters.
peripherals_pcnt_reinit(&pcnt_config_channel_1);
self->pin_a = pin_a->number;
self->pin_b = pin_b->number;

48
ports/espressif/peripherals/pcnt.c
View File

@ -29,48 +29,50 @@
#define PCNT_UNIT_ACTIVE 1
#define PCNT_UNIT_INACTIVE 0
static uint8_t pcnt_unit_state[4];
static uint8_t pcnt_unit_state[PCNT_UNIT_MAX];
void peripherals_pcnt_reset(void) {
for (uint8_t i = 0; i <= 3; i++) {
for (uint8_t i = 0; i < PCNT_UNIT_MAX; i++) {
pcnt_unit_state[i] = PCNT_UNIT_INACTIVE;
}
}
int peripherals_pcnt_get_unit(pcnt_config_t pcnt_config) {
static int peripherals_pcnt_get_unit(pcnt_config_t *pcnt_config) {
// Look for available pcnt unit
for (uint8_t i = 0; i <= 3; i++) {
for (uint8_t i = 0; i < PCNT_UNIT_MAX; i++) {
if (pcnt_unit_state[i] == PCNT_UNIT_INACTIVE) {
pcnt_config.unit = (pcnt_unit_t)i;
pcnt_config->unit = (pcnt_unit_t)i;
pcnt_unit_state[i] = PCNT_UNIT_ACTIVE;
break;
} else if (i == 3) {
return i;
}
}
return -1;
}
void peripherals_pcnt_reinit(pcnt_config_t *pcnt_config) {
// Reinitialize a pcnt unit that has already been allocated.
// Initialize PCNT unit
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);
}
return pcnt_config.unit;
}
int peripherals_pcnt_init(pcnt_config_t pcnt_config) {
// Look for available pcnt unit
int peripherals_pcnt_init(pcnt_config_t *pcnt_config) {
const int8_t unit = peripherals_pcnt_get_unit(pcnt_config);
if (unit == -1) {
return -1;
}
// Initialize PCNT unit
pcnt_unit_config(&pcnt_config);
peripherals_pcnt_reinit(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);
return pcnt_config.unit;
return pcnt_config->unit;
}
void peripherals_pcnt_deinit(pcnt_unit_t *unit) {

4
ports/espressif/peripherals/pcnt.h
View File

@ -30,8 +30,8 @@
#include "driver/pcnt.h"
#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 int peripherals_pcnt_init(pcnt_config_t *pcnt_config);
extern void peripherals_pcnt_reinit(pcnt_config_t *pcnt_config);
extern void peripherals_pcnt_deinit(pcnt_unit_t *unit);
extern void peripherals_pcnt_reset(void);