Merge pull request #6430 from dhalbert/7.3.x-fix-espressif-rotaryio

Espressif: fix allocation of multiple Incremental Encoders

Author: dhalbert

ports/espressif/common-hal/countio/Counter.c

@@ -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"));
     }

ports/espressif/common-hal/frequencyio/FrequencyIn.c

@@ -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"));
     }

ports/espressif/common-hal/rotaryio/IncrementalEncoder.c

@@ -36,45 +36,41 @@ 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,
         .channel = PCNT_CHANNEL_0,
         // What to do on the positive / negative edge of pulse input?
-        .pos_mode = PCNT_COUNT_DEC,   // Count up on the positive edge
-        .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?
         .lctrl_mode = PCNT_MODE_REVERSE, // Reverse counting direction if low
         .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;
-    // 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
-
-    pcnt_unit_config(&pcnt_config);
-
-    // Initialize PCNT's counter
-    pcnt_counter_pause(pcnt_config.unit);
-    pcnt_counter_clear(pcnt_config.unit);
+    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?
+        .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?
+        .lctrl_mode = PCNT_MODE_KEEP,        // Keep the primary counter mode if low
+        .hctrl_mode = PCNT_MODE_REVERSE,     // Reverse counting direction if high
+        .unit = 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;

ports/espressif/peripherals/pcnt.c

@@ -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 -1;
+            return i;
         }
     }
 
-    return pcnt_config.unit;
+    return -1;
 }
 
-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;
-    }
+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);
+    pcnt_unit_config(pcnt_config);
 
     // Initialize PCNT's counter
-    pcnt_counter_pause(pcnt_config.unit);
-    pcnt_counter_clear(pcnt_config.unit);
+    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);
+    pcnt_counter_resume(pcnt_config->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;
+    }
+
+    peripherals_pcnt_reinit(pcnt_config);
 
-    return pcnt_config.unit;
+    return pcnt_config->unit;
 }
 
 void peripherals_pcnt_deinit(pcnt_unit_t *unit) {

ports/espressif/peripherals/pcnt.h

@@ -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);