Merge pull request #6207 from domdfcoding/esp32-rotaryio

Add espressif rotaryio divisor support.

Author: dhalbert

locale/circuitpython.pot

@@ -3126,10 +3126,6 @@ msgstr ""
 msgid "division by zero"
 msgstr ""
 
-#: ports/espressif/common-hal/rotaryio/IncrementalEncoder.c
-msgid "divisor must be 4"
-msgstr ""
-
 #: extmod/ulab/code/numpy/vector.c
 msgid "dtype must be float, or complex"
 msgstr ""

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

@@ -29,15 +29,14 @@
 #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) {
     claim_pin(pin_a);
     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 +50,32 @@ 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);
+
+    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);
+
+    // 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;
@@ -77,21 +97,20 @@ 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);
-    return (count / 2) + self->position;
+
+    return (count + self->position) / self->divisor;
 }
 
 void common_hal_rotaryio_incrementalencoder_set_position(rotaryio_incrementalencoder_obj_t *self,
     mp_int_t new_position) {
-    self->position = new_position;
+    self->position = new_position * self->divisor;
     pcnt_counter_clear(self->unit);
 }
 
 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;
 }

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

@@ -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

ports/espressif/peripherals/pcnt.c

@@ -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);
 

ports/espressif/peripherals/pcnt.h

@@ -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);
 

shared-bindings/rotaryio/IncrementalEncoder.c

@@ -78,8 +78,8 @@ STATIC mp_obj_t rotaryio_incrementalencoder_make_new(const mp_obj_type_t *type,
     self->base.type = &rotaryio_incrementalencoder_type;
 
     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);
 }