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* start of pulse counter implementation * implement interrupts implement pcnt for esp32, esp32s2, and esp32s3 * implement pcnt for esp32s2 * fix esp32 PCNT signal names * update PCNT register/fields for cleaned up PAC * implement events/get_events (choosing what events interrupt) * added pcnt example: simple encoder configuration * restrict pcnt::channel::Channel::new() to super * PcntPin -> PcntSignal added range checks for thresholds and limits * PcntSource is a better name I think * handle error for PCNT Unit configure() in example * update pac versions for status register change * cargo fmt * cargo fmt (examples) * PcntSource now only stores the source id. add a critical section to protect the ctrl & isr_en registers * cargo fmt
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,243 @@ | ||
| use super::unit; | ||
| use crate::{ | ||
| gpio::{ | ||
| types::{InputSignal, ONE_INPUT, ZERO_INPUT}, | ||
| InputPin, | ||
| }, | ||
| peripheral::Peripheral, | ||
| peripherals::GPIO, | ||
| }; | ||
|
|
||
| /// Channel number | ||
| #[derive(PartialEq, Eq, Copy, Clone, Debug)] | ||
| pub enum Number { | ||
| Channel0, | ||
| Channel1, | ||
| } | ||
|
|
||
| /// PCNT channel action on signal edge | ||
| #[derive(Debug, Copy, Clone, Default)] | ||
| pub enum EdgeMode { | ||
| /// Hold current count value | ||
| Hold = 0, | ||
| /// Increase count value | ||
| #[default] | ||
| Increment = 1, | ||
| /// Decrease count value | ||
| Decrement = 2, | ||
| } | ||
|
|
||
| /// PCNT channel action on control level | ||
| #[derive(Debug, Copy, Clone, Default)] | ||
| pub enum CtrlMode { | ||
| /// Keep current count mode | ||
| Keep = 0, | ||
| /// Invert current count mode (increase -> decrease, decrease -> increase) | ||
| #[default] | ||
| Reverse = 1, | ||
| /// Hold current count value | ||
| Disable = 2, | ||
| } | ||
|
|
||
| /// Pulse Counter configuration for a single channel | ||
| #[derive(Debug, Copy, Clone, Default)] | ||
| pub struct Config { | ||
| /// PCNT low control mode | ||
| pub lctrl_mode: CtrlMode, | ||
| /// PCNT high control mode | ||
| pub hctrl_mode: CtrlMode, | ||
| /// PCNT signal positive edge count mode | ||
| pub pos_edge: EdgeMode, | ||
| /// PCNT signal negative edge count mode | ||
| pub neg_edge: EdgeMode, | ||
| pub invert_ctrl: bool, | ||
| pub invert_sig: bool, | ||
| } | ||
|
|
||
| /// PcntPin can be always high, always low, or an actual pin | ||
| #[derive(Clone, Copy)] | ||
| pub struct PcntSource { | ||
| source: u8, | ||
| } | ||
|
|
||
| impl PcntSource { | ||
| pub fn from_pin<'a, P: InputPin>(pin: impl Peripheral<P = P> + 'a) -> Self { | ||
| crate::into_ref!(pin); | ||
| Self { | ||
| source: pin.number(), | ||
| } | ||
| } | ||
| pub fn always_high() -> Self { | ||
| Self { source: ONE_INPUT } | ||
| } | ||
| pub fn always_low() -> Self { | ||
| Self { source: ZERO_INPUT } | ||
| } | ||
| } | ||
|
|
||
| pub struct Channel { | ||
| unit: unit::Number, | ||
| channel: Number, | ||
| } | ||
|
|
||
| impl Channel { | ||
| /// return a new Channel | ||
| pub(super) fn new(unit: unit::Number, channel: Number) -> Self { | ||
| Self { unit, channel } | ||
| } | ||
|
|
||
| /// Configure the channel | ||
| pub fn configure(&mut self, ctrl_signal: PcntSource, edge_signal: PcntSource, config: Config) { | ||
| let pcnt = unsafe { &*crate::peripherals::PCNT::ptr() }; | ||
| let conf0 = match self.unit { | ||
| unit::Number::Unit0 => &pcnt.u0_conf0, | ||
| unit::Number::Unit1 => &pcnt.u1_conf0, | ||
| unit::Number::Unit2 => &pcnt.u2_conf0, | ||
| unit::Number::Unit3 => &pcnt.u3_conf0, | ||
| #[cfg(esp32)] | ||
| unit::Number::Unit4 => &pcnt.u4_conf0, | ||
| #[cfg(esp32)] | ||
| unit::Number::Unit5 => &pcnt.u5_conf0, | ||
| #[cfg(esp32)] | ||
| unit::Number::Unit6 => &pcnt.u6_conf0, | ||
| #[cfg(esp32)] | ||
| unit::Number::Unit7 => &pcnt.u7_conf0, | ||
| }; | ||
| match self.channel { | ||
| Number::Channel0 => { | ||
| conf0.modify(|_, w| unsafe { | ||
| w.ch0_hctrl_mode() | ||
| .bits(config.hctrl_mode as u8) | ||
| .ch0_lctrl_mode() | ||
| .bits(config.lctrl_mode as u8) | ||
| .ch0_neg_mode() | ||
| .bits(config.neg_edge as u8) | ||
| .ch0_pos_mode() | ||
| .bits(config.pos_edge as u8) | ||
| }); | ||
| } | ||
| Number::Channel1 => { | ||
| conf0.modify(|_, w| unsafe { | ||
| w.ch1_hctrl_mode() | ||
| .bits(config.hctrl_mode as u8) | ||
| .ch1_lctrl_mode() | ||
| .bits(config.lctrl_mode as u8) | ||
| .ch1_neg_mode() | ||
| .bits(config.neg_edge as u8) | ||
| .ch1_pos_mode() | ||
| .bits(config.pos_edge as u8) | ||
| }); | ||
| } | ||
| } | ||
| self.set_ctrl_signal(ctrl_signal, config.invert_ctrl); | ||
| self.set_edge_signal(edge_signal, config.invert_sig); | ||
| } | ||
|
|
||
| /// Set the control signal (pin/high/low) for this channel | ||
| pub fn set_ctrl_signal(&self, source: PcntSource, invert: bool) -> &Self { | ||
| let signal = match self.unit { | ||
| unit::Number::Unit0 => match self.channel { | ||
| Number::Channel0 => InputSignal::PCNT0_CTRL_CH0, | ||
| Number::Channel1 => InputSignal::PCNT0_CTRL_CH1, | ||
| }, | ||
| unit::Number::Unit1 => match self.channel { | ||
| Number::Channel0 => InputSignal::PCNT1_CTRL_CH0, | ||
| Number::Channel1 => InputSignal::PCNT1_CTRL_CH1, | ||
| }, | ||
| unit::Number::Unit2 => match self.channel { | ||
| Number::Channel0 => InputSignal::PCNT2_CTRL_CH0, | ||
| Number::Channel1 => InputSignal::PCNT2_CTRL_CH1, | ||
| }, | ||
| unit::Number::Unit3 => match self.channel { | ||
| Number::Channel0 => InputSignal::PCNT3_CTRL_CH0, | ||
| Number::Channel1 => InputSignal::PCNT3_CTRL_CH1, | ||
| }, | ||
| #[cfg(esp32)] | ||
| unit::Number::Unit4 => match self.channel { | ||
| Number::Channel0 => InputSignal::PCNT4_CTRL_CH0, | ||
| Number::Channel1 => InputSignal::PCNT4_CTRL_CH1, | ||
| }, | ||
| #[cfg(esp32)] | ||
| unit::Number::Unit5 => match self.channel { | ||
| Number::Channel0 => InputSignal::PCNT5_CTRL_CH0, | ||
| Number::Channel1 => InputSignal::PCNT5_CTRL_CH1, | ||
| }, | ||
| #[cfg(esp32)] | ||
| unit::Number::Unit6 => match self.channel { | ||
| Number::Channel0 => InputSignal::PCNT6_CTRL_CH0, | ||
| Number::Channel1 => InputSignal::PCNT6_CTRL_CH1, | ||
| }, | ||
| #[cfg(esp32)] | ||
| unit::Number::Unit7 => match self.channel { | ||
| Number::Channel0 => InputSignal::PCNT7_CTRL_CH0, | ||
| Number::Channel1 => InputSignal::PCNT7_CTRL_CH1, | ||
| }, | ||
| }; | ||
|
|
||
| if (signal as usize) <= crate::types::INPUT_SIGNAL_MAX as usize { | ||
| unsafe { &*GPIO::PTR }.func_in_sel_cfg[signal as usize].modify(|_, w| unsafe { | ||
| w.sel() | ||
| .set_bit() | ||
| .in_inv_sel() | ||
| .bit(invert) | ||
| .in_sel() | ||
| .bits(source.source) | ||
| }); | ||
| } | ||
| self | ||
| } | ||
|
|
||
| /// Set the edge signal (pin/high/low) for this channel | ||
| pub fn set_edge_signal(&self, source: PcntSource, invert: bool) -> &Self { | ||
| let signal = match self.unit { | ||
| unit::Number::Unit0 => match self.channel { | ||
| Number::Channel0 => InputSignal::PCNT0_SIG_CH0, | ||
| Number::Channel1 => InputSignal::PCNT0_SIG_CH1, | ||
| }, | ||
| unit::Number::Unit1 => match self.channel { | ||
| Number::Channel0 => InputSignal::PCNT1_SIG_CH0, | ||
| Number::Channel1 => InputSignal::PCNT1_SIG_CH1, | ||
| }, | ||
| unit::Number::Unit2 => match self.channel { | ||
| Number::Channel0 => InputSignal::PCNT2_SIG_CH0, | ||
| Number::Channel1 => InputSignal::PCNT2_SIG_CH1, | ||
| }, | ||
| unit::Number::Unit3 => match self.channel { | ||
| Number::Channel0 => InputSignal::PCNT3_SIG_CH0, | ||
| Number::Channel1 => InputSignal::PCNT3_SIG_CH1, | ||
| }, | ||
| #[cfg(esp32)] | ||
| unit::Number::Unit4 => match self.channel { | ||
| Number::Channel0 => InputSignal::PCNT4_SIG_CH0, | ||
| Number::Channel1 => InputSignal::PCNT4_SIG_CH1, | ||
| }, | ||
| #[cfg(esp32)] | ||
| unit::Number::Unit5 => match self.channel { | ||
| Number::Channel0 => InputSignal::PCNT5_SIG_CH0, | ||
| Number::Channel1 => InputSignal::PCNT5_SIG_CH1, | ||
| }, | ||
| #[cfg(esp32)] | ||
| unit::Number::Unit6 => match self.channel { | ||
| Number::Channel0 => InputSignal::PCNT6_SIG_CH0, | ||
| Number::Channel1 => InputSignal::PCNT6_SIG_CH1, | ||
| }, | ||
| #[cfg(esp32)] | ||
| unit::Number::Unit7 => match self.channel { | ||
| Number::Channel0 => InputSignal::PCNT7_SIG_CH0, | ||
| Number::Channel1 => InputSignal::PCNT7_SIG_CH1, | ||
| }, | ||
| }; | ||
|
|
||
| if (signal as usize) <= crate::types::INPUT_SIGNAL_MAX as usize { | ||
| unsafe { &*GPIO::PTR }.func_in_sel_cfg[signal as usize].modify(|_, w| unsafe { | ||
| w.sel() | ||
| .set_bit() | ||
| .in_inv_sel() | ||
| .bit(invert) | ||
| .in_sel() | ||
| .bits(source.source) | ||
| }); | ||
| } | ||
| self | ||
| } | ||
| } |
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