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espressif: Add Quadrature Encoder driver (using PCNT)
Signed-off-by: Martin Vajnar <martin.vajnar@gmail.com> Co-authored-by: Pavel Pisa <pisa@fel.cvut.cz>
This commit is contained in:
Martin Vajnar
committed by
Xiang Xiao
Xiang Xiao
co-authored by
Pavel Pisa
Pavel Pisa
parent
c2a300d2b0
commit
1fa4e61230
@@ -486,6 +486,223 @@ config ESP_MCPWM
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Enable support for timer capture and motor control using
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the Motor Control PWM peripheral.
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config ESP_PCNT
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bool "Pulse Counter (PCNT / QE) Module"
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default n
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depends on ESPRESSIF_ESP32H2 || ESPRESSIF_ESP32C6
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---help---
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Pulse Counter is currently used to implement Quadrature
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Encoder.
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menu "Pulse Counter (PCNT) Configuration"
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depends on ESP_PCNT
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config ESP_PCNT_AS_QE
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bool
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default n
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config ESP_PCNT_U0
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bool "Enable PCNT Unit 0"
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default n
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if ESP_PCNT_U0
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config ESP_PCNT_U0_QE
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bool "Use this PCNT Unit as Quadrature Encoder"
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default y
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select ESP_PCNT_AS_QE
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config ESP_PCNT_U0_CH0_EDGE_PIN
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int "PCNT_U0 CH0 Edge/Pulse Pin Number"
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default 0
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range -1 39
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config ESP_PCNT_U0_CH0_LEVEL_PIN
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int "PCNT_U0 CH0 Level/Control Pin Number"
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default 4
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range -1 39
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depends on !ESP_PCNT_U0_QE
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config ESP_PCNT_U0_CH1_EDGE_PIN
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int "PCNT_U0 CH1 Edge/Pulse Pin Number"
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default 0
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range -1 39
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depends on !ESP_PCNT_U0_QE
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config ESP_PCNT_U0_CH1_LEVEL_PIN
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int "PCNT_U0 CH1 Level/Control Pin Number"
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default 4
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range -1 39
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config ESP_PCNT_U0_FILTER_EN
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bool "Enable Glitch Filter for this PCNT Unit"
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default n
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if ESP_PCNT_U0_FILTER_EN
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config ESP_PCNT_U0_FILTER_THRES
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int "PCNT_U0 Filter Threshold value"
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default 5
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---help---
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If a pulse is shorter than this number of APB_CLK clock cycles
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then it will not be considered as a valid pulse.
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endif # ESP_PCNT_U0_FILTER_EN
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endif # ESP_PCNT_U0
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config ESP_PCNT_U1
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bool "Enable PCNT Unit 1"
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default n
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if ESP_PCNT_U1
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config ESP_PCNT_U1_QE
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bool "Use this PCNT Unit as Quadrature Encoder"
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default y
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select ESP_PCNT_AS_QE
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config ESP_PCNT_U1_CH0_EDGE_PIN
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int "PCNT_U1 CH0 Edge/Pulse Pin Number"
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default 0
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range -1 39
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config ESP_PCNT_U1_CH0_LEVEL_PIN
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int "PCNT_U1 CH0 Level/Control Pin Number"
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default 4
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range -1 39
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depends on !ESP_PCNT_U1_QE
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config ESP_PCNT_U1_CH1_EDGE_PIN
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int "PCNT_U1 CH1 Edge/Pulse Pin Number"
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default 0
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range -1 39
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depends on !ESP_PCNT_U1_QE
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config ESP_PCNT_U1_CH1_LEVEL_PIN
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int "PCNT_U1 CH1 Level/Control Pin Number"
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default 4
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range -1 39
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config ESP_PCNT_U1_FILTER_EN
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bool "Enable Glitch Filter for this PCNT Unit"
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default n
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if ESP_PCNT_U1_FILTER_EN
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config ESP_PCNT_U1_FILTER_THRES
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int "PCNT_U1 Filter Threshold value"
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default 5
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---help---
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If a pulse is shorter than this number of APB_CLK clock cycles
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then it will not be considered as a valid pulse.
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endif # ESP_PCNT_U1_FILTER_EN
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endif # ESP_PCNT_U1
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config ESP_PCNT_U2
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bool "Enable PCNT Unit 2"
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default n
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if ESP_PCNT_U2
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config ESP_PCNT_U2_QE
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bool "Use this PCNT Unit as Quadrature Encoder"
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default y
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select ESP_PCNT_AS_QE
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config ESP_PCNT_U2_CH0_EDGE_PIN
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int "PCNT_U2 CH0 Edge/Pulse Pin Number"
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default 0
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range -1 39
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config ESP_PCNT_U2_CH0_LEVEL_PIN
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int "PCNT_U2 CH0 Level/Control Pin Number"
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default 4
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range -1 39
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depends on !ESP_PCNT_U2_QE
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config ESP_PCNT_U2_CH1_EDGE_PIN
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int "PCNT_U2 CH1 Edge/Pulse Pin Number"
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default 0
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range -1 39
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depends on !ESP_PCNT_U2_QE
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config ESP_PCNT_U2_CH1_LEVEL_PIN
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int "PCNT_U2 CH1 Level/Control Pin Number"
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default 4
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range -1 39
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config ESP_PCNT_U2_FILTER_EN
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bool "Enable Glitch Filter for this PCNT Unit"
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default n
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if ESP_PCNT_U2_FILTER_EN
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config ESP_PCNT_U2_FILTER_THRES
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int "PCNT_U2 Filter Threshold value"
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default 5
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---help---
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If a pulse is shorter than this number of APB_CLK clock cycles
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then it will not be considered as a valid pulse.
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endif # ESP_PCNT_U2_FILTER_EN
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endif # ESP_PCNT_U2
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config ESP_PCNT_U3
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bool "Enable PCNT Unit 3"
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default n
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if ESP_PCNT_U3
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config ESP_PCNT_U3_QE
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bool "Use this PCNT Unit as Quadrature Encoder"
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default y
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select ESP_PCNT_AS_QE
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config ESP_PCNT_U3_CH0_EDGE_PIN
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int "PCNT_U3 CH0 Edge/Pulse Pin Number"
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default 0
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range -1 39
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config ESP_PCNT_U3_CH0_LEVEL_PIN
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int "PCNT_U3 CH0 Level/Control Pin Number"
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default 4
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range -1 39
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depends on !ESP_PCNT_U3_QE
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config ESP_PCNT_U3_CH1_EDGE_PIN
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int "PCNT_U3 CH1 Edge/Pulse Pin Number"
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default 0
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range -1 39
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depends on !ESP_PCNT_U3_QE
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config ESP_PCNT_U3_CH1_LEVEL_PIN
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int "PCNT_U3 CH1 Level/Control Pin Number"
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default 4
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range -1 39
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config ESP_PCNT_U3_FILTER_EN
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bool "Enable Glitch Filter for this PCNT Unit"
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default n
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if ESP_PCNT_U3_FILTER_EN
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config ESP_PCNT_U3_FILTER_THRES
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int "PCNT_U3 Filter Threshold value"
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default 5
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---help---
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If a pulse is shorter than this number of APB_CLK clock cycles
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then it will not be considered as a valid pulse.
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endif # ESP_PCNT_U3_FILTER_EN
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endif # ESP_PCNT_U3
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endmenu # ESP_PCNT
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endmenu # Peripheral Support
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menu "Wi-Fi Configuration"
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@@ -77,6 +77,10 @@ ifeq ($(CONFIG_ESPRESSIF_LEDC),y)
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CHIP_CSRCS += esp_ledc.c
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endif
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ifeq ($(CONFIG_ESP_PCNT_AS_QE),y)
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CHIP_CSRCS += esp_qencoder.c
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endif
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ifeq ($(CONFIG_ESPRESSIF_USBSERIAL),y)
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CHIP_CSRCS += esp_usbserial.c
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endif
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,82 @@
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/****************************************************************************
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* arch/risc-v/src/common/espressif/esp_qencoder.h
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __ARCH_RISC_V_SRC_COMMON_ESPRESSIF_ESP_QENCODER_H
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#define __ARCH_RISC_V_SRC_COMMON_ESPRESSIF_ESP_QENCODER_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include "chip.h"
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#ifdef CONFIG_SENSORS_QENCODER
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/****************************************************************************
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* Included Files
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****************************************************************************/
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/* Timer devices may be used for different purposes. One special purpose is
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* as a quadrature encoder input device. If CONFIG_ESP_PCNT_Un is defined
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* then the CONFIG_ESP_PCNT_Un_QE must also be defined to indicate that
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* pcnt "n" is intended to be used for as a quadrature encoder.
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*/
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#ifndef CONFIG_ESP_PCNT_U0
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# undef CONFIG_ESP_PCNT_U0_QE
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#endif
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#ifndef CONFIG_ESP_PCNT_U1
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# undef CONFIG_ESP_PCNT_U1_QE
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#endif
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#ifndef CONFIG_ESP_PCNT_U2
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# undef CONFIG_ESP_PCNT_U2_QE
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#endif
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#ifndef CONFIG_ESP_PCNT_U3
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# undef CONFIG_ESP_PCNT_U3_QE
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#endif
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/****************************************************************************
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* Included Files
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****************************************************************************/
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/****************************************************************************
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* Name: esp_qeinitialize
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*
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* Description:
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* Initialize a quadrature encoder interface. This function must be called
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* from board-specific logic..
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*
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* Input Parameters:
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* devpath - The full path to the driver to register. E.g., "/dev/qe0"
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* pcnt - The PCNT number to used. 'tim' must be an element of
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* {0,1,2,3}
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*
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* Returned Value:
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* Zero on success; A negated errno value is returned on failure.
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*
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****************************************************************************/
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int esp_qeinitialize(const char *devpath, int pcnt);
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#endif /* CONFIG_SENSORS_QENCODER */
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#endif /* __ARCH_RISC_V_SRC_COMMON_ESPRESSIF_ESP_QENCODER_H */
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