mirror of
https://github.com/apache/nuttx.git
synced 2026-06-01 07:45:16 +08:00
esp32[s2|s3]: Add pulse counter support
This commit is contained in:
Eren Terzioglu
committed by
Alan C. Assis
Alan C. Assis
parent
e48d092778
commit
767c5f16f0
@@ -0,0 +1,79 @@
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/****************************************************************************
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* boards/xtensa/esp32/common/include/esp32_board_pcnt.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 __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_BOARD_PCNT_H
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#define __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_BOARD_PCNT_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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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Public Types
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****************************************************************************/
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/****************************************************************************
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* Public Data
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****************************************************************************/
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#ifdef __cplusplus
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#define EXTERN extern "C"
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extern "C"
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{
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#else
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#define EXTERN extern
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#endif
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/****************************************************************************
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* Inline Functions
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****************************************************************************/
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Name: board_pcnt_initialize
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*
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* Description:
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* Initialize the pulse counter/quadrature encoder driver
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*
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* Input Parameters:
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* None
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*
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* Returned Value:
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* OK on success; errno on failure.
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*
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****************************************************************************/
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int board_pcnt_initialize(void);
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#undef EXTERN
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#ifdef __cplusplus
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}
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#endif
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#endif /* __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_BOARD_PCNT_H */
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@@ -38,8 +38,8 @@ ifeq ($(CONFIG_ESP32_I2S),y)
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CSRCS += esp32_board_i2sdev.c
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endif
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ifeq ($(CONFIG_ESP32_PCNT_AS_QE),y)
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CSRCS += esp32_qencoder.c
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ifeq ($(CONFIG_ESP_PCNT),y)
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CSRCS += esp32_board_pcnt.c
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endif
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ifeq ($(CONFIG_SENSORS_MAX6675),y)
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@@ -0,0 +1,332 @@
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/****************************************************************************
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* boards/xtensa/esp32/common/src/esp32_board_pcnt.c
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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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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <errno.h>
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#include <debug.h>
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#include <stdio.h>
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#include <arch/board/board.h>
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#include <nuttx/timers/capture.h>
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#include <nuttx/sensors/sensor.h>
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#include "espressif/esp_pcnt.h"
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#ifdef CONFIG_ESP_PCNT_AS_QE
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#include "espressif/esp_qencoder.h"
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#endif
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#define PCNT_HIGH_LIMIT 1000
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#define PCNT_LOW_LIMIT -1000
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#define PCNT_GLITCH_FILTER(pcnt, thres) pcnt->ops->ioctl(pcnt, \
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CAPIOC_FILTER, \
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thres) \
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: board_pcnt_init
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*
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* Description:
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* Initialize and register the pulse counter driver
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*
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* Input Parameters:
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* devpath - The full path to the driver to register.
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* unit_cfg - PCNT unit configuration
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* chan0_cfg - PCNT unit channel 0 configuration
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* chan1_cfg - PCNT unit channel 1 configuration
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* glitch_threshold - Threshold value for glitch filter in ns
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*
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* Returned Value:
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* Valid PCNT device structure reference on success; NULL, otherwise.
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*
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****************************************************************************/
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static struct cap_lowerhalf_s *board_pcnt_init(
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const char *devpath,
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struct esp_pcnt_unit_config_s *unit_cfg,
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struct esp_pcnt_chan_config_s *chan0_cfg,
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struct esp_pcnt_chan_config_s *chan1_cfg,
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uint32_t glitch_threshold)
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{
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struct cap_lowerhalf_s *pcnt;
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int chan0;
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int chan1;
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int ret;
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pcnt = esp_pcnt_new_unit(unit_cfg);
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if (!pcnt)
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{
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syslog(LOG_ERR, "Failed to create unit!\n");
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return NULL;
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}
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chan0 = esp_pcnt_new_channel(pcnt, chan0_cfg);
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if (chan0 == ERROR)
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{
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syslog(LOG_ERR, "Failed to create channel!\n");
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esp_pcnt_del_unit(pcnt);
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return NULL;
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}
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#ifdef CONFIG_ESP_PCNT_TEST_MODE
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esp_pcnt_channel_set_edge_action(chan0, ESP_PCNT_CHAN_EDGE_ACTION_HOLD,
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ESP_PCNT_CHAN_EDGE_ACTION_INCREASE);
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esp_pcnt_channel_set_level_action(chan0, ESP_PCNT_CHAN_LEVEL_ACTION_KEEP,
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ESP_PCNT_CHAN_LEVEL_ACTION_KEEP);
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#else
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esp_pcnt_channel_set_edge_action(chan0, ESP_PCNT_CHAN_EDGE_ACTION_DECREASE,
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ESP_PCNT_CHAN_EDGE_ACTION_INCREASE);
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esp_pcnt_channel_set_level_action(chan0, ESP_PCNT_CHAN_LEVEL_ACTION_KEEP,
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ESP_PCNT_CHAN_LEVEL_ACTION_INVERSE);
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#endif
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if (chan1_cfg)
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{
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chan1 = esp_pcnt_new_channel(pcnt, chan1_cfg);
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if (chan1 == ERROR)
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{
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syslog(LOG_ERR, "Failed to create channel!\n");
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esp_pcnt_del_channel(chan0);
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esp_pcnt_del_unit(pcnt);
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return NULL;
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}
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esp_pcnt_channel_set_edge_action(chan1,
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ESP_PCNT_CHAN_EDGE_ACTION_INCREASE,
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ESP_PCNT_CHAN_EDGE_ACTION_DECREASE);
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esp_pcnt_channel_set_level_action(chan1,
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ESP_PCNT_CHAN_LEVEL_ACTION_KEEP,
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ESP_PCNT_CHAN_LEVEL_ACTION_INVERSE);
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}
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PCNT_GLITCH_FILTER(pcnt, glitch_threshold);
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ret = cap_register(devpath, pcnt);
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: Error registering PCNT!\n");
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esp_pcnt_del_channel(chan0);
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if (chan1_cfg)
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{
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esp_pcnt_del_channel(chan1);
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}
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esp_pcnt_del_unit(pcnt);
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return NULL;
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}
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return pcnt;
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: board_pcnt_initialize
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*
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* Description:
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* Initialize the pulse counter/quadrature encoder driver
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*
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* Input Parameters:
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* None
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*
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* Returned Value:
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* OK on success; errno on failure.
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*
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****************************************************************************/
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int board_pcnt_initialize(void)
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{
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struct cap_lowerhalf_s *pcnt;
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int ret = OK;
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int glitch_threshold = 0;
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#ifdef CONFIG_ESP_PCNT_AS_QE
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char devpath[12];
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int devno = 0;
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#endif
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struct esp_pcnt_unit_config_s unit_cfg =
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{
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.high_limit = PCNT_HIGH_LIMIT,
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.low_limit = PCNT_LOW_LIMIT,
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.accum_count = false,
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};
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struct esp_pcnt_chan_config_s chan0_cfg =
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{
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0
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};
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struct esp_pcnt_chan_config_s chan1_cfg =
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{
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0
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};
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#ifdef CONFIG_ESP_PCNT_U0
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chan0_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U0_CH0_EDGE_PIN;
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chan0_cfg.level_gpio_num = CONFIG_ESP_PCNT_U0_CH0_LEVEL_PIN;
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#ifdef CONFIG_ESP_PCNT_TEST_MODE
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chan0_cfg.flags = ESP_PCNT_CHAN_IO_LOOPBACK;
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#endif
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chan1_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U0_CH1_LEVEL_PIN;
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chan1_cfg.level_gpio_num = CONFIG_ESP_PCNT_U0_CH1_EDGE_PIN;
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#ifndef CONFIG_ESP_PCNT_U0_FILTER_EN
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glitch_threshold = 0;
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#else
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glitch_threshold = CONFIG_ESP_PCNT_U0_FILTER_THRES;
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#endif
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pcnt = board_pcnt_init("/dev/pcnt0", &unit_cfg, &chan0_cfg,
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&chan1_cfg, glitch_threshold);
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if (!pcnt)
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{
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syslog(LOG_ERR, "ERROR: pcnt initialize failed: %d\n", ret);
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return ERROR;
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}
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#ifdef CONFIG_ESP_PCNT_U0_QE
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snprintf(devpath, sizeof(devpath), "/dev/qe%d", devno++);
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ret = esp_qeinitialize(devpath, pcnt, 0);
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: esp_qeinitialize failed: %d\n", ret);
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return ret;
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}
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pcnt = NULL;
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#endif
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#endif
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#ifdef CONFIG_ESP_PCNT_U1
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chan0_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U1_CH0_EDGE_PIN;
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chan0_cfg.level_gpio_num = CONFIG_ESP_PCNT_U1_CH0_LEVEL_PIN;
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chan1_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U1_CH1_EDGE_PIN;
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chan1_cfg.level_gpio_num = CONFIG_ESP_PCNT_U1_CH1_LEVEL_PIN;
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#ifndef CONFIG_ESP_PCNT_U1_FILTER_EN
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glitch_threshold = 0;
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#else
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glitch_threshold = CONFIG_ESP_PCNT_U1_FILTER_THRES;
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#endif
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pcnt = board_pcnt_init("/dev/pcnt1", &unit_cfg, &chan0_cfg,
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&chan1_cfg, glitch_threshold);
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if (!pcnt)
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{
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syslog(LOG_ERR, "ERROR: pcnt initialize failed: %d\n", ret);
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return ERROR;
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}
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#ifdef CONFIG_ESP_PCNT_U1_QE
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snprintf(devpath, sizeof(devpath), "/dev/qe%d", devno++);
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ret = esp_qeinitialize(devpath, pcnt, 1);
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: esp_qeinitialize failed: %d\n", ret);
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return ret;
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}
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pcnt = NULL;
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#endif
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#endif
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#ifdef CONFIG_ESP_PCNT_U2
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chan0_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U2_CH0_EDGE_PIN;
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chan0_cfg.level_gpio_num = CONFIG_ESP_PCNT_U2_CH0_LEVEL_PIN;
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chan1_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U2_CH1_EDGE_PIN;
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chan1_cfg.level_gpio_num = CONFIG_ESP_PCNT_U2_CH1_LEVEL_PIN;
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#ifndef CONFIG_ESP_PCNT_U2_FILTER_EN
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glitch_threshold = 0;
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#else
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glitch_threshold = CONFIG_ESP_PCNT_U2_FILTER_THRES;
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#endif
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pcnt = board_pcnt_init("/dev/pcnt2", &unit_cfg, &chan0_cfg,
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&chan1_cfg, glitch_threshold);
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if (!pcnt)
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{
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syslog(LOG_ERR, "ERROR: pcnt initialize failed: %d\n", ret);
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return ERROR;
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}
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#ifdef CONFIG_ESP_PCNT_U2_QE
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snprintf(devpath, sizeof(devpath), "/dev/qe%d", devno++);
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ret = esp_qeinitialize(devpath, pcnt, 2);
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: esp_qeinitialize failed: %d\n", ret);
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return ret;
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}
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pcnt = NULL;
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#endif
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#endif
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#ifdef CONFIG_ESP_PCNT_U3
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chan0_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U3_CH0_EDGE_PIN;
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chan0_cfg.level_gpio_num = CONFIG_ESP_PCNT_U3_CH0_LEVEL_PIN;
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chan1_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U3_CH1_EDGE_PIN;
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chan1_cfg.level_gpio_num = CONFIG_ESP_PCNT_U3_CH1_LEVEL_PIN;
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#ifndef CONFIG_ESP_PCNT_U3_FILTER_EN
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glitch_threshold = 0;
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#else
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glitch_threshold = CONFIG_ESP_PCNT_U3_FILTER_THRES;
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#endif
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pcnt = board_pcnt_init("/dev/pcnt3", &unit_cfg, &chan0_cfg,
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&chan1_cfg, glitch_threshold);
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if (!pcnt)
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{
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syslog(LOG_ERR, "ERROR: pcnt initialize failed: %d\n", ret);
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return ERROR;
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}
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#ifdef CONFIG_ESP_PCNT_U3_QE
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snprintf(devpath, sizeof(devpath), "/dev/qe%d", devno++);
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ret = esp_qeinitialize(devpath, pcnt, 3);
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: esp_qeinitialize failed: %d\n", ret);
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return ret;
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}
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pcnt = NULL;
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#endif
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#endif
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return ret;
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}
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@@ -70,6 +70,11 @@
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# include "board_qencoder.h"
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#endif
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#ifdef CONFIG_ESP_PCNT
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# include "espressif/esp_pcnt.h"
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# include "esp32_board_pcnt.h"
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#endif
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#ifdef CONFIG_ESP32_RT_TIMER
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# include "esp32_rt_timer.h"
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#endif
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@@ -357,6 +362,14 @@ int esp32_bringup(void)
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}
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#endif
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#ifdef CONFIG_ESP_PCNT
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ret = board_pcnt_initialize();
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: board_pcnt_initialize failed: %d\n", ret);
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}
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#endif
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#ifdef CONFIG_RTC_DRIVER
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/* Instantiate the ESP32 RTC driver */
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@@ -94,8 +94,9 @@
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# include "esp32_i2s.h"
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#endif
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#ifdef CONFIG_ESP32_PCNT_AS_QE
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# include "board_qencoder.h"
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#ifdef CONFIG_ESP_PCNT
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# include "espressif/esp_pcnt.h"
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# include "esp32_board_pcnt.h"
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#endif
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#ifdef CONFIG_I2CMULTIPLEXER_TCA9548A
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@@ -475,16 +476,11 @@ int esp32_bringup(void)
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}
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#endif
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#ifdef CONFIG_SENSORS_QENCODER
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/* Initialize and register the qencoder driver */
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ret = board_qencoder_initialize(0, PCNT_QE0_ID);
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if (ret != OK)
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#ifdef CONFIG_ESP_PCNT
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ret = board_pcnt_initialize();
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if (ret < 0)
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{
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syslog(LOG_ERR,
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"ERROR: Failed to register the qencoder: %d\n",
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ret);
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return ret;
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syslog(LOG_ERR, "ERROR: board_pcnt_initialize failed: %d\n", ret);
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}
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#endif
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