esp32[s2|s3]: Add pulse counter support
This commit is contained in:
Eren Terzioglu
Alan C. Assis
parent
e48d092778
commit
767c5f16f0
26 changed files with 3773 additions and 17 deletions
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@ -340,7 +340,7 @@ I2C Yes
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I2S Yes
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LED_PWM Yes
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MCPWM Yes
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Pulse_CNT No
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Pulse_CNT Yes
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RMT Yes
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RNG Yes
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RSA No
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@ -326,7 +326,7 @@ GPIO Yes
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I2C Yes
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I2S Yes
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LED_PWM No
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Pulse_CNT No
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Pulse_CNT Yes
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RMT No
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RNG Yes
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RSA No
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@ -363,7 +363,7 @@ I2S Yes
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LCD No
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LED_PWM No
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MCPWM Yes
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Pulse_CNT No
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Pulse_CNT Yes
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RMT No
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RNG No
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RSA No
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@ -16,6 +16,11 @@ 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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select CAPTURE
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config ESPRESSIF_TEMP
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bool "Internal Temperature Sensor"
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default n
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@ -61,6 +66,226 @@ config ESPRESSIF_SPIFLASH
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depends on ARCH_CHIP_ESP32S2
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default n
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menu "Pulse Counter (PCNT) Configuration"
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depends on ESP_PCNT
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config ESP_PCNT_TEST_MODE
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bool "Pulse Counter character driver loopback test mode (for testing only)"
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default n
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---help---
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This enables a loopback test mode that attaches the transmitter
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to the receiver internally, being able to test the PCNT
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peripheral without any external connection.
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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 n
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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 if !ESP_PCNT_U0_QE
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default -1 if ESP_PCNT_U0_QE
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range -1 39
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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 if !ESP_PCNT_U0_QE
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default -1 if ESP_PCNT_U0_QE
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range -1 39
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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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depends on ESP_PCNT_U0
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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 n
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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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depends on ESP_PCNT_U1
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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 n
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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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depends on ESP_PCNT_U2
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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 n
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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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menu "Internal Temperature Sensor Configuration"
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depends on ESPRESSIF_TEMP
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@ -50,6 +50,13 @@ ifeq ($(CONFIG_ESPRESSIF_SPI_BITBANG),y)
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CHIP_CSRCS += esp_spi_bitbang.c
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endif
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ifeq ($(CONFIG_ESP_PCNT),y)
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CHIP_CSRCS += esp_pcnt.c
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ifeq ($(CONFIG_ESP_PCNT_AS_QE),y)
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CHIP_CSRCS += esp_qencoder.c
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endif
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endif
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ifeq ($(CONFIG_ESPRESSIF_SPIFLASH),y)
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CHIP_CSRCS += esp_spiflash.c
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ifeq ($(CONFIG_ESPRESSIF_MTD),y)
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1422
arch/xtensa/src/common/espressif/esp_pcnt.c
Normal file
1422
arch/xtensa/src/common/espressif/esp_pcnt.c
Normal file
File diff suppressed because it is too large
Load diff
236
arch/xtensa/src/common/espressif/esp_pcnt.h
Normal file
236
arch/xtensa/src/common/espressif/esp_pcnt.h
Normal file
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@ -0,0 +1,236 @@
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/****************************************************************************
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* arch/xtensa/src/common/espressif/esp_pcnt.h
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*
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* SPDX-License-Identifier: Apache-2.0
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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_XTENSA_SRC_COMMON_ESPRESSIF_ESP_PCNT_H
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#define __ARCH_XTENSA_SRC_COMMON_ESPRESSIF_ESP_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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#define ESP_PCNT_CHAN_INVERT_EDGE_IN (1 << 0)
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#define ESP_PCNT_CHAN_INVERT_LVL_IN (1 << 1)
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#define ESP_PCNT_CHAN_VIRT_EDGE_IO_LVL (1 << 2)
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#define ESP_PCNT_CHAN_VIRT_LVL_IO_LVL (1 << 3)
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#define ESP_PCNT_CHAN_IO_LOOPBACK (1 << 4)
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/****************************************************************************
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* Public Types
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****************************************************************************/
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enum esp_pcnt_chan_level_action_e
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{
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ESP_PCNT_CHAN_LEVEL_ACTION_KEEP, /* Keep current count mode */
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ESP_PCNT_CHAN_LEVEL_ACTION_INVERSE, /* Invert current count mode */
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ESP_PCNT_CHAN_LEVEL_ACTION_HOLD, /* Hold current count value */
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};
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enum esp_pcnt_chan_edge_action_e
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{
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ESP_PCNT_CHAN_EDGE_ACTION_HOLD, /* Hold current count value */
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ESP_PCNT_CHAN_EDGE_ACTION_INCREASE, /* Increase count value */
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ESP_PCNT_CHAN_EDGE_ACTION_DECREASE, /* Decrease count value */
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};
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enum esp_pcnt_unit_zero_cross_mode_e
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{
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ESP_PCNT_UNIT_ZERO_CROSS_POS_ZERO, /* From positive value to zero */
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ESP_PCNT_UNIT_ZERO_CROSS_NEG_ZERO, /* From negative value, to zero */
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ESP_PCNT_UNIT_ZERO_CROSS_NEG_POS, /* From negative value, to positive value */
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ESP_PCNT_UNIT_ZERO_CROSS_POS_NEG, /* From positive value, to negative value */
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};
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struct esp_pcnt_unit_config_s
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{
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int low_limit; /* Low limitation of the count unit */
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int high_limit; /* High limitation of the count unit */
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bool accum_count; /* Accumulate the count value when overflow flag */
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};
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struct esp_pcnt_chan_config_s
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{
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int edge_gpio_num; /* Edge signal GPIO number,-1 if unused */
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int level_gpio_num; /* Level signal GPIO number ,-1 if unused */
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int flags; /* Channel config flags */
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};
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struct esp_pcnt_watch_event_data_s
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{
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int unit_id; /* PCNT Unit id */
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int watch_point_value; /* Watch point value that triggered the event */
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enum esp_pcnt_unit_zero_cross_mode_e zero_cross_mode; /* Zero cross mode */
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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: esp_pcnt_new_unit
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*
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* Description:
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* Request PCNT unit and config it with given parameters.
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*
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* Input Parameters:
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* config - PCNT unit configuration
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*
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* Returned Value:
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* PCNT unit number (>=0) if success or -1 if fail.
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*
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****************************************************************************/
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struct cap_lowerhalf_s *esp_pcnt_new_unit(
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struct esp_pcnt_unit_config_s *config);
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/****************************************************************************
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* Name: esp_pcnt_del_unit
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*
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* Description:
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* Delete PCNT unit.
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*
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* Input Parameters:
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* dev - Pointer to the pcnt driver struct
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*
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* Returned Value:
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* OK on success; ERROR on failure
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*
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****************************************************************************/
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int esp_pcnt_del_unit(struct cap_lowerhalf_s *dev);
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/****************************************************************************
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* Name: esp_pcnt_unit_add_watch_point
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*
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* Description:
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* Add watch point to given PCNT unit.
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*
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* Input Parameters:
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* dev - Pointer to the pcnt driver struct
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* ret - Value to watch
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*
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* Returned Value:
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* OK on success; ERROR on failure
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*
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****************************************************************************/
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int esp_pcnt_unit_add_watch_point(struct cap_lowerhalf_s *dev,
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int watch_point);
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/****************************************************************************
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* Name: esp_pcnt_unit_remove_watch_point
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*
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* Description:
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* Remove watch point from given PCNT unit.
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*
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* Input Parameters:
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* dev - Pointer to the pcnt driver struct
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* ret - Watch point value to remove
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*
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* Returned Value:
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* OK on success; ERROR on failure
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*
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****************************************************************************/
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int esp_pcnt_unit_remove_watch_point(struct cap_lowerhalf_s *dev,
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int watch_point);
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/****************************************************************************
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* Name: esp_pcnt_new_channel
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*
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* Description:
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* Request channel on given PCNT unit and config it with given parameters.
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*
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* Input Parameters:
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* dev - Pointer to the pcnt driver struct
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* config - PCNT unit channel configuration
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*
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* Returned Value:
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* PCNT unit channel number (>=0) if success or -1 if fail.
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*
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****************************************************************************/
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int esp_pcnt_new_channel(struct cap_lowerhalf_s *dev,
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struct esp_pcnt_chan_config_s *config);
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/****************************************************************************
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* Name: esp_pcnt_del_channel
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*
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* Description:
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* Delete PCNT unit channel.
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*
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* Input Parameters:
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* channel - Channel number to delete
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*
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* Returned Value:
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* OK on success; ERROR on failure
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*
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****************************************************************************/
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int esp_pcnt_del_channel(int channel);
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/****************************************************************************
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* Name: esp_pcnt_channel_set_edge_action
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*
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* Description:
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* Set channel actions when edge signal changes.
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*
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* Input Parameters:
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* channel - Channel number to set actions
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* post act - Action on posedge signal
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* neg_act - Action on negedge signal
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*
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* Returned Value:
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* OK on success; ERROR on failure
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*
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****************************************************************************/
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void esp_pcnt_channel_set_edge_action(int channel,
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enum esp_pcnt_chan_edge_action_e pos_act,
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enum esp_pcnt_chan_edge_action_e neg_act);
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/****************************************************************************
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* Name: esp_pcnt_channel_set_level_action
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*
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* Description:
|
||||
* Set channel actions when level signal changes.
|
||||
*
|
||||
* Input Parameters:
|
||||
* channel - Channel number to set actions
|
||||
* post act - Action on posedge signal
|
||||
* neg_act - Action on negedge signal
|
||||
*
|
||||
* Returned Value:
|
||||
* OK on success; ERROR on failure
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
void esp_pcnt_channel_set_level_action(int channel,
|
||||
enum esp_pcnt_chan_level_action_e pos_act,
|
||||
enum esp_pcnt_chan_level_action_e neg_act);
|
||||
|
||||
#endif /* __ARCH_XTENSA_SRC_COMMON_ESPRESSIF_ESP_PCNT_H */
|
||||
499
arch/xtensa/src/common/espressif/esp_qencoder.c
Normal file
499
arch/xtensa/src/common/espressif/esp_qencoder.c
Normal file
|
|
@ -0,0 +1,499 @@
|
|||
/****************************************************************************
|
||||
* arch/xtensa/src/common/espressif/esp_qencoder.c
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*
|
||||
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||
* contributor license agreements. See the NOTICE file distributed with
|
||||
* this work for additional information regarding copyright ownership. The
|
||||
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||
* "License"); you may not use this file except in compliance with the
|
||||
* License. You may obtain a copy of the License at
|
||||
*
|
||||
* http://www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||
* License for the specific language governing permissions and limitations
|
||||
* under the License.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <assert.h>
|
||||
#include <errno.h>
|
||||
#include <debug.h>
|
||||
#include <inttypes.h>
|
||||
|
||||
#include <nuttx/arch.h>
|
||||
#include <nuttx/irq.h>
|
||||
#include <nuttx/spinlock.h>
|
||||
#include <nuttx/sensors/qencoder.h>
|
||||
#include <nuttx/sensors/sensor.h>
|
||||
#include <nuttx/timers/capture.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#ifdef CONFIG_SENSORS_QENCODER
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* Input filter *************************************************************/
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U0_QE
|
||||
# ifndef CONFIG_ESP_PCNT_U0_FILTER_EN
|
||||
# warning "Glitch Filter is recommended for Quadrature Encoder on PCNT_U0"
|
||||
# endif
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U1_QE
|
||||
# ifndef CONFIG_ESP_PCNT_U1_FILTER_EN
|
||||
# warning "Glitch Filter is recommended for Quadrature Encoder on PCNT_U1"
|
||||
# endif
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U2_QE
|
||||
# ifndef CONFIG_ESP_PCNT_U2_FILTER_EN
|
||||
# warning "Glitch Filter is recommended for Quadrature Encoder on PCNT_U2"
|
||||
# endif
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U3_QE
|
||||
# ifndef CONFIG_ESP_PCNT_U3_FILTER_EN
|
||||
# warning "Glitch Filter is recommended for Quadrature Encoder on PCNT_U3"
|
||||
# endif
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Private Types
|
||||
****************************************************************************/
|
||||
|
||||
/* NOTE: we are using Quadrature Encoder in X4 mode on ESP PCNT, then
|
||||
* instead of using 'pulse_gpio' and 'ctrl_gpio' names, we only use ch0_gpio
|
||||
* and ch1_gpio names. It avoids confusion, since the same signal that is
|
||||
* used on pin 'pulse' of CH0 is also connected to 'ctrl' pin of the CH1 and
|
||||
* 'ctrl' pin of CH0 is also connected on 'pulse' pin of CH1.
|
||||
*/
|
||||
|
||||
/* Overall, RAM-based state structure */
|
||||
|
||||
struct qe_dev_lowerhalf_s
|
||||
{
|
||||
/* The first field of this state structure must be a pointer to the
|
||||
* lower-half callback structure:
|
||||
*/
|
||||
|
||||
const struct qe_ops_s *ops; /* Lower half callback structure */
|
||||
|
||||
/* ESP driver-specific fields: */
|
||||
|
||||
struct cap_lowerhalf_s *pcnt; /* Device handle */
|
||||
int pcnt_num; /* Pulse Counter (PCNT) unit number */
|
||||
bool inuse; /* True: The lower-half driver is in-use */
|
||||
volatile int32_t position; /* The current position offset */
|
||||
spinlock_t lock; /* Device specific lock. */
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Private Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
/* Lower-half Quadrature Encoder Driver Methods */
|
||||
|
||||
static int esp_setup(struct qe_lowerhalf_s *lower);
|
||||
static int esp_shutdown(struct qe_lowerhalf_s *lower);
|
||||
static int esp_position(struct qe_lowerhalf_s *lower,
|
||||
int32_t *pos);
|
||||
static int esp_setposmax(struct qe_lowerhalf_s *lower, uint32_t pos);
|
||||
static int esp_reset(struct qe_lowerhalf_s *lower);
|
||||
static int esp_setindex(struct qe_lowerhalf_s *lower, uint32_t pos);
|
||||
static int esp_ioctl(struct qe_lowerhalf_s *lower, int cmd,
|
||||
unsigned long arg);
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
/* The lower half callback structure */
|
||||
|
||||
static const struct qe_ops_s g_qecallbacks =
|
||||
{
|
||||
.setup = esp_setup,
|
||||
.shutdown = esp_shutdown,
|
||||
.position = esp_position,
|
||||
.setposmax = esp_setposmax,
|
||||
.reset = esp_reset,
|
||||
.setindex = esp_setindex,
|
||||
.ioctl = esp_ioctl,
|
||||
};
|
||||
|
||||
/* Per-pcnt state structures */
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U0_QE
|
||||
static struct qe_dev_lowerhalf_s g_pcnt0lower =
|
||||
{
|
||||
.ops = &g_qecallbacks,
|
||||
.inuse = false,
|
||||
};
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U1_QE
|
||||
static struct qe_dev_lowerhalf_s g_pcnt1lower =
|
||||
{
|
||||
.ops = &g_qecallbacks,
|
||||
.inuse = false,
|
||||
};
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U2_QE
|
||||
static struct qe_dev_lowerhalf_s g_pcnt2lower =
|
||||
{
|
||||
.ops = &g_qecallbacks,
|
||||
.inuse = false,
|
||||
};
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U3_QE
|
||||
static struct qe_dev_lowerhalf_s g_pcnt3lower =
|
||||
{
|
||||
.ops = &g_qecallbacks,
|
||||
.inuse = false,
|
||||
};
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: esp_setup
|
||||
*
|
||||
* Description:
|
||||
* This method is called when the driver is opened. The lower half driver
|
||||
* should configure and initialize the device so that it is ready for use.
|
||||
* The initial position value should be zero. *
|
||||
*
|
||||
* Input Parameters:
|
||||
* lower - Pointer to Lower half driver structure
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero on success; A negated errno value is returned on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static int esp_setup(struct qe_lowerhalf_s *lower)
|
||||
{
|
||||
DEBUGASSERT(lower);
|
||||
|
||||
struct qe_dev_lowerhalf_s *priv = (struct qe_dev_lowerhalf_s *)lower;
|
||||
irqstate_t flags;
|
||||
|
||||
/* Protected access to the registers */
|
||||
|
||||
flags = spin_lock_irqsave(&priv->lock);
|
||||
|
||||
/* Make sure that it is available */
|
||||
|
||||
if (priv->inuse)
|
||||
{
|
||||
snerr("ERROR: PCNT%d is in-use\n", priv->pcnt_num);
|
||||
spin_unlock_irqrestore(&priv->lock, flags);
|
||||
return -EBUSY;
|
||||
}
|
||||
|
||||
/* Clear the Reset bit to enable the Pulse Counter */
|
||||
|
||||
priv->pcnt->ops->ioctl(priv->pcnt, CAPIOC_CLR_CNT, 0);
|
||||
priv->pcnt->ops->start(priv->pcnt);
|
||||
|
||||
/* Mark as being used to prevent double opening of the same unit which
|
||||
* would reset position
|
||||
*/
|
||||
|
||||
priv->inuse = true;
|
||||
|
||||
spin_unlock_irqrestore(&priv->lock, flags);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: esp_shutdown
|
||||
*
|
||||
* Description:
|
||||
* This method is called when the driver is closed. The lower half driver
|
||||
* should stop data collection, free any resources, disable timer hardware,
|
||||
* and put the system into the lowest possible power usage state
|
||||
*
|
||||
* Input Parameters:
|
||||
* lower - Pointer to Lower half driver structure
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero on success; A negated errno value is returned on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static int esp_shutdown(struct qe_lowerhalf_s *lower)
|
||||
{
|
||||
DEBUGASSERT(lower);
|
||||
|
||||
struct qe_dev_lowerhalf_s *priv = (struct qe_dev_lowerhalf_s *)lower;
|
||||
irqstate_t flags;
|
||||
|
||||
/* Protected access to the registers */
|
||||
|
||||
flags = spin_lock_irqsave(&priv->lock);
|
||||
|
||||
/* Disable interrupts */
|
||||
|
||||
priv->pcnt->ops->ioctl(priv->pcnt, SNIOC_DISABLE, 0);
|
||||
|
||||
/* Make sure initial position is 0 */
|
||||
|
||||
priv->position = 0;
|
||||
|
||||
priv->inuse = false;
|
||||
|
||||
spin_unlock_irqrestore(&priv->lock, flags);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: esp_position
|
||||
*
|
||||
* Description:
|
||||
* Return the current position measurement.
|
||||
*
|
||||
* Input Parameters:
|
||||
* lower - Pointer to Lower half driver structure
|
||||
* pos - Pointer to updated position measurement
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero on success; A negated errno value is returned on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static int esp_position(struct qe_lowerhalf_s *lower, int32_t *pos)
|
||||
{
|
||||
DEBUGASSERT(lower && pos);
|
||||
|
||||
struct qe_dev_lowerhalf_s *priv = (struct qe_dev_lowerhalf_s *)lower;
|
||||
irqstate_t flags;
|
||||
int32_t position;
|
||||
int count = 0;
|
||||
int ret = OK;
|
||||
|
||||
flags = spin_lock_irqsave(&priv->lock);
|
||||
|
||||
position = priv->position;
|
||||
ret = (priv->pcnt->ops->ioctl(priv->pcnt,
|
||||
CAPIOC_PULSES,
|
||||
(unsigned long)&count) & 0xffff);
|
||||
|
||||
if (ret < 0)
|
||||
{
|
||||
snerr("ERROR: Failed to get PCNT%d count value \n", priv->pcnt_num);
|
||||
}
|
||||
|
||||
/* Update the position measurement */
|
||||
|
||||
*pos = position + count;
|
||||
|
||||
spin_unlock_irqrestore(&priv->lock, flags);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: esp_setposmax
|
||||
*
|
||||
* Description:
|
||||
* Set the maximum encoder position.
|
||||
*
|
||||
* Input Parameters:
|
||||
* lower - Pointer to Lower half driver structure
|
||||
* pos - Requested maximum position
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero on success; A negated errno value is returned on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static int esp_setposmax(struct qe_lowerhalf_s *lower, uint32_t pos)
|
||||
{
|
||||
return -ENOTTY;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: esp_reset
|
||||
*
|
||||
* Description:
|
||||
* Reset the position measurement to zero.
|
||||
*
|
||||
* Input Parameters:
|
||||
* lower - Pointer to Lower half driver structure
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero on success; A negated errno value is returned on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static int esp_reset(struct qe_lowerhalf_s *lower)
|
||||
{
|
||||
DEBUGASSERT(lower);
|
||||
|
||||
struct qe_dev_lowerhalf_s *priv = (struct qe_dev_lowerhalf_s *)lower;
|
||||
irqstate_t flags;
|
||||
|
||||
sninfo("Resetting position to zero\n");
|
||||
|
||||
/* Reset this Pulse Counter Unit. */
|
||||
|
||||
flags = spin_lock_irqsave(&priv->lock);
|
||||
|
||||
/* Reset RST bit and clear RST bit to enable counting again */
|
||||
|
||||
priv->pcnt->ops->ioctl(priv->pcnt, CAPIOC_CLR_CNT, 0);
|
||||
|
||||
priv->position = 0;
|
||||
|
||||
spin_unlock_irqrestore(&priv->lock, flags);
|
||||
return OK;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: esp_setindex
|
||||
*
|
||||
* Description:
|
||||
* Set the index pin position
|
||||
*
|
||||
* Input Parameters:
|
||||
* lower - Pointer to Lower half driver structure
|
||||
* pos - Requested index position
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero on success; A negated errno value is returned on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static int esp_setindex(struct qe_lowerhalf_s *lower, uint32_t pos)
|
||||
{
|
||||
return -ENOTTY;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: esp_ioctl
|
||||
*
|
||||
* Description:
|
||||
* Lower-half logic may support platform-specific ioctl commands
|
||||
*
|
||||
* Input Parameters:
|
||||
* lower - Pointer to Lower half driver structure
|
||||
* cmd - Ioctl command
|
||||
* arg - command argument
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero on success; A negated errno value is returned on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static int esp_ioctl(struct qe_lowerhalf_s *lower, int cmd,
|
||||
unsigned long arg)
|
||||
{
|
||||
/* No ioctl commands supported */
|
||||
|
||||
/* TODO add an IOCTL to control the encoder pulse count prescaler */
|
||||
|
||||
return -ENOTTY;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: esp_qeinitialize
|
||||
*
|
||||
* Description:
|
||||
* Initialize a quadrature encoder interface. This function must be
|
||||
* called from board-specific logic.
|
||||
*
|
||||
* Input Parameters:
|
||||
* devpath - The full path to the driver to register. E.g., "/dev/qe0"
|
||||
* pcnt - Pointer to the pcnt driver struct
|
||||
* pcnt_num - The PCNT number to used. 'pcnt' must be an element of
|
||||
* {0,1,2,3}
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero on success; A negated errno value is returned on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int esp_qeinitialize(const char *devpath, struct cap_lowerhalf_s *pcnt,
|
||||
int pcnt_num)
|
||||
{
|
||||
struct qe_dev_lowerhalf_s *priv;
|
||||
int ret;
|
||||
|
||||
/* Find the pre-allocated timer state structure corresponding to this
|
||||
* timer
|
||||
*/
|
||||
|
||||
switch (pcnt_num)
|
||||
{
|
||||
#ifdef CONFIG_ESP_PCNT_U0_QE
|
||||
case 0:
|
||||
priv = &g_pcnt0lower;
|
||||
break;
|
||||
#endif
|
||||
#ifdef CONFIG_ESP_PCNT_U1_QE
|
||||
case 1:
|
||||
priv = &g_pcnt1lower;
|
||||
break;
|
||||
#endif
|
||||
#ifdef CONFIG_ESP_PCNT_U2_QE
|
||||
case 2:
|
||||
priv = &g_pcnt2lower;
|
||||
break;
|
||||
#endif
|
||||
#ifdef CONFIG_ESP_PCNT_U3_QE
|
||||
case 3:
|
||||
priv = &g_pcnt3lower;
|
||||
break;
|
||||
#endif
|
||||
default:
|
||||
priv = NULL;
|
||||
}
|
||||
|
||||
if (priv == NULL)
|
||||
{
|
||||
snerr("ERROR: PCNT%d support not configured\n", pcnt_num);
|
||||
return -ENXIO;
|
||||
}
|
||||
|
||||
/* Register the upper-half driver */
|
||||
|
||||
priv->pcnt = pcnt;
|
||||
ret = qe_register(devpath, (struct qe_lowerhalf_s *)priv);
|
||||
if (ret < 0)
|
||||
{
|
||||
snerr("ERROR: qe_register failed: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
priv->pcnt_num = pcnt_num;
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
#endif /* CONFIG_SENSORS_QENCODER */
|
||||
83
arch/xtensa/src/common/espressif/esp_qencoder.h
Normal file
83
arch/xtensa/src/common/espressif/esp_qencoder.h
Normal file
|
|
@ -0,0 +1,83 @@
|
|||
/****************************************************************************
|
||||
* arch/xtensa/src/common/espressif/esp_qencoder.h
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*
|
||||
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||
* contributor license agreements. See the NOTICE file distributed with
|
||||
* this work for additional information regarding copyright ownership. The
|
||||
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||
* "License"); you may not use this file except in compliance with the
|
||||
* License. You may obtain a copy of the License at
|
||||
*
|
||||
* http://www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||
* License for the specific language governing permissions and limitations
|
||||
* under the License.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifndef __ARCH_XTENSA_SRC_COMMON_ESPRESSIF_ESP_QENCODER_H
|
||||
#define __ARCH_XTENSA_SRC_COMMON_ESPRESSIF_ESP_QENCODER_H
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#ifdef CONFIG_SENSORS_QENCODER
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
/* Timer devices may be used for different purposes. One special purpose is
|
||||
* as a quadrature encoder input device. If CONFIG_ESP_PCNT_Un is defined
|
||||
* then the CONFIG_ESP_PCNT_Un_QE must also be defined to indicate that
|
||||
* pcnt "n" is intended to be used for as a quadrature encoder.
|
||||
*/
|
||||
|
||||
#ifndef CONFIG_ESP_PCNT_U0
|
||||
# undef CONFIG_ESP_PCNT_U0_QE
|
||||
#endif
|
||||
#ifndef CONFIG_ESP_PCNT_U1
|
||||
# undef CONFIG_ESP_PCNT_U1_QE
|
||||
#endif
|
||||
#ifndef CONFIG_ESP_PCNT_U2
|
||||
# undef CONFIG_ESP_PCNT_U2_QE
|
||||
#endif
|
||||
#ifndef CONFIG_ESP_PCNT_U3
|
||||
# undef CONFIG_ESP_PCNT_U3_QE
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: esp_qeinitialize
|
||||
*
|
||||
* Description:
|
||||
* Initialize a quadrature encoder interface. This function must be
|
||||
* called from board-specific logic.
|
||||
*
|
||||
* Input Parameters:
|
||||
* devpath - The full path to the driver to register. E.g., "/dev/qe0"
|
||||
* pcnt - Pointer to the pcnt driver struct
|
||||
* pcnt_num - The PCNT number to used. 'pcnt' must be an element of
|
||||
* {0,1,2,3}
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero on success; A negated errno value is returned on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int esp_qeinitialize(const char *devpath, struct cap_lowerhalf_s *pcnt,
|
||||
int pcnt_num);
|
||||
|
||||
#endif /* CONFIG_SENSORS_QENCODER */
|
||||
#endif /* __ARCH_XTENSA_SRC_COMMON_ESPRESSIF_ESP_QENCODER_H */
|
||||
|
|
@ -290,9 +290,11 @@ config ESP32_LEDC
|
|||
Enable support to PWM on ESP32 using LEDC peripheral.
|
||||
|
||||
config ESP32_PCNT
|
||||
bool "Pulse Counter (PCNT / QE) Module"
|
||||
bool "Pulse Counter (PCNT / QE) Module (Legacy Driver)"
|
||||
default n
|
||||
depends on !ESP_PCNT
|
||||
---help---
|
||||
Warning: this is deprecated option. Please use ESP_PCNT option
|
||||
Pulse Counter is currently used to implement Quadracture
|
||||
Encoder.
|
||||
|
||||
|
|
|
|||
|
|
@ -108,6 +108,7 @@ CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$
|
|||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)gpio_hal.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)ledc_hal_iram.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)ledc_hal.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)pcnt_hal.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)rmt_hal.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)mcpwm_hal.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)timer_hal.c
|
||||
|
|
@ -118,6 +119,7 @@ CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)log$
|
|||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)log$(DELIM)log.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)gpio_periph.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)ledc_periph.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)pcnt_periph.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)rmt_periph.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)mcpwm_periph.c
|
||||
|
||||
|
|
|
|||
|
|
@ -105,6 +105,7 @@ CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$
|
|||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)gpio_hal.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)ledc_hal_iram.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)ledc_hal.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)pcnt_hal.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)rmt_hal.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)timer_hal.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)uart_hal_iram.c
|
||||
|
|
@ -113,6 +114,7 @@ CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)log$
|
|||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)log$(DELIM)log.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)gpio_periph.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)ledc_periph.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)pcnt_periph.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)rmt_periph.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)temperature_sensor_periph.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)spi_flash$(DELIM)flash_ops.c
|
||||
|
|
|
|||
|
|
@ -109,6 +109,7 @@ CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$
|
|||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)gpio_hal.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)ledc_hal_iram.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)ledc_hal.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)pcnt_hal.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)rmt_hal.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)mcpwm_hal.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)timer_hal.c
|
||||
|
|
@ -121,6 +122,7 @@ CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)log$
|
|||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)log$(DELIM)log.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)gpio_periph.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)ledc_periph.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)pcnt_periph.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)rmt_periph.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)mcpwm_periph.c
|
||||
CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)soc$(DELIM)$(CHIP_SERIES)$(DELIM)temperature_sensor_periph.c
|
||||
|
|
|
|||
79
boards/xtensa/esp32/common/include/esp32_board_pcnt.h
Normal file
79
boards/xtensa/esp32/common/include/esp32_board_pcnt.h
Normal file
|
|
@ -0,0 +1,79 @@
|
|||
/****************************************************************************
|
||||
* boards/xtensa/esp32/common/include/esp32_board_pcnt.h
|
||||
*
|
||||
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||
* contributor license agreements. See the NOTICE file distributed with
|
||||
* this work for additional information regarding copyright ownership. The
|
||||
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||
* "License"); you may not use this file except in compliance with the
|
||||
* License. You may obtain a copy of the License at
|
||||
*
|
||||
* http://www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||
* License for the specific language governing permissions and limitations
|
||||
* under the License.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifndef __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_BOARD_PCNT_H
|
||||
#define __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_BOARD_PCNT_H
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Data
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef __cplusplus
|
||||
#define EXTERN extern "C"
|
||||
extern "C"
|
||||
{
|
||||
#else
|
||||
#define EXTERN extern
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Inline Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_pcnt_initialize
|
||||
*
|
||||
* Description:
|
||||
* Initialize the pulse counter/quadrature encoder driver
|
||||
*
|
||||
* Input Parameters:
|
||||
* None
|
||||
*
|
||||
* Returned Value:
|
||||
* OK on success; errno on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int board_pcnt_initialize(void);
|
||||
|
||||
#undef EXTERN
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_BOARD_PCNT_H */
|
||||
|
|
@ -38,8 +38,8 @@ ifeq ($(CONFIG_ESP32_I2S),y)
|
|||
CSRCS += esp32_board_i2sdev.c
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_ESP32_PCNT_AS_QE),y)
|
||||
CSRCS += esp32_qencoder.c
|
||||
ifeq ($(CONFIG_ESP_PCNT),y)
|
||||
CSRCS += esp32_board_pcnt.c
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_SENSORS_MAX6675),y)
|
||||
|
|
|
|||
332
boards/xtensa/esp32/common/src/esp32_board_pcnt.c
Normal file
332
boards/xtensa/esp32/common/src/esp32_board_pcnt.c
Normal file
|
|
@ -0,0 +1,332 @@
|
|||
/****************************************************************************
|
||||
* boards/xtensa/esp32/common/src/esp32_board_pcnt.c
|
||||
*
|
||||
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||
* contributor license agreements. See the NOTICE file distributed with
|
||||
* this work for additional information regarding copyright ownership. The
|
||||
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||
* "License"); you may not use this file except in compliance with the
|
||||
* License. You may obtain a copy of the License at
|
||||
*
|
||||
* http://www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||
* License for the specific language governing permissions and limitations
|
||||
* under the License.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <errno.h>
|
||||
#include <debug.h>
|
||||
#include <stdio.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
#include <nuttx/timers/capture.h>
|
||||
#include <nuttx/sensors/sensor.h>
|
||||
#include "espressif/esp_pcnt.h"
|
||||
#ifdef CONFIG_ESP_PCNT_AS_QE
|
||||
#include "espressif/esp_qencoder.h"
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
#define PCNT_HIGH_LIMIT 1000
|
||||
#define PCNT_LOW_LIMIT -1000
|
||||
|
||||
#define PCNT_GLITCH_FILTER(pcnt, thres) pcnt->ops->ioctl(pcnt, \
|
||||
CAPIOC_FILTER, \
|
||||
thres) \
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_pcnt_init
|
||||
*
|
||||
* Description:
|
||||
* Initialize and register the pulse counter driver
|
||||
*
|
||||
* Input Parameters:
|
||||
* devpath - The full path to the driver to register.
|
||||
* unit_cfg - PCNT unit configuration
|
||||
* chan0_cfg - PCNT unit channel 0 configuration
|
||||
* chan1_cfg - PCNT unit channel 1 configuration
|
||||
* glitch_threshold - Threshold value for glitch filter in ns
|
||||
*
|
||||
* Returned Value:
|
||||
* Valid PCNT device structure reference on success; NULL, otherwise.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static struct cap_lowerhalf_s *board_pcnt_init(
|
||||
const char *devpath,
|
||||
struct esp_pcnt_unit_config_s *unit_cfg,
|
||||
struct esp_pcnt_chan_config_s *chan0_cfg,
|
||||
struct esp_pcnt_chan_config_s *chan1_cfg,
|
||||
uint32_t glitch_threshold)
|
||||
{
|
||||
struct cap_lowerhalf_s *pcnt;
|
||||
int chan0;
|
||||
int chan1;
|
||||
int ret;
|
||||
|
||||
pcnt = esp_pcnt_new_unit(unit_cfg);
|
||||
if (!pcnt)
|
||||
{
|
||||
syslog(LOG_ERR, "Failed to create unit!\n");
|
||||
return NULL;
|
||||
}
|
||||
|
||||
chan0 = esp_pcnt_new_channel(pcnt, chan0_cfg);
|
||||
if (chan0 == ERROR)
|
||||
{
|
||||
syslog(LOG_ERR, "Failed to create channel!\n");
|
||||
esp_pcnt_del_unit(pcnt);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_TEST_MODE
|
||||
esp_pcnt_channel_set_edge_action(chan0, ESP_PCNT_CHAN_EDGE_ACTION_HOLD,
|
||||
ESP_PCNT_CHAN_EDGE_ACTION_INCREASE);
|
||||
esp_pcnt_channel_set_level_action(chan0, ESP_PCNT_CHAN_LEVEL_ACTION_KEEP,
|
||||
ESP_PCNT_CHAN_LEVEL_ACTION_KEEP);
|
||||
#else
|
||||
esp_pcnt_channel_set_edge_action(chan0, ESP_PCNT_CHAN_EDGE_ACTION_DECREASE,
|
||||
ESP_PCNT_CHAN_EDGE_ACTION_INCREASE);
|
||||
esp_pcnt_channel_set_level_action(chan0, ESP_PCNT_CHAN_LEVEL_ACTION_KEEP,
|
||||
ESP_PCNT_CHAN_LEVEL_ACTION_INVERSE);
|
||||
#endif
|
||||
|
||||
if (chan1_cfg)
|
||||
{
|
||||
chan1 = esp_pcnt_new_channel(pcnt, chan1_cfg);
|
||||
if (chan1 == ERROR)
|
||||
{
|
||||
syslog(LOG_ERR, "Failed to create channel!\n");
|
||||
esp_pcnt_del_channel(chan0);
|
||||
esp_pcnt_del_unit(pcnt);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
esp_pcnt_channel_set_edge_action(chan1,
|
||||
ESP_PCNT_CHAN_EDGE_ACTION_INCREASE,
|
||||
ESP_PCNT_CHAN_EDGE_ACTION_DECREASE);
|
||||
esp_pcnt_channel_set_level_action(chan1,
|
||||
ESP_PCNT_CHAN_LEVEL_ACTION_KEEP,
|
||||
ESP_PCNT_CHAN_LEVEL_ACTION_INVERSE);
|
||||
}
|
||||
|
||||
PCNT_GLITCH_FILTER(pcnt, glitch_threshold);
|
||||
|
||||
ret = cap_register(devpath, pcnt);
|
||||
if (ret < 0)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: Error registering PCNT!\n");
|
||||
esp_pcnt_del_channel(chan0);
|
||||
if (chan1_cfg)
|
||||
{
|
||||
esp_pcnt_del_channel(chan1);
|
||||
}
|
||||
|
||||
esp_pcnt_del_unit(pcnt);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
return pcnt;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_pcnt_initialize
|
||||
*
|
||||
* Description:
|
||||
* Initialize the pulse counter/quadrature encoder driver
|
||||
*
|
||||
* Input Parameters:
|
||||
* None
|
||||
*
|
||||
* Returned Value:
|
||||
* OK on success; errno on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int board_pcnt_initialize(void)
|
||||
{
|
||||
struct cap_lowerhalf_s *pcnt;
|
||||
int ret = OK;
|
||||
int glitch_threshold = 0;
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_AS_QE
|
||||
char devpath[12];
|
||||
int devno = 0;
|
||||
#endif
|
||||
|
||||
struct esp_pcnt_unit_config_s unit_cfg =
|
||||
{
|
||||
.high_limit = PCNT_HIGH_LIMIT,
|
||||
.low_limit = PCNT_LOW_LIMIT,
|
||||
.accum_count = false,
|
||||
};
|
||||
|
||||
struct esp_pcnt_chan_config_s chan0_cfg =
|
||||
{
|
||||
0
|
||||
};
|
||||
|
||||
struct esp_pcnt_chan_config_s chan1_cfg =
|
||||
{
|
||||
0
|
||||
};
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U0
|
||||
chan0_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U0_CH0_EDGE_PIN;
|
||||
chan0_cfg.level_gpio_num = CONFIG_ESP_PCNT_U0_CH0_LEVEL_PIN;
|
||||
#ifdef CONFIG_ESP_PCNT_TEST_MODE
|
||||
chan0_cfg.flags = ESP_PCNT_CHAN_IO_LOOPBACK;
|
||||
#endif
|
||||
|
||||
chan1_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U0_CH1_LEVEL_PIN;
|
||||
chan1_cfg.level_gpio_num = CONFIG_ESP_PCNT_U0_CH1_EDGE_PIN;
|
||||
#ifndef CONFIG_ESP_PCNT_U0_FILTER_EN
|
||||
glitch_threshold = 0;
|
||||
#else
|
||||
glitch_threshold = CONFIG_ESP_PCNT_U0_FILTER_THRES;
|
||||
#endif
|
||||
|
||||
pcnt = board_pcnt_init("/dev/pcnt0", &unit_cfg, &chan0_cfg,
|
||||
&chan1_cfg, glitch_threshold);
|
||||
if (!pcnt)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: pcnt initialize failed: %d\n", ret);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U0_QE
|
||||
snprintf(devpath, sizeof(devpath), "/dev/qe%d", devno++);
|
||||
ret = esp_qeinitialize(devpath, pcnt, 0);
|
||||
if (ret < 0)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: esp_qeinitialize failed: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
pcnt = NULL;
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U1
|
||||
chan0_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U1_CH0_EDGE_PIN;
|
||||
chan0_cfg.level_gpio_num = CONFIG_ESP_PCNT_U1_CH0_LEVEL_PIN;
|
||||
|
||||
chan1_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U1_CH1_EDGE_PIN;
|
||||
chan1_cfg.level_gpio_num = CONFIG_ESP_PCNT_U1_CH1_LEVEL_PIN;
|
||||
#ifndef CONFIG_ESP_PCNT_U1_FILTER_EN
|
||||
glitch_threshold = 0;
|
||||
#else
|
||||
glitch_threshold = CONFIG_ESP_PCNT_U1_FILTER_THRES;
|
||||
#endif
|
||||
|
||||
pcnt = board_pcnt_init("/dev/pcnt1", &unit_cfg, &chan0_cfg,
|
||||
&chan1_cfg, glitch_threshold);
|
||||
if (!pcnt)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: pcnt initialize failed: %d\n", ret);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U1_QE
|
||||
snprintf(devpath, sizeof(devpath), "/dev/qe%d", devno++);
|
||||
ret = esp_qeinitialize(devpath, pcnt, 1);
|
||||
if (ret < 0)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: esp_qeinitialize failed: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
pcnt = NULL;
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U2
|
||||
chan0_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U2_CH0_EDGE_PIN;
|
||||
chan0_cfg.level_gpio_num = CONFIG_ESP_PCNT_U2_CH0_LEVEL_PIN;
|
||||
|
||||
chan1_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U2_CH1_EDGE_PIN;
|
||||
chan1_cfg.level_gpio_num = CONFIG_ESP_PCNT_U2_CH1_LEVEL_PIN;
|
||||
#ifndef CONFIG_ESP_PCNT_U2_FILTER_EN
|
||||
glitch_threshold = 0;
|
||||
#else
|
||||
glitch_threshold = CONFIG_ESP_PCNT_U2_FILTER_THRES;
|
||||
#endif
|
||||
|
||||
pcnt = board_pcnt_init("/dev/pcnt2", &unit_cfg, &chan0_cfg,
|
||||
&chan1_cfg, glitch_threshold);
|
||||
|
||||
if (!pcnt)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: pcnt initialize failed: %d\n", ret);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U2_QE
|
||||
snprintf(devpath, sizeof(devpath), "/dev/qe%d", devno++);
|
||||
ret = esp_qeinitialize(devpath, pcnt, 2);
|
||||
if (ret < 0)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: esp_qeinitialize failed: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
pcnt = NULL;
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U3
|
||||
chan0_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U3_CH0_EDGE_PIN;
|
||||
chan0_cfg.level_gpio_num = CONFIG_ESP_PCNT_U3_CH0_LEVEL_PIN;
|
||||
|
||||
chan1_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U3_CH1_EDGE_PIN;
|
||||
chan1_cfg.level_gpio_num = CONFIG_ESP_PCNT_U3_CH1_LEVEL_PIN;
|
||||
#ifndef CONFIG_ESP_PCNT_U3_FILTER_EN
|
||||
glitch_threshold = 0;
|
||||
#else
|
||||
glitch_threshold = CONFIG_ESP_PCNT_U3_FILTER_THRES;
|
||||
#endif
|
||||
|
||||
pcnt = board_pcnt_init("/dev/pcnt3", &unit_cfg, &chan0_cfg,
|
||||
&chan1_cfg, glitch_threshold);
|
||||
if (!pcnt)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: pcnt initialize failed: %d\n", ret);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U3_QE
|
||||
snprintf(devpath, sizeof(devpath), "/dev/qe%d", devno++);
|
||||
ret = esp_qeinitialize(devpath, pcnt, 3);
|
||||
if (ret < 0)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: esp_qeinitialize failed: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
pcnt = NULL;
|
||||
#endif
|
||||
#endif
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
|
@ -70,6 +70,11 @@
|
|||
# include "board_qencoder.h"
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT
|
||||
# include "espressif/esp_pcnt.h"
|
||||
# include "esp32_board_pcnt.h"
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ESP32_RT_TIMER
|
||||
# include "esp32_rt_timer.h"
|
||||
#endif
|
||||
|
|
@ -357,6 +362,14 @@ int esp32_bringup(void)
|
|||
}
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT
|
||||
ret = board_pcnt_initialize();
|
||||
if (ret < 0)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: board_pcnt_initialize failed: %d\n", ret);
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_RTC_DRIVER
|
||||
/* Instantiate the ESP32 RTC driver */
|
||||
|
||||
|
|
|
|||
|
|
@ -94,8 +94,9 @@
|
|||
# include "esp32_i2s.h"
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ESP32_PCNT_AS_QE
|
||||
# include "board_qencoder.h"
|
||||
#ifdef CONFIG_ESP_PCNT
|
||||
# include "espressif/esp_pcnt.h"
|
||||
# include "esp32_board_pcnt.h"
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_I2CMULTIPLEXER_TCA9548A
|
||||
|
|
@ -475,16 +476,11 @@ int esp32_bringup(void)
|
|||
}
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_SENSORS_QENCODER
|
||||
/* Initialize and register the qencoder driver */
|
||||
|
||||
ret = board_qencoder_initialize(0, PCNT_QE0_ID);
|
||||
if (ret != OK)
|
||||
#ifdef CONFIG_ESP_PCNT
|
||||
ret = board_pcnt_initialize();
|
||||
if (ret < 0)
|
||||
{
|
||||
syslog(LOG_ERR,
|
||||
"ERROR: Failed to register the qencoder: %d\n",
|
||||
ret);
|
||||
return ret;
|
||||
syslog(LOG_ERR, "ERROR: board_pcnt_initialize failed: %d\n", ret);
|
||||
}
|
||||
#endif
|
||||
|
||||
|
|
|
|||
79
boards/xtensa/esp32s2/common/include/esp32s2_board_pcnt.h
Normal file
79
boards/xtensa/esp32s2/common/include/esp32s2_board_pcnt.h
Normal file
|
|
@ -0,0 +1,79 @@
|
|||
/****************************************************************************
|
||||
* boards/xtensa/esp32s2/common/include/esp32s2_board_pcnt.h
|
||||
*
|
||||
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||
* contributor license agreements. See the NOTICE file distributed with
|
||||
* this work for additional information regarding copyright ownership. The
|
||||
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||
* "License"); you may not use this file except in compliance with the
|
||||
* License. You may obtain a copy of the License at
|
||||
*
|
||||
* http://www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||
* License for the specific language governing permissions and limitations
|
||||
* under the License.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifndef __BOARDS_XTENSA_ESP32S2_COMMON_INCLUDE_ESP32S2_BOARD_PCNT_H
|
||||
#define __BOARDS_XTENSA_ESP32S2_COMMON_INCLUDE_ESP32S2_BOARD_PCNT_H
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Data
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef __cplusplus
|
||||
#define EXTERN extern "C"
|
||||
extern "C"
|
||||
{
|
||||
#else
|
||||
#define EXTERN extern
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Inline Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_pcnt_initialize
|
||||
*
|
||||
* Description:
|
||||
* Initialize the pulse counter/quadrature encoder driver
|
||||
*
|
||||
* Input Parameters:
|
||||
* None
|
||||
*
|
||||
* Returned Value:
|
||||
* OK on success; errno on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int board_pcnt_initialize(void);
|
||||
|
||||
#undef EXTERN
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __BOARDS_XTENSA_ESP32S2_COMMON_INCLUDE_ESP32S2_BOARD_PCNT_H */
|
||||
|
|
@ -78,6 +78,10 @@ ifeq ($(CONFIG_ESP_RMT),y)
|
|||
CSRCS += esp32s2_board_rmt.c
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_ESP_PCNT),y)
|
||||
CSRCS += esp32s2_board_pcnt.c
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_ESP32S2_TWAI)$(CONFIG_ARCH_BUTTONS),y)
|
||||
CHIP_SERIES = $(patsubst "%",%,$(CONFIG_ESPRESSIF_CHIP_SERIES))
|
||||
CHIPHALDIR = $(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)chip$(DELIM)esp-hal-3rdparty
|
||||
|
|
|
|||
332
boards/xtensa/esp32s2/common/src/esp32s2_board_pcnt.c
Normal file
332
boards/xtensa/esp32s2/common/src/esp32s2_board_pcnt.c
Normal file
|
|
@ -0,0 +1,332 @@
|
|||
/****************************************************************************
|
||||
* boards/xtensa/esp32s2/common/src/esp32s2_board_pcnt.c
|
||||
*
|
||||
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||
* contributor license agreements. See the NOTICE file distributed with
|
||||
* this work for additional information regarding copyright ownership. The
|
||||
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||
* "License"); you may not use this file except in compliance with the
|
||||
* License. You may obtain a copy of the License at
|
||||
*
|
||||
* http://www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||
* License for the specific language governing permissions and limitations
|
||||
* under the License.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <errno.h>
|
||||
#include <debug.h>
|
||||
#include <stdio.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
#include <nuttx/timers/capture.h>
|
||||
#include <nuttx/sensors/sensor.h>
|
||||
#include "espressif/esp_pcnt.h"
|
||||
#ifdef CONFIG_ESP_PCNT_AS_QE
|
||||
#include "espressif/esp_qencoder.h"
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
#define PCNT_HIGH_LIMIT 1000
|
||||
#define PCNT_LOW_LIMIT -1000
|
||||
|
||||
#define PCNT_GLITCH_FILTER(pcnt, thres) pcnt->ops->ioctl(pcnt, \
|
||||
CAPIOC_FILTER, \
|
||||
thres) \
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_pcnt_init
|
||||
*
|
||||
* Description:
|
||||
* Initialize and register the pulse counter driver
|
||||
*
|
||||
* Input Parameters:
|
||||
* devpath - The full path to the driver to register.
|
||||
* unit_cfg - PCNT unit configuration
|
||||
* chan0_cfg - PCNT unit channel 0 configuration
|
||||
* chan1_cfg - PCNT unit channel 1 configuration
|
||||
* glitch_threshold - Threshold value for glitch filter in ns
|
||||
*
|
||||
* Returned Value:
|
||||
* Valid PCNT device structure reference on success; NULL, otherwise.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static struct cap_lowerhalf_s *board_pcnt_init(
|
||||
const char *devpath,
|
||||
struct esp_pcnt_unit_config_s *unit_cfg,
|
||||
struct esp_pcnt_chan_config_s *chan0_cfg,
|
||||
struct esp_pcnt_chan_config_s *chan1_cfg,
|
||||
uint32_t glitch_threshold)
|
||||
{
|
||||
struct cap_lowerhalf_s *pcnt;
|
||||
int chan0;
|
||||
int chan1;
|
||||
int ret;
|
||||
|
||||
pcnt = esp_pcnt_new_unit(unit_cfg);
|
||||
if (!pcnt)
|
||||
{
|
||||
syslog(LOG_ERR, "Failed to create unit!\n");
|
||||
return NULL;
|
||||
}
|
||||
|
||||
chan0 = esp_pcnt_new_channel(pcnt, chan0_cfg);
|
||||
if (chan0 == ERROR)
|
||||
{
|
||||
syslog(LOG_ERR, "Failed to create channel!\n");
|
||||
esp_pcnt_del_unit(pcnt);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_TEST_MODE
|
||||
esp_pcnt_channel_set_edge_action(chan0, ESP_PCNT_CHAN_EDGE_ACTION_HOLD,
|
||||
ESP_PCNT_CHAN_EDGE_ACTION_INCREASE);
|
||||
esp_pcnt_channel_set_level_action(chan0, ESP_PCNT_CHAN_LEVEL_ACTION_KEEP,
|
||||
ESP_PCNT_CHAN_LEVEL_ACTION_KEEP);
|
||||
#else
|
||||
esp_pcnt_channel_set_edge_action(chan0, ESP_PCNT_CHAN_EDGE_ACTION_DECREASE,
|
||||
ESP_PCNT_CHAN_EDGE_ACTION_INCREASE);
|
||||
esp_pcnt_channel_set_level_action(chan0, ESP_PCNT_CHAN_LEVEL_ACTION_KEEP,
|
||||
ESP_PCNT_CHAN_LEVEL_ACTION_INVERSE);
|
||||
#endif
|
||||
|
||||
if (chan1_cfg)
|
||||
{
|
||||
chan1 = esp_pcnt_new_channel(pcnt, chan1_cfg);
|
||||
if (chan1 == ERROR)
|
||||
{
|
||||
syslog(LOG_ERR, "Failed to create channel!\n");
|
||||
esp_pcnt_del_channel(chan0);
|
||||
esp_pcnt_del_unit(pcnt);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
esp_pcnt_channel_set_edge_action(chan1,
|
||||
ESP_PCNT_CHAN_EDGE_ACTION_INCREASE,
|
||||
ESP_PCNT_CHAN_EDGE_ACTION_DECREASE);
|
||||
esp_pcnt_channel_set_level_action(chan1,
|
||||
ESP_PCNT_CHAN_LEVEL_ACTION_KEEP,
|
||||
ESP_PCNT_CHAN_LEVEL_ACTION_INVERSE);
|
||||
}
|
||||
|
||||
PCNT_GLITCH_FILTER(pcnt, glitch_threshold);
|
||||
|
||||
ret = cap_register(devpath, pcnt);
|
||||
if (ret < 0)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: Error registering PCNT!\n");
|
||||
esp_pcnt_del_channel(chan0);
|
||||
if (chan1_cfg)
|
||||
{
|
||||
esp_pcnt_del_channel(chan1);
|
||||
}
|
||||
|
||||
esp_pcnt_del_unit(pcnt);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
return pcnt;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_pcnt_initialize
|
||||
*
|
||||
* Description:
|
||||
* Initialize the pulse counter/quadrature encoder driver
|
||||
*
|
||||
* Input Parameters:
|
||||
* None
|
||||
*
|
||||
* Returned Value:
|
||||
* OK on success; errno on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int board_pcnt_initialize(void)
|
||||
{
|
||||
struct cap_lowerhalf_s *pcnt;
|
||||
int ret = OK;
|
||||
int glitch_threshold = 0;
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_AS_QE
|
||||
char devpath[12];
|
||||
int devno = 0;
|
||||
#endif
|
||||
|
||||
struct esp_pcnt_unit_config_s unit_cfg =
|
||||
{
|
||||
.high_limit = PCNT_HIGH_LIMIT,
|
||||
.low_limit = PCNT_LOW_LIMIT,
|
||||
.accum_count = false,
|
||||
};
|
||||
|
||||
struct esp_pcnt_chan_config_s chan0_cfg =
|
||||
{
|
||||
0
|
||||
};
|
||||
|
||||
struct esp_pcnt_chan_config_s chan1_cfg =
|
||||
{
|
||||
0
|
||||
};
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U0
|
||||
chan0_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U0_CH0_EDGE_PIN;
|
||||
chan0_cfg.level_gpio_num = CONFIG_ESP_PCNT_U0_CH0_LEVEL_PIN;
|
||||
#ifdef CONFIG_ESP_PCNT_TEST_MODE
|
||||
chan0_cfg.flags = ESP_PCNT_CHAN_IO_LOOPBACK;
|
||||
#endif
|
||||
|
||||
chan1_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U0_CH1_LEVEL_PIN;
|
||||
chan1_cfg.level_gpio_num = CONFIG_ESP_PCNT_U0_CH1_EDGE_PIN;
|
||||
#ifndef CONFIG_ESP_PCNT_U0_FILTER_EN
|
||||
glitch_threshold = 0;
|
||||
#else
|
||||
glitch_threshold = CONFIG_ESP_PCNT_U0_FILTER_THRES;
|
||||
#endif
|
||||
|
||||
pcnt = board_pcnt_init("/dev/pcnt0", &unit_cfg, &chan0_cfg,
|
||||
&chan1_cfg, glitch_threshold);
|
||||
if (!pcnt)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: pcnt initialize failed: %d\n", ret);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U0_QE
|
||||
snprintf(devpath, sizeof(devpath), "/dev/qe%d", devno++);
|
||||
ret = esp_qeinitialize(devpath, pcnt, 0);
|
||||
if (ret < 0)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: esp_qeinitialize failed: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
pcnt = NULL;
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U1
|
||||
chan0_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U1_CH0_EDGE_PIN;
|
||||
chan0_cfg.level_gpio_num = CONFIG_ESP_PCNT_U1_CH0_LEVEL_PIN;
|
||||
|
||||
chan1_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U1_CH1_EDGE_PIN;
|
||||
chan1_cfg.level_gpio_num = CONFIG_ESP_PCNT_U1_CH1_LEVEL_PIN;
|
||||
#ifndef CONFIG_ESP_PCNT_U1_FILTER_EN
|
||||
glitch_threshold = 0;
|
||||
#else
|
||||
glitch_threshold = CONFIG_ESP_PCNT_U1_FILTER_THRES;
|
||||
#endif
|
||||
|
||||
pcnt = board_pcnt_init("/dev/pcnt1", &unit_cfg, &chan0_cfg,
|
||||
&chan1_cfg, glitch_threshold);
|
||||
if (!pcnt)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: pcnt initialize failed: %d\n", ret);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U1_QE
|
||||
snprintf(devpath, sizeof(devpath), "/dev/qe%d", devno++);
|
||||
ret = esp_qeinitialize(devpath, pcnt, 1);
|
||||
if (ret < 0)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: esp_qeinitialize failed: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
pcnt = NULL;
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U2
|
||||
chan0_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U2_CH0_EDGE_PIN;
|
||||
chan0_cfg.level_gpio_num = CONFIG_ESP_PCNT_U2_CH0_LEVEL_PIN;
|
||||
|
||||
chan1_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U2_CH1_EDGE_PIN;
|
||||
chan1_cfg.level_gpio_num = CONFIG_ESP_PCNT_U2_CH1_LEVEL_PIN;
|
||||
#ifndef CONFIG_ESP_PCNT_U2_FILTER_EN
|
||||
glitch_threshold = 0;
|
||||
#else
|
||||
glitch_threshold = CONFIG_ESP_PCNT_U2_FILTER_THRES;
|
||||
#endif
|
||||
|
||||
pcnt = board_pcnt_init("/dev/pcnt2", &unit_cfg, &chan0_cfg,
|
||||
&chan1_cfg, glitch_threshold);
|
||||
|
||||
if (!pcnt)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: pcnt initialize failed: %d\n", ret);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U2_QE
|
||||
snprintf(devpath, sizeof(devpath), "/dev/qe%d", devno++);
|
||||
ret = esp_qeinitialize(devpath, pcnt, 2);
|
||||
if (ret < 0)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: esp_qeinitialize failed: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
pcnt = NULL;
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U3
|
||||
chan0_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U3_CH0_EDGE_PIN;
|
||||
chan0_cfg.level_gpio_num = CONFIG_ESP_PCNT_U3_CH0_LEVEL_PIN;
|
||||
|
||||
chan1_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U3_CH1_EDGE_PIN;
|
||||
chan1_cfg.level_gpio_num = CONFIG_ESP_PCNT_U3_CH1_LEVEL_PIN;
|
||||
#ifndef CONFIG_ESP_PCNT_U3_FILTER_EN
|
||||
glitch_threshold = 0;
|
||||
#else
|
||||
glitch_threshold = CONFIG_ESP_PCNT_U3_FILTER_THRES;
|
||||
#endif
|
||||
|
||||
pcnt = board_pcnt_init("/dev/pcnt3", &unit_cfg, &chan0_cfg,
|
||||
&chan1_cfg, glitch_threshold);
|
||||
if (!pcnt)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: pcnt initialize failed: %d\n", ret);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U3_QE
|
||||
snprintf(devpath, sizeof(devpath), "/dev/qe%d", devno++);
|
||||
ret = esp_qeinitialize(devpath, pcnt, 3);
|
||||
if (ret < 0)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: esp_qeinitialize failed: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
pcnt = NULL;
|
||||
#endif
|
||||
#endif
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
|
@ -102,6 +102,11 @@
|
|||
# include "espressif/esp_temperature_sensor.h"
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT
|
||||
# include "espressif/esp_pcnt.h"
|
||||
# include "esp32s2_board_pcnt.h"
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_SYSTEM_NXDIAG_ESPRESSIF_CHIP_WO_TOOL
|
||||
# include "espressif/esp_nxdiag.h"
|
||||
#endif
|
||||
|
|
@ -417,6 +422,14 @@ int esp32s2_bringup(void)
|
|||
}
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT
|
||||
ret = board_pcnt_initialize();
|
||||
if (ret < 0)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: board_pcnt_initialize failed: %d\n", ret);
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_RTC_DRIVER
|
||||
/* Instantiate the ESP32 RTC driver */
|
||||
|
||||
|
|
|
|||
79
boards/xtensa/esp32s3/common/include/esp32s3_board_pcnt.h
Normal file
79
boards/xtensa/esp32s3/common/include/esp32s3_board_pcnt.h
Normal file
|
|
@ -0,0 +1,79 @@
|
|||
/****************************************************************************
|
||||
* boards/xtensa/esp32s3/common/include/esp32s3_board_pcnt.h
|
||||
*
|
||||
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||
* contributor license agreements. See the NOTICE file distributed with
|
||||
* this work for additional information regarding copyright ownership. The
|
||||
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||
* "License"); you may not use this file except in compliance with the
|
||||
* License. You may obtain a copy of the License at
|
||||
*
|
||||
* http://www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||
* License for the specific language governing permissions and limitations
|
||||
* under the License.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifndef __BOARDS_XTENSA_ESP32S3_COMMON_INCLUDE_ESP32S3_BOARD_PCNT_H
|
||||
#define __BOARDS_XTENSA_ESP32S3_COMMON_INCLUDE_ESP32S3_BOARD_PCNT_H
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Data
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef __cplusplus
|
||||
#define EXTERN extern "C"
|
||||
extern "C"
|
||||
{
|
||||
#else
|
||||
#define EXTERN extern
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Inline Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_pcnt_initialize
|
||||
*
|
||||
* Description:
|
||||
* Initialize the pulse counter/quadrature encoder driver
|
||||
*
|
||||
* Input Parameters:
|
||||
* None
|
||||
*
|
||||
* Returned Value:
|
||||
* OK on success; errno on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int board_pcnt_initialize(void);
|
||||
|
||||
#undef EXTERN
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __BOARDS_XTENSA_ESP32S3_COMMON_INCLUDE_ESP32S3_BOARD_PCNT_H */
|
||||
|
|
@ -74,6 +74,10 @@ ifeq ($(CONFIG_NET_LAN9250),y)
|
|||
CSRCS += esp32s3_lan9250.c
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_ESP_PCNT),y)
|
||||
CSRCS += esp32s3_board_pcnt.c
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_ESP_RMT),y)
|
||||
CSRCS += esp32s3_board_rmt.c
|
||||
endif
|
||||
|
|
|
|||
332
boards/xtensa/esp32s3/common/src/esp32s3_board_pcnt.c
Normal file
332
boards/xtensa/esp32s3/common/src/esp32s3_board_pcnt.c
Normal file
|
|
@ -0,0 +1,332 @@
|
|||
/****************************************************************************
|
||||
* boards/xtensa/esp32s3/common/src/esp32s3_board_pcnt.c
|
||||
*
|
||||
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||
* contributor license agreements. See the NOTICE file distributed with
|
||||
* this work for additional information regarding copyright ownership. The
|
||||
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||
* "License"); you may not use this file except in compliance with the
|
||||
* License. You may obtain a copy of the License at
|
||||
*
|
||||
* http://www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||
* License for the specific language governing permissions and limitations
|
||||
* under the License.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <errno.h>
|
||||
#include <debug.h>
|
||||
#include <stdio.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
#include <nuttx/timers/capture.h>
|
||||
#include <nuttx/sensors/sensor.h>
|
||||
#include "espressif/esp_pcnt.h"
|
||||
#ifdef CONFIG_ESP_PCNT_AS_QE
|
||||
#include "espressif/esp_qencoder.h"
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
#define PCNT_HIGH_LIMIT 1000
|
||||
#define PCNT_LOW_LIMIT -1000
|
||||
|
||||
#define PCNT_GLITCH_FILTER(pcnt, thres) pcnt->ops->ioctl(pcnt, \
|
||||
CAPIOC_FILTER, \
|
||||
thres) \
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_pcnt_init
|
||||
*
|
||||
* Description:
|
||||
* Initialize and register the pulse counter driver
|
||||
*
|
||||
* Input Parameters:
|
||||
* devpath - The full path to the driver to register.
|
||||
* unit_cfg - PCNT unit configuration
|
||||
* chan0_cfg - PCNT unit channel 0 configuration
|
||||
* chan1_cfg - PCNT unit channel 1 configuration
|
||||
* glitch_threshold - Threshold value for glitch filter in ns
|
||||
*
|
||||
* Returned Value:
|
||||
* Valid PCNT device structure reference on success; NULL, otherwise.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static struct cap_lowerhalf_s *board_pcnt_init(
|
||||
const char *devpath,
|
||||
struct esp_pcnt_unit_config_s *unit_cfg,
|
||||
struct esp_pcnt_chan_config_s *chan0_cfg,
|
||||
struct esp_pcnt_chan_config_s *chan1_cfg,
|
||||
uint32_t glitch_threshold)
|
||||
{
|
||||
struct cap_lowerhalf_s *pcnt;
|
||||
int chan0;
|
||||
int chan1;
|
||||
int ret;
|
||||
|
||||
pcnt = esp_pcnt_new_unit(unit_cfg);
|
||||
if (!pcnt)
|
||||
{
|
||||
syslog(LOG_ERR, "Failed to create unit!\n");
|
||||
return NULL;
|
||||
}
|
||||
|
||||
chan0 = esp_pcnt_new_channel(pcnt, chan0_cfg);
|
||||
if (chan0 == ERROR)
|
||||
{
|
||||
syslog(LOG_ERR, "Failed to create channel!\n");
|
||||
esp_pcnt_del_unit(pcnt);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_TEST_MODE
|
||||
esp_pcnt_channel_set_edge_action(chan0, ESP_PCNT_CHAN_EDGE_ACTION_HOLD,
|
||||
ESP_PCNT_CHAN_EDGE_ACTION_INCREASE);
|
||||
esp_pcnt_channel_set_level_action(chan0, ESP_PCNT_CHAN_LEVEL_ACTION_KEEP,
|
||||
ESP_PCNT_CHAN_LEVEL_ACTION_KEEP);
|
||||
#else
|
||||
esp_pcnt_channel_set_edge_action(chan0, ESP_PCNT_CHAN_EDGE_ACTION_DECREASE,
|
||||
ESP_PCNT_CHAN_EDGE_ACTION_INCREASE);
|
||||
esp_pcnt_channel_set_level_action(chan0, ESP_PCNT_CHAN_LEVEL_ACTION_KEEP,
|
||||
ESP_PCNT_CHAN_LEVEL_ACTION_INVERSE);
|
||||
#endif
|
||||
|
||||
if (chan1_cfg)
|
||||
{
|
||||
chan1 = esp_pcnt_new_channel(pcnt, chan1_cfg);
|
||||
if (chan1 == ERROR)
|
||||
{
|
||||
syslog(LOG_ERR, "Failed to create channel!\n");
|
||||
esp_pcnt_del_channel(chan0);
|
||||
esp_pcnt_del_unit(pcnt);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
esp_pcnt_channel_set_edge_action(chan1,
|
||||
ESP_PCNT_CHAN_EDGE_ACTION_INCREASE,
|
||||
ESP_PCNT_CHAN_EDGE_ACTION_DECREASE);
|
||||
esp_pcnt_channel_set_level_action(chan1,
|
||||
ESP_PCNT_CHAN_LEVEL_ACTION_KEEP,
|
||||
ESP_PCNT_CHAN_LEVEL_ACTION_INVERSE);
|
||||
}
|
||||
|
||||
PCNT_GLITCH_FILTER(pcnt, glitch_threshold);
|
||||
|
||||
ret = cap_register(devpath, pcnt);
|
||||
if (ret < 0)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: Error registering PCNT!\n");
|
||||
esp_pcnt_del_channel(chan0);
|
||||
if (chan1_cfg)
|
||||
{
|
||||
esp_pcnt_del_channel(chan1);
|
||||
}
|
||||
|
||||
esp_pcnt_del_unit(pcnt);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
return pcnt;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_pcnt_initialize
|
||||
*
|
||||
* Description:
|
||||
* Initialize the pulse counter/quadrature encoder driver
|
||||
*
|
||||
* Input Parameters:
|
||||
* None
|
||||
*
|
||||
* Returned Value:
|
||||
* OK on success; errno on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int board_pcnt_initialize(void)
|
||||
{
|
||||
struct cap_lowerhalf_s *pcnt;
|
||||
int ret = OK;
|
||||
int glitch_threshold = 0;
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_AS_QE
|
||||
char devpath[12];
|
||||
int devno = 0;
|
||||
#endif
|
||||
|
||||
struct esp_pcnt_unit_config_s unit_cfg =
|
||||
{
|
||||
.high_limit = PCNT_HIGH_LIMIT,
|
||||
.low_limit = PCNT_LOW_LIMIT,
|
||||
.accum_count = false,
|
||||
};
|
||||
|
||||
struct esp_pcnt_chan_config_s chan0_cfg =
|
||||
{
|
||||
0
|
||||
};
|
||||
|
||||
struct esp_pcnt_chan_config_s chan1_cfg =
|
||||
{
|
||||
0
|
||||
};
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U0
|
||||
chan0_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U0_CH0_EDGE_PIN;
|
||||
chan0_cfg.level_gpio_num = CONFIG_ESP_PCNT_U0_CH0_LEVEL_PIN;
|
||||
#ifdef CONFIG_ESP_PCNT_TEST_MODE
|
||||
chan0_cfg.flags = ESP_PCNT_CHAN_IO_LOOPBACK;
|
||||
#endif
|
||||
|
||||
chan1_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U0_CH1_LEVEL_PIN;
|
||||
chan1_cfg.level_gpio_num = CONFIG_ESP_PCNT_U0_CH1_EDGE_PIN;
|
||||
#ifndef CONFIG_ESP_PCNT_U0_FILTER_EN
|
||||
glitch_threshold = 0;
|
||||
#else
|
||||
glitch_threshold = CONFIG_ESP_PCNT_U0_FILTER_THRES;
|
||||
#endif
|
||||
|
||||
pcnt = board_pcnt_init("/dev/pcnt0", &unit_cfg, &chan0_cfg,
|
||||
&chan1_cfg, glitch_threshold);
|
||||
if (!pcnt)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: pcnt initialize failed: %d\n", ret);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U0_QE
|
||||
snprintf(devpath, sizeof(devpath), "/dev/qe%d", devno++);
|
||||
ret = esp_qeinitialize(devpath, pcnt, 0);
|
||||
if (ret < 0)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: esp_qeinitialize failed: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
pcnt = NULL;
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U1
|
||||
chan0_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U1_CH0_EDGE_PIN;
|
||||
chan0_cfg.level_gpio_num = CONFIG_ESP_PCNT_U1_CH0_LEVEL_PIN;
|
||||
|
||||
chan1_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U1_CH1_EDGE_PIN;
|
||||
chan1_cfg.level_gpio_num = CONFIG_ESP_PCNT_U1_CH1_LEVEL_PIN;
|
||||
#ifndef CONFIG_ESP_PCNT_U1_FILTER_EN
|
||||
glitch_threshold = 0;
|
||||
#else
|
||||
glitch_threshold = CONFIG_ESP_PCNT_U1_FILTER_THRES;
|
||||
#endif
|
||||
|
||||
pcnt = board_pcnt_init("/dev/pcnt1", &unit_cfg, &chan0_cfg,
|
||||
&chan1_cfg, glitch_threshold);
|
||||
if (!pcnt)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: pcnt initialize failed: %d\n", ret);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U1_QE
|
||||
snprintf(devpath, sizeof(devpath), "/dev/qe%d", devno++);
|
||||
ret = esp_qeinitialize(devpath, pcnt, 1);
|
||||
if (ret < 0)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: esp_qeinitialize failed: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
pcnt = NULL;
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U2
|
||||
chan0_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U2_CH0_EDGE_PIN;
|
||||
chan0_cfg.level_gpio_num = CONFIG_ESP_PCNT_U2_CH0_LEVEL_PIN;
|
||||
|
||||
chan1_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U2_CH1_EDGE_PIN;
|
||||
chan1_cfg.level_gpio_num = CONFIG_ESP_PCNT_U2_CH1_LEVEL_PIN;
|
||||
#ifndef CONFIG_ESP_PCNT_U2_FILTER_EN
|
||||
glitch_threshold = 0;
|
||||
#else
|
||||
glitch_threshold = CONFIG_ESP_PCNT_U2_FILTER_THRES;
|
||||
#endif
|
||||
|
||||
pcnt = board_pcnt_init("/dev/pcnt2", &unit_cfg, &chan0_cfg,
|
||||
&chan1_cfg, glitch_threshold);
|
||||
|
||||
if (!pcnt)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: pcnt initialize failed: %d\n", ret);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U2_QE
|
||||
snprintf(devpath, sizeof(devpath), "/dev/qe%d", devno++);
|
||||
ret = esp_qeinitialize(devpath, pcnt, 2);
|
||||
if (ret < 0)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: esp_qeinitialize failed: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
pcnt = NULL;
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U3
|
||||
chan0_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U3_CH0_EDGE_PIN;
|
||||
chan0_cfg.level_gpio_num = CONFIG_ESP_PCNT_U3_CH0_LEVEL_PIN;
|
||||
|
||||
chan1_cfg.edge_gpio_num = CONFIG_ESP_PCNT_U3_CH1_EDGE_PIN;
|
||||
chan1_cfg.level_gpio_num = CONFIG_ESP_PCNT_U3_CH1_LEVEL_PIN;
|
||||
#ifndef CONFIG_ESP_PCNT_U3_FILTER_EN
|
||||
glitch_threshold = 0;
|
||||
#else
|
||||
glitch_threshold = CONFIG_ESP_PCNT_U3_FILTER_THRES;
|
||||
#endif
|
||||
|
||||
pcnt = board_pcnt_init("/dev/pcnt3", &unit_cfg, &chan0_cfg,
|
||||
&chan1_cfg, glitch_threshold);
|
||||
if (!pcnt)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: pcnt initialize failed: %d\n", ret);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT_U3_QE
|
||||
snprintf(devpath, sizeof(devpath), "/dev/qe%d", devno++);
|
||||
ret = esp_qeinitialize(devpath, pcnt, 3);
|
||||
if (ret < 0)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: esp_qeinitialize failed: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
pcnt = NULL;
|
||||
#endif
|
||||
#endif
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
|
@ -130,6 +130,11 @@
|
|||
# include "espressif/esp_temperature_sensor.h"
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT
|
||||
# include "espressif/esp_pcnt.h"
|
||||
# include "esp32s3_board_pcnt.h"
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_SYSTEM_NXDIAG_ESPRESSIF_CHIP_WO_TOOL
|
||||
# include "espressif/esp_nxdiag.h"
|
||||
#endif
|
||||
|
|
@ -541,6 +546,14 @@ int esp32s3_bringup(void)
|
|||
}
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ESP_PCNT
|
||||
ret = board_pcnt_initialize();
|
||||
if (ret < 0)
|
||||
{
|
||||
syslog(LOG_ERR, "ERROR: board_pcnt_initialize failed: %d\n", ret);
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_SYSTEM_NXDIAG_ESPRESSIF_CHIP_WO_TOOL
|
||||
ret = esp_nxdiag_initialize();
|
||||
if (ret < 0)
|
||||
|
|
|
|||
Loading…
Reference in a new issue