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feat(pcnt): re-support pcnt on ESP32-C5 V1.0

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This commit is contained in:
Chen Jichang
2025-04-18 15:17:20 +08:00
parent 182b33efb2
commit ca981fdf4d
13 changed files with 762 additions and 2512 deletions
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components/esp_driver_pcnt/src/pulse_cnt.c
+90 -15
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@@ -92,6 +92,16 @@ typedef struct {
int watch_point_value; // value to be watched
} pcnt_watch_point_t;
typedef struct {
#if PCNT_LL_STEP_NOTIFY_DIR_LIMIT
int step_interval; // step interval
int step_limit; // step limit value
#else
int step_interval_forward; // step interval for forward direction
int step_interval_backward; // step interval for backward direction
#endif
} pcnt_step_interval_t;
typedef enum {
PCNT_UNIT_FSM_INIT,
PCNT_UNIT_FSM_ENABLE,
@@ -103,10 +113,9 @@ struct pcnt_unit_t {
int unit_id; // allocated unit numerical ID
int low_limit; // low limit value
int high_limit; // high limit value
int step_limit; // step limit value
int clear_signal_gpio_num; // which gpio clear signal input
int accum_value; // accumulated count value
int step_interval; // PCNT step notify interval value
pcnt_step_interval_t step_info; // step interval info
pcnt_chan_t *channels[SOC_PCNT_CHANNELS_PER_UNIT]; // array of PCNT channels
pcnt_watch_point_t watchers[PCNT_LL_WATCH_EVENT_MAX]; // array of PCNT watchers
intr_handle_t intr; // interrupt handle
@@ -281,11 +290,11 @@ esp_err_t pcnt_new_unit(const pcnt_unit_config_t *config, pcnt_unit_handle_t *re
unit->flags.en_step_notify_up = config->flags.en_step_notify_up;
#if PCNT_LL_STEP_NOTIFY_DIR_LIMIT
if (config->flags.en_step_notify_up) {
unit->step_limit = config->high_limit;
unit->step_info.step_limit = config->high_limit;
} else if (config->flags.en_step_notify_down) {
unit->step_limit = config->low_limit;
unit->step_info.step_limit = config->low_limit;
}
pcnt_ll_set_step_limit_value(group->hal.dev, unit_id, unit->step_limit);
pcnt_ll_set_step_limit_value(group->hal.dev, unit_id, unit->step_info.step_limit);
#endif
#endif
@@ -679,11 +688,26 @@ esp_err_t pcnt_unit_add_watch_step(pcnt_unit_handle_t unit, int step_interval)
ESP_ERR_INVALID_ARG, TAG, "invalid step interval");
ESP_RETURN_ON_FALSE(step_interval >= unit->low_limit && step_interval <= unit->high_limit,
ESP_ERR_INVALID_ARG, TAG, "step interval out of range [%d,%d]", unit->low_limit, unit->high_limit);
ESP_RETURN_ON_FALSE(unit->step_interval == 0,
ESP_ERR_INVALID_STATE, TAG, "watch step has been set to %d already", unit->step_interval);
unit->step_interval = step_interval;
pcnt_ll_set_step_value(group->hal.dev, unit->unit_id, step_interval);
#if PCNT_LL_STEP_NOTIFY_DIR_LIMIT
ESP_RETURN_ON_FALSE(unit->step_info.step_interval == 0,
ESP_ERR_INVALID_STATE, TAG, "watch step has been set to %d already", unit->step_info.step_interval);
pcnt_ll_set_step_value(group->hal.dev, unit->unit_id, step_interval > 0 ? PCNT_STEP_FORWARD : PCNT_STEP_BACKWARD, (uint16_t)step_interval);
unit->step_info.step_interval = step_interval;
#else
if (step_interval > 0) {
ESP_RETURN_ON_FALSE(unit->step_info.step_interval_forward == 0,
ESP_ERR_INVALID_STATE, TAG, "watch step in forward has been set to %d already", unit->step_info.step_interval_forward);
pcnt_ll_set_step_value(group->hal.dev, unit->unit_id, PCNT_STEP_FORWARD, (uint16_t)step_interval);
unit->step_info.step_interval_forward = step_interval;
} else {
ESP_RETURN_ON_FALSE(unit->step_info.step_interval_backward == 0,
ESP_ERR_INVALID_STATE, TAG, "watch step in backward has been set to %d already", unit->step_info.step_interval_backward);
pcnt_ll_set_step_value(group->hal.dev, unit->unit_id, PCNT_STEP_BACKWARD, (uint16_t)step_interval);
unit->step_info.step_interval_backward = step_interval;
}
#endif //PCNT_LL_STEP_NOTIFY_DIR_LIMIT
// different units are mixing in the same register, so we use the group's spinlock here
portENTER_CRITICAL(&group->spinlock);
pcnt_ll_enable_step_notify(group->hal.dev, unit->unit_id, true);
@@ -692,14 +716,20 @@ esp_err_t pcnt_unit_add_watch_step(pcnt_unit_handle_t unit, int step_interval)
return ESP_OK;
}
esp_err_t pcnt_unit_remove_watch_step(pcnt_unit_handle_t unit)
esp_err_t pcnt_unit_remove_all_watch_step(pcnt_unit_handle_t unit)
{
pcnt_group_t *group = NULL;
ESP_RETURN_ON_FALSE(unit, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
group = unit->group;
ESP_RETURN_ON_FALSE(unit->step_interval != 0, ESP_ERR_INVALID_STATE, TAG, "watch step not added yet");
unit->step_interval = 0;
#if PCNT_LL_STEP_NOTIFY_DIR_LIMIT
ESP_RETURN_ON_FALSE(unit->step_info.step_interval != 0, ESP_ERR_INVALID_STATE, TAG, "watch step not added yet");
unit->step_info.step_interval = 0;
#else
ESP_RETURN_ON_FALSE(unit->step_info.step_interval_forward != 0 || unit->step_info.step_interval_backward != 0,
ESP_ERR_INVALID_STATE, TAG, "watch step in forward or backward not added yet");
unit->step_info.step_interval_forward = 0;
unit->step_info.step_interval_backward = 0;
#endif
portENTER_CRITICAL(&group->spinlock);
pcnt_ll_enable_step_notify(group->hal.dev, unit->unit_id, false);
@@ -707,6 +737,36 @@ esp_err_t pcnt_unit_remove_watch_step(pcnt_unit_handle_t unit)
return ESP_OK;
}
esp_err_t pcnt_unit_remove_single_watch_step(pcnt_unit_handle_t unit, int step_interval)
{
pcnt_group_t *group = NULL;
ESP_RETURN_ON_FALSE(unit, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
group = unit->group;
#if PCNT_LL_STEP_NOTIFY_DIR_LIMIT
ESP_RETURN_ON_FALSE(unit->step_info.step_interval == step_interval, ESP_ERR_INVALID_STATE, TAG, "watch step %d not added yet", step_interval);
unit->step_info.step_interval = 0;
portENTER_CRITICAL(&group->spinlock);
pcnt_ll_enable_step_notify(group->hal.dev, unit->unit_id, false);
portEXIT_CRITICAL(&group->spinlock);
#else
if (step_interval > 0) {
ESP_RETURN_ON_FALSE(unit->step_info.step_interval_forward == step_interval, ESP_ERR_INVALID_STATE, TAG, "watch step %d not added yet", step_interval);
pcnt_ll_set_step_value(group->hal.dev, unit->unit_id, PCNT_STEP_FORWARD, 0);
unit->step_info.step_interval_forward = 0;
} else {
ESP_RETURN_ON_FALSE(unit->step_info.step_interval_backward == step_interval, ESP_ERR_INVALID_STATE, TAG, "watch step %d not added yet", step_interval);
pcnt_ll_set_step_value(group->hal.dev, unit->unit_id, PCNT_STEP_BACKWARD, 0);
unit->step_info.step_interval_backward = 0;
}
if (unit->step_info.step_interval_forward == 0 && unit->step_info.step_interval_backward == 0) {
portENTER_CRITICAL(&group->spinlock);
pcnt_ll_enable_step_notify(group->hal.dev, unit->unit_id, false);
portEXIT_CRITICAL(&group->spinlock);
}
#endif
return ESP_OK;
}
#endif //SOC_PCNT_SUPPORT_STEP_NOTIFY
esp_err_t pcnt_new_channel(pcnt_unit_handle_t unit, const pcnt_chan_config_t *config, pcnt_channel_handle_t *ret_chan)
@@ -962,6 +1022,7 @@ IRAM_ATTR static void pcnt_default_isr(void *args)
// using while loop so that we don't miss any event
while (event_status) {
#if SOC_PCNT_SUPPORT_STEP_NOTIFY
#if PCNT_LL_STEP_NOTIFY_DIR_LIMIT
// step event has higher priority than pointer event
if (event_status & (BIT(PCNT_LL_STEP_EVENT_REACH_INTERVAL) | BIT(PCNT_LL_STEP_EVENT_REACH_LIMIT))) {
if (event_status & BIT(PCNT_LL_STEP_EVENT_REACH_INTERVAL)) {
@@ -972,13 +1033,27 @@ IRAM_ATTR static void pcnt_default_isr(void *args)
if (event_status & BIT(PCNT_LL_STEP_EVENT_REACH_LIMIT)) {
event_status &= ~BIT(PCNT_LL_STEP_EVENT_REACH_LIMIT);
// adjust current count value to the step limit
count_value = unit->step_limit;
count_value = unit->step_info.step_limit;
if (unit->flags.accum_count) {
portENTER_CRITICAL_ISR(&unit->spinlock);
unit->accum_value += unit->step_limit;
unit->accum_value += unit->step_info.step_limit;
portEXIT_CRITICAL_ISR(&unit->spinlock);
}
}
#else
// step event has higher priority than pointer event
if (event_status & (BIT(PCNT_LL_STEP_EVENT_REACH_INTERVAL_FORWARD) | BIT(PCNT_LL_STEP_EVENT_REACH_INTERVAL_BACKWARD))) {
if (event_status & BIT(PCNT_LL_STEP_EVENT_REACH_INTERVAL_FORWARD)) {
event_status &= ~BIT(PCNT_LL_STEP_EVENT_REACH_INTERVAL_FORWARD);
// align current count value to the step interval
count_value = pcnt_ll_get_count(group->hal.dev, unit_id);
}
if (event_status & BIT(PCNT_LL_STEP_EVENT_REACH_INTERVAL_BACKWARD)) {
event_status &= ~BIT(PCNT_LL_STEP_EVENT_REACH_INTERVAL_BACKWARD);
// align current count value to the step interval
count_value = pcnt_ll_get_count(group->hal.dev, unit_id);
}
#endif // PCNT_LL_STEP_NOTIFY_DIR_LIMIT
// step event may happen with other pointer event at the same time, we don't need to process them again
event_status &= ~(BIT(PCNT_LL_WATCH_EVENT_LOW_LIMIT) | BIT(PCNT_LL_WATCH_EVENT_HIGH_LIMIT) |
BIT(PCNT_LL_WATCH_EVENT_THRES0) | BIT(PCNT_LL_WATCH_EVENT_THRES1));