diff --git a/components/driver/include/driver/pcnt.h b/components/driver/include/driver/pcnt.h new file mode 100644 index 000000000..c49dc387c --- /dev/null +++ b/components/driver/include/driver/pcnt.h @@ -0,0 +1,343 @@ +#ifndef __PCNT_H__ +#define __PCNT_H__ + +#include +#include "esp_intr.h" +#include "esp_err.h" +#include "freertos/FreeRTOS.h" +#include "freertos/semphr.h" +#include "freertos/xtensa_api.h" +#include "soc/soc.h" +#include "soc/pcnt_reg.h" +#include "soc/pcnt_struct.h" +#include "soc/gpio_sig_map.h" +#include "driver/gpio.h" + + +#ifdef __cplusplus +extern "C" { +#endif + +#define PCNT_PIN_NOT_USED (-1) + +typedef enum { + PCNT_MODE_KEEP = 0, /*!< Control mode: won't change counter mode*/ + PCNT_MODE_REVERSE = 1, /*!< Control mode: invert counter mode(increase -> decrease, decrease -> increase);*/ + PCNT_MODE_DISABLE = 2, /*!< Control mode: Inhibit counter(counter value will not change in this condition)*/ + PCNT_MODE_MAX +} pcnt_ctrl_mode_t; + +typedef enum { + PCNT_COUNT_DIS = 0, /*!< Counter mode: Decrease counter value*/ + PCNT_COUNT_INC = 1, /*!< Counter mode: Increase counter value*/ + PCNT_COUNT_DEC = 2, /*!< Counter mode: Inhibit counter(counter value will not change in this condition)*/ + PCNT_COUNT_MAX +} pcnt_count_mode_t; + +typedef enum { + PCNT_UNIT0 = 0, /*!< PCNT unit0 */ + PCNT_UNIT1 = 1, /*!< PCNT unit1 */ + PCNT_UNIT2 = 2, /*!< PCNT unit2 */ + PCNT_UNIT3 = 3, /*!< PCNT unit3 */ + PCNT_UNIT4 = 4, /*!< PCNT unit4 */ + PCNT_UNIT5 = 5, /*!< PCNT unit5 */ + PCNT_UNIT6 = 6, /*!< PCNT unit6 */ + PCNT_UNIT7 = 7, /*!< PCNT unit7 */ + PCNT_UNIT_MAX, +} pcnt_unit_t; + +typedef enum{ + PCNT_CHANNEL_0 = 0x00, /*!< PCNT channel0 */ + PCNT_CHANNEL_1 = 0x01, /*!< PCNT channel1 */ + PCNT_CHANNEL_MAX, +} pcnt_channel_t; + +typedef enum { + PCNT_EVT_L_LIM = 0, /*!< PCNT watch point event: Minimum counter value */ + PCNT_EVT_H_LIM = 1, /*!< PCNT watch point event: Maximum counter value*/ + PCNT_EVT_THRES0 = 2, /*!< PCNT watch point event: threshold0 value event*/ + PCNT_EVT_THRES1 = 3, /*!< PCNT watch point event: threshold1 value event*/ + PCNT_EVT_ZERO = 4, /*!< PCNT watch point event: counter value zero event*/ + PCNT_EVT_MAX +} pcnt_evt_type_t; + +/** + * @brief PCNT configure struct + */ +typedef struct { + int pulse_gpio_num; /*!< Pulse input gpio_num, if you want to use gpio16, pulse_gpio_num = 16, a negative value will be ignored */ + int ctrl_gpio_num; /*!< Contol signal input gpio_num, a negative value will be ignored*/ + pcnt_ctrl_mode_t lctrl_mode; /*!< PCNT low control mode*/ + pcnt_ctrl_mode_t hctrl_mode; /*!< PCNT high control mode*/ + pcnt_count_mode_t pos_mode; /*!< PCNT positive edge count mode*/ + pcnt_count_mode_t neg_mode; /*!< PCNT negative edge count mode*/ + int16_t counter_h_lim; /*!< Maximum counter value */ + int16_t counter_l_lim; /*!< Minimum counter value */ + pcnt_unit_t unit; /*!< PCNT unit number */ + pcnt_channel_t channel; /*!< the PCNT channel */ +} pcnt_config_t; + +/** + * @brief Configure PCNT unit + * + * @param pcnt_config Pointer of PCNT unit configure parameter + * + * @return + * - ESP_OK Success + * - ESP_ERR_INVALID_ARG Parameter error + */ +esp_err_t pcnt_unit_config(pcnt_config_t *pcnt_config); + +/** + * @brief Get pulse counter value + * + * @param pcnt_unit PCNT unit number + * @param count Pointer to accept counter value + * + * @return + * - ESP_OK Success + * - ESP_ERR_INVALID_ARG Parameter error + */ +esp_err_t pcnt_get_counter_value(pcnt_unit_t pcnt_unit, int16_t* count); + +/** + * @brief Pause PCNT counter of PCNT unit + * + * @param pcnt_unit PCNT unit number + * + * @return + * - ESP_OK Success + * - ESP_ERR_INVALID_ARG Parameter error + */ +esp_err_t pcnt_counter_pause(pcnt_unit_t pcnt_unit); + +/** + * @brief Resume counting for PCNT counter + * + * @param pcnt_unit PCNT unit number, select from pcnt_unit_t + * + * @return + * - ESP_OK Success + * - ESP_ERR_INVALID_ARG Parameter error + */ +esp_err_t pcnt_counter_resume(pcnt_unit_t pcnt_unit); + +/** + * @brief Clear and reset PCNT counter value to zero + * + * @param pcnt_unit PCNT unit number, select from pcnt_unit_t + * + * @return + * - ESP_OK Success + * - ESP_ERR_INVALID_ARG Parameter error + */ +esp_err_t pcnt_counter_clear(pcnt_unit_t pcnt_unit); + +/** + * @brief Enable PCNT interrupt for PCNT unit + * @note + * Five watch point events share the same interrupt source for each unit. + * + * @param pcnt_unit PCNT unit number + * + * @return + * - ESP_OK Success + * - ESP_ERR_INVALID_ARG Parameter error + */ +esp_err_t pcnt_intr_enable(pcnt_unit_t pcnt_unit); + +/** + * @brief Disable PCNT interrupt for PCNT uint + * + * @param pcnt_unit PCNT unit number + * + * @return + * - ESP_OK Success + * - ESP_ERR_INVALID_ARG Parameter error + */ +esp_err_t pcnt_intr_disable(pcnt_unit_t pcnt_unit); + +/** + * @brief Enable PCNT event of PCNT unit + * + * @param unit PCNT unit number + * @param evt_type PCNT watch point event type, five events share a same interrupt source + * + * @return + * - ESP_OK Success + * - ESP_ERR_INVALID_ARG Parameter error + */ +esp_err_t pcnt_event_enable(pcnt_unit_t unit, pcnt_evt_type_t evt_type); + +/** + * @brief Disable PCNT event of PCNT unit + * + * @param unit PCNT unit number + * @param evt_type PCNT watch point event type, five events share a same interrupt source + * + * @return + * - ESP_OK Success + * - ESP_ERR_INVALID_ARG Parameter error + */ +esp_err_t pcnt_event_disable(pcnt_unit_t unit, pcnt_evt_type_t evt_type); + +/** + * @brief Set PCNT event value of PCNT unit + * + * @param unit PCNT unit number + * @param evt_type PCNT watch point event type, five events share a same interrupt source + * @param value Counter value for PCNT event + * + * @return + * - ESP_OK Success + * - ESP_ERR_INVALID_ARG Parameter error + */ +esp_err_t pcnt_set_event_value(pcnt_unit_t unit, pcnt_evt_type_t evt_type, int16_t value); + +/** + * @brief Get PCNT event value of PCNT unit + * + * @param unit PCNT unit number + * @param evt_type PCNT watch point event type, five events share a same interrupt source + * @param value Pointer to accept counter value for PCNT event + * + * @return + * - ESP_OK Success + * - ESP_ERR_INVALID_ARG Parameter error + */ +esp_err_t pcnt_get_event_value(pcnt_unit_t unit, pcnt_evt_type_t evt_type, int16_t *value); + +/** + * @brief Register PCNT interrupt handler, the handler is an ISR. + * The handler will be attached to the same CPU core that this function is running on. + * @note + * Users should know that which CPU is running and then pick a INUM that is not used by system. + * We can find the information of INUM and interrupt level in soc.h. + * + * @param pcnt_intr_num PCNT interrupt number, check the info in soc.h, and please see the core-isa.h for more details + * @param fn Interrupt handler function. + * @note + * Note that the handler function MUST be defined with attribution of "IRAM_ATTR". + * @param arg Parameter for handler function + * + * @return + * - ESP_OK Success + * - ESP_ERR_INVALID_ARG Function pointer error. + */ +esp_err_t pcnt_isr_register(uint32_t pcnt_intr_num, void (*fn)(void*), void * arg); + +/** + * @brief Configure PCNT pulse signal input pin and control input pin + * + * @param unit PCNT unit number + * @param channel PCNT channel number + * @param pulse_io Pulse signal input GPIO + * @param ctrl_io Control signal input GPIO + * + * @return + * - ESP_OK Success + * - ESP_ERR_INVALID_ARG Parameter error + */ +esp_err_t pcnt_set_pin(pcnt_unit_t unit, pcnt_channel_t channel, int pulse_io, int ctrl_io); + +/** + * @brief Enable PCNT input filter + * + * @param unit PCNT unit number + * + * @return + * - ESP_OK Success + * - ESP_ERR_INVALID_ARG Parameter error + */ +esp_err_t pcnt_filter_enable(pcnt_unit_t unit); + +/** + * @brief Disable PCNT input filter + * + * @param unit PCNT unit number + * + * @return + * - ESP_OK Success + * - ESP_ERR_INVALID_ARG Parameter error + */ +esp_err_t pcnt_filter_disable(pcnt_unit_t unit); + +/** + * @brief Set PCNT filter value + * + * @param unit PCNT unit number + * @param filter_val PCNT signal filter value, counter in APB_CLK cycles. + * Any pulses lasting shorter than this will be ignored when the filter is enabled. + * + * @return + * - ESP_OK Success + * - ESP_ERR_INVALID_ARG Parameter error + */ +esp_err_t pcnt_set_filter_value(pcnt_unit_t unit, uint16_t filter_val); + +/** + * @brief Get PCNT filter value + * + * @param unit PCNT unit number + * @param filter_val Pointer to accept PCNT filter value. + * + * @return + * - ESP_OK Success + * - ESP_ERR_INVALID_ARG Parameter error + */ +esp_err_t pcnt_get_filter_value(pcnt_unit_t unit, uint16_t *filter_val); + +/** + * @brief Set PCNT counter mode + * + * @param unit PCNT unit number + * @param channel PCNT channel number + * @param pos_mode Counter mode when detecting positive edge + * @param neg_mode Counter mode when detecting negative edge + * @param hctrl_mode Counter mode when control signal is high level + * @param lctrl_mode Counter mode when control signal is low level + * + * @return + * - ESP_OK Success + * - ESP_ERR_INVALID_ARG Parameter error + */ +esp_err_t pcnt_set_mode(pcnt_unit_t unit, pcnt_channel_t channel, pcnt_count_mode_t pos_mode, pcnt_count_mode_t neg_mode, pcnt_ctrl_mode_t hctrl_mode, pcnt_ctrl_mode_t lctrl_mode); + + +/***************************EXAMPLE********************************** + * + * + * ----------------EXAMPLE OF LEDC SETTING --------------------- + * @code{c} + * //1. Config PCNT unit + * pcnt_config_t pcnt_config = { + * .pulse_gpio_num = 4, //set gpio4 as pulse input gpio + * .ctrl_gpio_num = 5, //set gpio5 as control gpio + * .channel = PCNT_CHANNEL_0, //use unit 0 channel 0 + * .lctrl_mode = PCNT_MODE_REVERSE, //when control signal is low ,reverse the primary counter mode(inc->dec/dec->inc) + * .hctrl_mode = PCNT_MODE_KEEP, //when control signal is high,keep the primary counter mode + * .pos_mode = PCNT_COUNT_INC, //increment the counter + * .neg_mode = PCNT_COUNT_DIS, //keep the counter value + * .counter_h_lim = 10, + * .counter_l_lim = -10, + * }; + * pcnt_unit_config(&pcnt_config); //init unit + * @endcode + * + * @code{c} + * //2. Configure PCNT watchpoint event. + * pcnt_set_event_value(PCNT_UNIT0, PCNT_EVT_THRES1, 5); //set thres1 value + * pcnt_event_enable(PCNT_UNIT0, PCNT_EVT_THRES1); //enable thres1 event + * @endcode + * + * For more examples please refer to PCNT example code in IDF_PATH/examples + * + *--------------------------END OF EXAMPLE -------------------------- + */ + +#ifdef __cplusplus +} +#endif + + +#endif diff --git a/components/driver/include/driver/periph_ctrl.h b/components/driver/include/driver/periph_ctrl.h index 3faa347b5..c110b12ea 100644 --- a/components/driver/include/driver/periph_ctrl.h +++ b/components/driver/include/driver/periph_ctrl.h @@ -39,6 +39,7 @@ typedef enum { PERIPH_PWM3_MODULE, PERIPH_UHCI0_MODULE, PERIPH_UHCI1_MODULE, + PERIPH_PCNT_MODULE, } periph_module_t; /** diff --git a/components/driver/pcnt.c b/components/driver/pcnt.c new file mode 100644 index 000000000..bfcdb7da1 --- /dev/null +++ b/components/driver/pcnt.c @@ -0,0 +1,277 @@ +// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD +// +// Licensed 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. +#include "esp_log.h" +#include "driver/pcnt.h" +#include "driver/periph_ctrl.h" + +#define PCNT_CHANNEL_ERR_STR "PCNT CHANNEL ERROR" +#define PCNT_UNIT_ERR_STR "PCNT UNIT ERROR" +#define PCNT_GPIO_ERR_STR "PCNT GPIO NUM ERROR" +#define PCNT_ADDRESS_ERR_STR "PCNT ADDRESS ERROR" +#define PCNT_PARAM_ERR_STR "PCNT PARAM ERROR" +#define PCNT_COUNT_MODE_ERR_STR "PCNT COUNTER MODE ERROR" +#define PCNT_CTRL_MODE_ERR_STR "PCNT CTRL MODE ERROR" +#define PCNT_CHECK(a,str,ret_val) if(!(a)) { \ + ESP_LOGE(PCNT_TAG,"%s:%d (%s):%s", __FILE__, __LINE__, __FUNCTION__, str); \ + return (ret_val); \ + } + +static const char* PCNT_TAG = "PCNT"; +static portMUX_TYPE pcnt_spinlock = portMUX_INITIALIZER_UNLOCKED; + +#define PCNT_ENTER_CRITICAL(mux) portENTER_CRITICAL(mux) +#define PCNT_EXIT_CRITICAL(mux) portEXIT_CRITICAL(mux) +#define PCNT_ENTER_CRITICAL_ISR(mux) portENTER_CRITICAL_ISR(mux) +#define PCNT_EXIT_CRITICAL_ISR(mux) portEXIT_CRITICAL_ISR(mux) + +esp_err_t pcnt_unit_config(pcnt_config_t *pcnt_config) +{ + uint8_t unit = pcnt_config->channel; + uint8_t channel = pcnt_config->unit; + int input_io = pcnt_config->pulse_gpio_num; + int ctrl_io = pcnt_config->ctrl_gpio_num; + + PCNT_CHECK(unit < PCNT_UNIT_MAX, PCNT_UNIT_ERR_STR, ESP_ERR_INVALID_ARG); + PCNT_CHECK(channel < PCNT_CHANNEL_MAX, PCNT_CHANNEL_ERR_STR, ESP_ERR_INVALID_ARG); + PCNT_CHECK(input_io < 0 || (GPIO_IS_VALID_GPIO(input_io) && (input_io != ctrl_io)), "PCNT pluse input io error", ESP_ERR_INVALID_ARG); + PCNT_CHECK(ctrl_io < 0 || GPIO_IS_VALID_GPIO(ctrl_io), "PCNT ctrl io error", ESP_ERR_INVALID_ARG); + PCNT_CHECK((pcnt_config->pos_mode < PCNT_COUNT_MAX) && (pcnt_config->neg_mode < PCNT_COUNT_MAX), PCNT_COUNT_MODE_ERR_STR, ESP_ERR_INVALID_ARG); + PCNT_CHECK((pcnt_config->hctrl_mode < PCNT_MODE_MAX) && (pcnt_config->lctrl_mode < PCNT_MODE_MAX), PCNT_CTRL_MODE_ERR_STR, ESP_ERR_INVALID_ARG); + /*Enalbe hardware module*/ + periph_module_enable(PERIPH_PCNT_MODULE); + /*Set counter range*/ + pcnt_set_event_value(unit, PCNT_EVT_H_LIM, pcnt_config->counter_h_lim); + pcnt_set_event_value(unit, PCNT_EVT_L_LIM, pcnt_config->counter_l_lim); + /*Default value after reboot is positive, we disable these events like others*/ + pcnt_event_disable(unit, PCNT_EVT_H_LIM); + pcnt_event_disable(unit, PCNT_EVT_L_LIM); + pcnt_event_disable(unit, PCNT_EVT_ZERO); + pcnt_filter_disable(unit); + /*set pulse input and control mode*/ + pcnt_set_mode(unit, channel, pcnt_config->pos_mode, pcnt_config->neg_mode, pcnt_config->hctrl_mode, pcnt_config->lctrl_mode); + /*Set pulse input and control pins*/ + pcnt_set_pin(unit, channel, input_io, ctrl_io); + return ESP_OK; +} + +esp_err_t pcnt_set_mode(pcnt_unit_t unit, pcnt_channel_t channel, pcnt_count_mode_t pos_mode, pcnt_count_mode_t neg_mode, pcnt_ctrl_mode_t hctrl_mode, pcnt_ctrl_mode_t lctrl_mode) +{ + PCNT_CHECK(unit < PCNT_UNIT_MAX, PCNT_UNIT_ERR_STR, ESP_ERR_INVALID_ARG); + PCNT_CHECK(channel < PCNT_CHANNEL_MAX, PCNT_CHANNEL_ERR_STR, ESP_ERR_INVALID_ARG); + PCNT_CHECK((pos_mode < PCNT_COUNT_MAX) && (neg_mode < PCNT_COUNT_MAX), PCNT_COUNT_MODE_ERR_STR, ESP_ERR_INVALID_ARG); + PCNT_CHECK((hctrl_mode < PCNT_MODE_MAX) && (lctrl_mode < PCNT_MODE_MAX), PCNT_CTRL_MODE_ERR_STR, ESP_ERR_INVALID_ARG); + + if(channel == 0) { + PCNT.conf_unit[unit].conf0.ch0_pos_mode = pos_mode; + PCNT.conf_unit[unit].conf0.ch0_neg_mode = neg_mode; + PCNT.conf_unit[unit].conf0.ch0_hctrl_mode = hctrl_mode; + PCNT.conf_unit[unit].conf0.ch0_lctrl_mode = lctrl_mode; + } else { + PCNT.conf_unit[unit].conf0.ch1_pos_mode = pos_mode; + PCNT.conf_unit[unit].conf0.ch1_neg_mode = neg_mode; + PCNT.conf_unit[unit].conf0.ch1_hctrl_mode = hctrl_mode; + PCNT.conf_unit[unit].conf0.ch1_lctrl_mode = lctrl_mode; + } + return ESP_OK; +} + +esp_err_t pcnt_set_pin(pcnt_unit_t unit, pcnt_channel_t channel, int pulse_io, int ctrl_io) +{ + PCNT_CHECK(unit < PCNT_UNIT_MAX, PCNT_UNIT_ERR_STR, ESP_ERR_INVALID_ARG); + PCNT_CHECK(channel < PCNT_CHANNEL_MAX, PCNT_CHANNEL_ERR_STR, ESP_ERR_INVALID_ARG); + PCNT_CHECK(GPIO_IS_VALID_GPIO(pulse_io) || pulse_io < 0, PCNT_GPIO_ERR_STR, ESP_ERR_INVALID_ARG); + PCNT_CHECK(GPIO_IS_VALID_GPIO(ctrl_io) || ctrl_io < 0, PCNT_GPIO_ERR_STR, ESP_ERR_INVALID_ARG); + int input_sig_index = (channel == 0 ? PCNT_SIG_CH0_IN0_IDX + 4 * unit : PCNT_SIG_CH1_IN0_IDX + 4 * unit); + int ctrl_sig_index = (channel == 0 ? PCNT_CTRL_CH0_IN0_IDX + 4 * unit : PCNT_CTRL_CH1_IN0_IDX + 4 * unit); + if(pulse_io >= 0) { + PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[pulse_io], PIN_FUNC_GPIO); + gpio_set_direction(pulse_io, GPIO_MODE_INPUT); + gpio_set_pull_mode(pulse_io, GPIO_PULLUP_ONLY); + gpio_matrix_in(pulse_io, input_sig_index, 0); + } + if(ctrl_io >= 0) { + PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[ctrl_io], PIN_FUNC_GPIO); + gpio_set_direction(ctrl_io, GPIO_MODE_INPUT); + gpio_set_pull_mode(ctrl_io, GPIO_PULLUP_ONLY); + gpio_matrix_in(ctrl_io, ctrl_sig_index, 0); + } + return ESP_OK; +} + +esp_err_t pcnt_get_counter_value(pcnt_unit_t pcnt_unit, int16_t* count) +{ + PCNT_CHECK(pcnt_unit < PCNT_UNIT_MAX, PCNT_UNIT_ERR_STR, ESP_ERR_INVALID_ARG); + PCNT_CHECK(count != NULL, "PCNT ADDRESS ERROR", ESP_ERR_INVALID_ARG); + *count = (int16_t) PCNT.cnt_unit[pcnt_unit].cnt_val; + return ESP_OK; +} + +esp_err_t pcnt_counter_pause(pcnt_unit_t pcnt_unit) +{ + PCNT_CHECK(pcnt_unit < PCNT_UNIT_MAX, PCNT_UNIT_ERR_STR, ESP_ERR_INVALID_ARG); + PCNT_ENTER_CRITICAL(&pcnt_spinlock); + PCNT.ctrl.val |= BIT(PCNT_CNT_PAUSE_U0_S + (pcnt_unit * 2)); + PCNT_EXIT_CRITICAL(&pcnt_spinlock); + return ESP_OK; +} + +esp_err_t pcnt_counter_resume(pcnt_unit_t pcnt_unit) +{ + PCNT_CHECK(pcnt_unit < PCNT_UNIT_MAX, PCNT_UNIT_ERR_STR, ESP_ERR_INVALID_ARG); + PCNT_ENTER_CRITICAL(&pcnt_spinlock); + PCNT.ctrl.val &= (~(BIT(PCNT_CNT_PAUSE_U0_S + (pcnt_unit * 2)))); + PCNT_EXIT_CRITICAL(&pcnt_spinlock); + return ESP_OK; +} + +esp_err_t pcnt_counter_clear(pcnt_unit_t pcnt_unit) +{ + PCNT_CHECK(pcnt_unit < PCNT_UNIT_MAX, PCNT_UNIT_ERR_STR, ESP_ERR_INVALID_ARG); + PCNT_ENTER_CRITICAL(&pcnt_spinlock); + PCNT.ctrl.val &= (~(BIT(PCNT_PLUS_CNT_RST_U0_S + (pcnt_unit * 2)))); + PCNT_EXIT_CRITICAL(&pcnt_spinlock); + return ESP_OK; +} + +esp_err_t pcnt_intr_enable(pcnt_unit_t pcnt_unit) +{ + PCNT_CHECK(pcnt_unit < PCNT_UNIT_MAX, PCNT_UNIT_ERR_STR, ESP_ERR_INVALID_ARG); + PCNT_ENTER_CRITICAL(&pcnt_spinlock); + PCNT.int_ena.val |= BIT(PCNT_CNT_THR_EVENT_U0_INT_ENA_S + pcnt_unit); + PCNT_EXIT_CRITICAL(&pcnt_spinlock); + return ESP_OK; +} + +esp_err_t pcnt_intr_disable(pcnt_unit_t pcnt_unit) +{ + PCNT_CHECK(pcnt_unit < PCNT_UNIT_MAX, PCNT_UNIT_ERR_STR, ESP_ERR_INVALID_ARG); + PCNT_ENTER_CRITICAL(&pcnt_spinlock); + PCNT.int_ena.val &= (~(BIT(PCNT_CNT_THR_EVENT_U0_INT_ENA_S + pcnt_unit))); + PCNT_EXIT_CRITICAL(&pcnt_spinlock); + return ESP_OK; +} + +esp_err_t pcnt_event_enable(pcnt_unit_t unit, pcnt_evt_type_t evt_type) +{ + PCNT_CHECK(unit < PCNT_UNIT_MAX, PCNT_UNIT_ERR_STR, ESP_ERR_INVALID_ARG); + PCNT_CHECK(evt_type < PCNT_EVT_MAX, "PCNT value type error", ESP_ERR_INVALID_ARG); + if(evt_type == PCNT_EVT_L_LIM) { + PCNT.conf_unit[unit].conf0.thr_l_lim_en = 1; + } else if(evt_type == PCNT_EVT_H_LIM) { + PCNT.conf_unit[unit].conf0.thr_h_lim_en = 1; + } else if(evt_type == PCNT_EVT_THRES0) { + PCNT.conf_unit[unit].conf0.thr_thres0_en = 1; + } else if(evt_type == PCNT_EVT_THRES1) { + PCNT.conf_unit[unit].conf0.thr_thres1_en = 1; + } else if(evt_type == PCNT_EVT_ZERO) { + PCNT.conf_unit[unit].conf0.thr_zero_en = 1; + } + return ESP_OK; +} + +esp_err_t pcnt_event_disable(pcnt_unit_t unit, pcnt_evt_type_t evt_type) +{ + PCNT_CHECK(unit < PCNT_UNIT_MAX, PCNT_UNIT_ERR_STR, ESP_ERR_INVALID_ARG); + PCNT_CHECK(evt_type < PCNT_EVT_MAX, "PCNT value type error", ESP_ERR_INVALID_ARG); + if(evt_type == PCNT_EVT_L_LIM) { + PCNT.conf_unit[unit].conf0.thr_l_lim_en = 0; + } else if(evt_type == PCNT_EVT_H_LIM) { + PCNT.conf_unit[unit].conf0.thr_h_lim_en = 0; + } else if(evt_type == PCNT_EVT_THRES0) { + PCNT.conf_unit[unit].conf0.thr_thres0_en = 0; + } else if(evt_type == PCNT_EVT_THRES1) { + PCNT.conf_unit[unit].conf0.thr_thres1_en = 0; + } else if(evt_type == PCNT_EVT_ZERO) { + PCNT.conf_unit[unit].conf0.thr_zero_en = 0; + } + return ESP_OK; +} + +esp_err_t pcnt_set_event_value(pcnt_unit_t unit, pcnt_evt_type_t evt_type, int16_t value) +{ + PCNT_CHECK(unit < PCNT_UNIT_MAX, PCNT_UNIT_ERR_STR, ESP_ERR_INVALID_ARG); + PCNT_CHECK(evt_type < PCNT_EVT_MAX, "PCNT value type error", ESP_ERR_INVALID_ARG); + if(evt_type == PCNT_EVT_L_LIM) { + PCNT.conf_unit[unit].conf2.cnt_l_lim = value; + } else if(evt_type == PCNT_EVT_H_LIM) { + PCNT.conf_unit[unit].conf2.cnt_h_lim = value; + } else if(evt_type == PCNT_EVT_THRES0) { + PCNT.conf_unit[unit].conf1.cnt_thres0 = value; + } else if(evt_type == PCNT_EVT_THRES1) { + PCNT.conf_unit[unit].conf1.cnt_thres1 = value; + } + return ESP_OK; +} + +esp_err_t pcnt_get_event_value(pcnt_unit_t unit, pcnt_evt_type_t evt_type, int16_t *value) +{ + PCNT_CHECK(unit < PCNT_UNIT_MAX, PCNT_UNIT_ERR_STR, ESP_ERR_INVALID_ARG); + PCNT_CHECK(evt_type < PCNT_EVT_MAX, "PCNT value type error", ESP_ERR_INVALID_ARG); + PCNT_CHECK(value != NULL, "PCNT ADDRESS ERROR", ESP_ERR_INVALID_ARG); + + if(evt_type == PCNT_EVT_L_LIM) { + *value = (int16_t) PCNT.conf_unit[unit].conf2.cnt_l_lim; + } else if(evt_type == PCNT_EVT_H_LIM) { + *value = (int16_t) PCNT.conf_unit[unit].conf2.cnt_h_lim; + } else if(evt_type == PCNT_EVT_THRES0) { + *value = (int16_t) PCNT.conf_unit[unit].conf1.cnt_thres0; + } else if(evt_type == PCNT_EVT_THRES1) { + *value = (int16_t) PCNT.conf_unit[unit].conf1.cnt_thres1; + } else { + *value = 0; + } + return ESP_OK; +} + +esp_err_t pcnt_set_filter_value(pcnt_unit_t unit, uint16_t filter_val) +{ + PCNT_CHECK(unit < PCNT_UNIT_MAX, PCNT_UNIT_ERR_STR, ESP_ERR_INVALID_ARG); + PCNT_CHECK(filter_val < 1024, PCNT_PARAM_ERR_STR, ESP_ERR_INVALID_ARG); + PCNT.conf_unit[unit].conf0.filter_thres = filter_val; + return ESP_OK; +} + +esp_err_t pcnt_get_filter_value(pcnt_unit_t unit, uint16_t *filter_val) +{ + PCNT_CHECK(unit < PCNT_UNIT_MAX, PCNT_UNIT_ERR_STR, ESP_ERR_INVALID_ARG); + PCNT_CHECK(filter_val != NULL, "PCNT ADDRESS ERROR", ESP_ERR_INVALID_ARG); + + *filter_val = PCNT.conf_unit[unit].conf0.filter_thres; + return ESP_OK; +} + +esp_err_t pcnt_filter_enable(pcnt_unit_t unit) +{ + PCNT_CHECK(unit < PCNT_UNIT_MAX, PCNT_UNIT_ERR_STR, ESP_ERR_INVALID_ARG); + PCNT.conf_unit[unit].conf0.filter_en = 1; + return ESP_OK; +} + +esp_err_t pcnt_filter_disable(pcnt_unit_t unit) +{ + PCNT_CHECK(unit < PCNT_UNIT_MAX, PCNT_UNIT_ERR_STR, ESP_ERR_INVALID_ARG); + PCNT.conf_unit[unit].conf0.filter_en = 0; + return ESP_OK; +} + +esp_err_t pcnt_isr_register(uint32_t pcnt_intr_num, void (*fun)(void*), void * arg) +{ + PCNT_CHECK(fun != NULL, PCNT_ADDRESS_ERR_STR, ESP_ERR_INVALID_ARG); + ESP_INTR_DISABLE(pcnt_intr_num); + intr_matrix_set(xPortGetCoreID(), ETS_PCNT_INTR_SOURCE, pcnt_intr_num); + xt_set_interrupt_handler(pcnt_intr_num, fun, arg); + ESP_INTR_ENABLE(pcnt_intr_num); + return ESP_OK; +} + diff --git a/components/driver/periph_ctrl.c b/components/driver/periph_ctrl.c index 3a671abad..bfdf0f51a 100644 --- a/components/driver/periph_ctrl.c +++ b/components/driver/periph_ctrl.c @@ -89,6 +89,10 @@ void periph_module_enable(periph_module_t periph) SET_PERI_REG_MASK(DPORT_PERIP_CLK_EN_REG, DPORT_UHCI1_CLK_EN); CLEAR_PERI_REG_MASK(DPORT_PERIP_RST_EN_REG, DPORT_UHCI1_RST); break; + case PERIPH_PCNT_MODULE: + SET_PERI_REG_MASK(DPORT_PERIP_CLK_EN_REG, DPORT_PCNT_CLK_EN); + CLEAR_PERI_REG_MASK(DPORT_PERIP_RST_EN_REG, DPORT_PCNT_RST); + break; default: break; } diff --git a/components/esp32/include/soc/pcnt_struct.h b/components/esp32/include/soc/pcnt_struct.h index eef64a336..506141ba1 100644 --- a/components/esp32/include/soc/pcnt_struct.h +++ b/components/esp32/include/soc/pcnt_struct.h @@ -113,7 +113,18 @@ typedef volatile struct { }; uint32_t val; } int_clr; - uint32_t status_unit[8]; + union { + struct { + uint32_t cnt_mode:2; /*0: positive value to zero; 1: negative value to zero; 2: counter value negative ; 3: counter value positive*/ + uint32_t thres1_lat:1; /* counter value equals to thresh1*/ + uint32_t thres0_lat:1; /* counter value equals to thresh0*/ + uint32_t l_lim_lat:1; /* counter value reaches h_lim*/ + uint32_t h_lim_lat:1; /* counter value reaches l_lim*/ + uint32_t zero_lat:1; /* counter value equals zero*/ + uint32_t reserved7:25; + }; + uint32_t val; + } status_unit[8]; union { struct { uint32_t cnt_rst_u0: 1; /*Set this bit to clear unit0's counter.*/ diff --git a/examples/12_pcnt/Makefile b/examples/12_pcnt/Makefile new file mode 100644 index 000000000..5ae4b0b53 --- /dev/null +++ b/examples/12_pcnt/Makefile @@ -0,0 +1,9 @@ +# +# This is a project Makefile. It is assumed the directory this Makefile resides in is a +# project subdirectory. +# + +PROJECT_NAME := pcnt + +include $(IDF_PATH)/make/project.mk + diff --git a/examples/12_pcnt/main/component.mk b/examples/12_pcnt/main/component.mk new file mode 100644 index 000000000..44bd2b527 --- /dev/null +++ b/examples/12_pcnt/main/component.mk @@ -0,0 +1,3 @@ +# +# Main Makefile. This is basically the same as a component makefile. +# diff --git a/examples/12_pcnt/main/pcnt_test.c b/examples/12_pcnt/main/pcnt_test.c new file mode 100644 index 000000000..9e51c89ca --- /dev/null +++ b/examples/12_pcnt/main/pcnt_test.c @@ -0,0 +1,185 @@ +/* Pulse counter module - Example + + For other examples please check: + https://github.com/espressif/esp-idf/tree/master/examples + + This example code is in the Public Domain (or CC0 licensed, at your option.) + + Unless required by applicable law or agreed to in writing, this + software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR + CONDITIONS OF ANY KIND, either express or implied. +*/ +#include +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "driver/periph_ctrl.h" +#include "driver/ledc.h" +#include "driver/gpio.h" +#include "driver/pcnt.h" +#include "esp_attr.h" +#include "esp_log.h" +#include "soc/gpio_sig_map.h" + +/** + * TEST CODE BRIEF + * Use PCNT module to count rising edges generated by LEDC module. + * GPIO18 is used as ouput pin, GPIO4 is used as pulse input pin and GPIO5 is used as control input pin + * + * Open serial port to view the message printed on you screen + * + * To do this test, you should connect GPIO18 with GPIO4 + * GPIO5 is the control signal, you can leave it floating with internal pulled up, or connect it to ground. + * If you connect gpio5 to GND ,you will found the count value decreasing. + * + * When counter value reaches thresh1 or thresh0 value, it will trigger interrupt. + * When counter value reaches l_lim value or h_lim value, counter value will be reset to zero and trigger interrupt. + */ +static const char* TAG = "PCNT_TEST"; +#define PCNT_TEST_UNIT PCNT_UNIT0 +#define PCNT_H_LIM_VAL (10) +#define PCNT_L_LIM_VAL (-10) +#define PCNT_THRESH1_VAL (5) +#define PCNT_THRESH0_VAL (-5) +#define PCNT_INTR_NUM (18) +#define PCNT_INPUT_SIG_IO (4) +#define PCNT_INPUT_CTRL_IO (5) +#define LEDC_OUPUT_IO (18) + +void IRAM_ATTR pcnt_intr_handler(void* arg) +{ + uint32_t intr_status = PCNT.int_st.val; + int i; + for(i = 0; i < PCNT_UNIT_MAX; i++) { + if(intr_status & (BIT(i))) { + ESP_EARLY_LOGI(TAG, "EVENT[%d] intr\n", i); + PCNT.int_clr.val |= BIT(i); + if(PCNT.status_unit[i].h_lim_lat) { + ESP_EARLY_LOGI(TAG, "H LIM EVT\n"); + } + if(PCNT.status_unit[i].l_lim_lat) { + ESP_EARLY_LOGI(TAG, "L LIM EVT\n"); + } + if(PCNT.status_unit[i].thres0_lat) { + ESP_EARLY_LOGI(TAG, "THRES0 EVT\n"); + } + if(PCNT.status_unit[i].thres1_lat) { + ESP_EARLY_LOGI(TAG, "THRES1 EVT\n"); + } + if(PCNT.status_unit[i].zero_lat) { + ESP_EARLY_LOGI(TAG, "ZERO EVT\n"); + } + } + } +} + +static void ledc_init(void) +{ + periph_module_enable(PERIPH_LEDC_MODULE); + ledc_channel_config_t ledc_channel; + /*use GPIO18 as output pin*/ + ledc_channel.gpio_num = LEDC_OUPUT_IO; + /*LEDC high speed mode */ + ledc_channel.speed_mode = LEDC_HIGH_SPEED_MODE; + /*use LEDC channel 1*/ + ledc_channel.channel = LEDC_CHANNEL_1; + /*Disable LEDC interrupt*/ + ledc_channel.intr_type = LEDC_INTR_DISABLE; + /*Select LEDC timer 1 */ + ledc_channel.timer_sel = LEDC_TIMER_1; + /*Set duty 100 */ + ledc_channel.duty = 100; + ledc_channel_config(&ledc_channel); //ledc config + + ledc_timer_config_t ledc_timer; + /*LEDC timer high speed mode*/ + ledc_timer.speed_mode = LEDC_HIGH_SPEED_MODE; + /*10 bit PWM*/ + ledc_timer.bit_num = LEDC_TIMER_10_BIT; + /*Select timer 1*/ + ledc_timer.timer_num = LEDC_TIMER_1; + /*Set frequency 1 Hz */ + ledc_timer.freq_hz = 1; + ledc_timer_config(&ledc_timer); +} + +static void pcnt_init(void) +{ + pcnt_config_t pcnt_config = { + /*Set GPIO4 as pulse input gpio */ + .pulse_gpio_num = PCNT_INPUT_SIG_IO, + /*set gpio5 as control gpio */ + .ctrl_gpio_num = PCNT_INPUT_CTRL_IO, + /*Choose channel 0 */ + .channel = PCNT_CHANNEL_0, + /*Choose unit 0 */ + .unit = PCNT_TEST_UNIT, + /*Set counter and control mode*/ + /*Counter increase for positive edge on pulse input GPIO*/ + .pos_mode = PCNT_COUNT_INC, + /*Counter decrease for negative edge on pulse input GPIO*/ + .neg_mode = PCNT_COUNT_DIS, //keep the counter value + /*Counter mode reverse when control input is low level*/ + .lctrl_mode = PCNT_MODE_REVERSE, + /*Counter mode does not change when control input is high level*/ + .hctrl_mode = PCNT_MODE_KEEP, //when control signal is high,keep the primary counter mode + /*Set maximum value for increasing counter*/ + .counter_h_lim = PCNT_H_LIM_VAL, + /*Set minimum value for decreasing counter*/ + .counter_l_lim = PCNT_L_LIM_VAL, + }; + /*Initialize PCNT unit */ + pcnt_unit_config(&pcnt_config); + + /*Configure input filter value*/ + pcnt_set_filter_value(PCNT_TEST_UNIT, 100); + /*Enable input filter*/ + pcnt_filter_enable(PCNT_TEST_UNIT); + + /*Set value for watch point thresh1*/ + pcnt_set_event_value(PCNT_TEST_UNIT, PCNT_EVT_THRES1, PCNT_THRESH1_VAL); + /*Enable watch point event of thresh1*/ + pcnt_event_enable(PCNT_TEST_UNIT, PCNT_EVT_THRES1); + /*Set value for watch point thresh0*/ + pcnt_set_event_value(PCNT_TEST_UNIT, PCNT_EVT_THRES0, PCNT_THRESH0_VAL); + /*Enable watch point event of thresh0*/ + pcnt_event_enable(PCNT_TEST_UNIT, PCNT_EVT_THRES0); + /*Enable watch point event of h_lim*/ + pcnt_event_enable(PCNT_TEST_UNIT, PCNT_EVT_H_LIM); + /*Enable watch point event of l_lim*/ + pcnt_event_enable(PCNT_TEST_UNIT, PCNT_EVT_L_LIM); + /*Enable watch point event of zero*/ + pcnt_event_enable(PCNT_TEST_UNIT, PCNT_EVT_ZERO); + + /*Pause counter*/ + pcnt_counter_pause(PCNT_TEST_UNIT); + /*Reset counter value*/ + pcnt_counter_clear(PCNT_TEST_UNIT); + /*Register ISR handler*/ + pcnt_isr_register(PCNT_INTR_NUM, pcnt_intr_handler, NULL); + /*Enable interrupt for PCNT unit*/ + pcnt_intr_enable(PCNT_TEST_UNIT); + /*Resume counting*/ + pcnt_counter_resume(PCNT_TEST_UNIT); +} + +void pcnt_task(void *pvParameter) +{ + int16_t count = 0; + while(1) + { + pcnt_get_counter_value(PCNT_TEST_UNIT, &count); + printf("Current counter value :%d\n", count); + vTaskDelay(1000 / portTICK_RATE_MS); + } +} + +void app_main() +{ + /*Init LEDC for pulse input signal */ + ledc_init(); + /*Init PCNT functions*/ + pcnt_init(); + /*Create task to display PCNT counter value every one second*/ + xTaskCreate(&pcnt_task, "pcnt_task", 1024, NULL, 5, NULL); +} +