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Merge pull request #4329 from jepler/rp2-rotaryio
raspberrypi: Implement rotaryio, improve StateMachine
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,29 @@ | ||
| /* | ||
| * This file is part of the MicroPython project, http://micropython.org/ | ||
| * | ||
| * The MIT License (MIT) | ||
| * | ||
| * Copyright (c) 2021 Jeff Epler for Adafruit Industries | ||
| * | ||
| * Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| * of this software and associated documentation files (the "Software"), to deal | ||
| * in the Software without restriction, including without limitation the rights | ||
| * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| * copies of the Software, and to permit persons to whom the Software is | ||
| * furnished to do so, subject to the following conditions: | ||
| * | ||
| * The above copyright notice and this permission notice shall be included in | ||
| * all copies or substantial portions of the Software. | ||
| * | ||
| * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
| * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | ||
| * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
| * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN | ||
| * THE SOFTWARE. | ||
| */ | ||
|
|
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| #pragma once | ||
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| bool common_hal_rp2pio_pins_are_sequential(size_t len, mp_obj_t *items); |
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170 changes: 170 additions & 0 deletions
170
ports/raspberrypi/common-hal/rotaryio/IncrementalEncoder.c
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,170 @@ | ||
| /* | ||
| * This file is part of the MicroPython project, http://micropython.org/ | ||
| * | ||
| * The MIT License (MIT) | ||
| * | ||
| * Copyright (c) 2018 Scott Shawcroft for Adafruit Industries | ||
| * | ||
| * Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| * of this software and associated documentation files (the "Software"), to deal | ||
| * in the Software without restriction, including without limitation the rights | ||
| * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| * copies of the Software, and to permit persons to whom the Software is | ||
| * furnished to do so, subject to the following conditions: | ||
| * | ||
| * The above copyright notice and this permission notice shall be included in | ||
| * all copies or substantial portions of the Software. | ||
| * | ||
| * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
| * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | ||
| * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
| * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN | ||
| * THE SOFTWARE. | ||
| */ | ||
|
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| #include "py/runtime.h" | ||
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| #include <hardware/regs/pio.h> | ||
| #include "common-hal/rotaryio/IncrementalEncoder.h" | ||
| #include "bindings/rp2pio/__init__.h" | ||
| #include "bindings/rp2pio/StateMachine.h" | ||
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| STATIC const uint16_t encoder[] = { | ||
| // again: | ||
| // in pins, 2 | ||
| 0x4002, | ||
| // mov x, isr | ||
| 0xa026, | ||
| // jmp x!=y, push_data | ||
| 0x00a5, | ||
| // mov isr, null | ||
| 0xa0c3, | ||
| // jmp again | ||
| 0x0000, | ||
| // push_data: | ||
| // push | ||
| 0x8020, | ||
| // mov y, x | ||
| 0xa041, | ||
| }; | ||
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| STATIC const uint16_t encoder_init[] = { | ||
| // set y, 31 | ||
| 0xe05f, | ||
| }; | ||
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| STATIC void incrementalencoder_interrupt_handler(void *self_in); | ||
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| void common_hal_rotaryio_incrementalencoder_construct(rotaryio_incrementalencoder_obj_t* self, | ||
| const mcu_pin_obj_t* pin_a, const mcu_pin_obj_t* pin_b) { | ||
| mp_obj_t pins[] = {MP_OBJ_FROM_PTR(pin_a), MP_OBJ_FROM_PTR(pin_b)}; | ||
| if (!common_hal_rp2pio_pins_are_sequential(2, pins)) { | ||
| mp_raise_RuntimeError(translate("Pins must be sequential")); | ||
| } | ||
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| self->position = 0; | ||
| self->quarter_count = 0; | ||
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| common_hal_rp2pio_statemachine_construct(&self->state_machine, | ||
| encoder, MP_ARRAY_SIZE(encoder), | ||
| 1000000, | ||
| encoder_init, MP_ARRAY_SIZE(encoder_init), // init | ||
| NULL, 1, 0, 0xffffffff, // out pin | ||
| pin_a, 2, // in pins | ||
| 3, 0, // in pulls | ||
| NULL, 0, 0, 0x1f, // set pins | ||
| NULL, 0, 0, 0x1f, // sideset pins | ||
| true, // exclusive pin use | ||
| false, 32, false, // out settings | ||
| false, // Wait for txstall | ||
| false, 32, false); // in settings | ||
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| common_hal_rp2pio_statemachine_run(&self->state_machine, encoder_init, MP_ARRAY_SIZE(encoder_init)); | ||
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| // We're guaranteed by the init code that some output will be available promptly | ||
| uint8_t state; | ||
| common_hal_rp2pio_statemachine_readinto(&self->state_machine, &state, 1, 1); | ||
| // Top two bits of self->last_state don't matter, because they'll be gone as soon as | ||
| // interrupt handler is called. | ||
| self->last_state = state & 3; | ||
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| common_hal_rp2pio_statemachine_set_interrupt_handler(&self->state_machine, incrementalencoder_interrupt_handler, self, PIO_IRQ0_INTF_SM0_RXNEMPTY_BITS); | ||
| } | ||
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| bool common_hal_rotaryio_incrementalencoder_deinited(rotaryio_incrementalencoder_obj_t* self) { | ||
| return common_hal_rp2pio_statemachine_deinited(&self->state_machine); | ||
| } | ||
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| void common_hal_rotaryio_incrementalencoder_deinit(rotaryio_incrementalencoder_obj_t* self) { | ||
| if (common_hal_rotaryio_incrementalencoder_deinited(self)) { | ||
| return; | ||
| } | ||
| common_hal_rp2pio_statemachine_deinit(&self->state_machine); | ||
| } | ||
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| mp_int_t common_hal_rotaryio_incrementalencoder_get_position(rotaryio_incrementalencoder_obj_t* self) { | ||
| return self->position; | ||
| } | ||
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| void common_hal_rotaryio_incrementalencoder_set_position(rotaryio_incrementalencoder_obj_t* self, | ||
| mp_int_t new_position) { | ||
| self->position = new_position; | ||
| } | ||
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| STATIC void incrementalencoder_interrupt_handler(void *self_in) { | ||
| rotaryio_incrementalencoder_obj_t* self = self_in; | ||
| // This table also works for detent both at 11 and 00 | ||
| // For 11 at detent: | ||
| // Turning cw: 11->01->00->10->11 | ||
| // Turning ccw: 11->10->00->01->11 | ||
| // For 00 at detent: | ||
| // Turning cw: 00->10->11->10->00 | ||
| // Turning ccw: 00->01->11->10->00 | ||
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| // index table by state <oldA><oldB><newA><newB> | ||
| #define BAD 7 | ||
| static const int8_t transitions[16] = { | ||
| 0, // 00 -> 00 no movement | ||
| -1, // 00 -> 01 3/4 ccw (11 detent) or 1/4 ccw (00 at detent) | ||
| +1, // 00 -> 10 3/4 cw or 1/4 cw | ||
| BAD, // 00 -> 11 non-Gray-code transition | ||
| +1, // 01 -> 00 2/4 or 4/4 cw | ||
| 0, // 01 -> 01 no movement | ||
| BAD, // 01 -> 10 non-Gray-code transition | ||
| -1, // 01 -> 11 4/4 or 2/4 ccw | ||
| -1, // 10 -> 00 2/4 or 4/4 ccw | ||
| BAD, // 10 -> 01 non-Gray-code transition | ||
| 0, // 10 -> 10 no movement | ||
| +1, // 10 -> 11 4/4 or 2/4 cw | ||
| BAD, // 11 -> 00 non-Gray-code transition | ||
| +1, // 11 -> 01 1/4 or 3/4 cw | ||
| -1, // 11 -> 10 1/4 or 3/4 ccw | ||
| 0, // 11 -> 11 no movement | ||
| }; | ||
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| while (common_hal_rp2pio_statemachine_get_in_waiting(&self->state_machine)) { | ||
| // Bypass all the logic of StateMachine.c:_transfer, we need something | ||
| // very simple and fast for an interrupt! | ||
| uint8_t new = self->state_machine.pio->rxf[self->state_machine.state_machine]; | ||
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| // Shift the old AB bits to the "old" position, and set the new AB bits. | ||
| self->last_state = (self->last_state & 0x3) << 2 | (new & 0x3); | ||
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| int8_t quarter_incr = transitions[self->last_state]; | ||
| if (quarter_incr == BAD) { | ||
| // Missed a transition. We don't know which way we're going, so do nothing. | ||
| return; | ||
| } | ||
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| self->quarter_count += quarter_incr; | ||
| if (self->quarter_count >= 4) { | ||
| self->position += 1; | ||
| self->quarter_count = 0; | ||
| } else if (self->quarter_count <= -4) { | ||
| self->position -= 1; | ||
| self->quarter_count = 0; | ||
| } | ||
| } | ||
| } |
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