esp32/modules/machine.py: Add Counter and Encoder classes.

jonathanhogg · jimmo · commit 8ba37ce05128 · 2023-08-31T17:26:06.000+10:00
Adds a Python override of the `machine` module, which delegates to the
built-in module and adds an implementation of `Counter` and `Encoder`,
based on the `esp32.PCNT` class.

Original implementation by: Jonathan Hogg &lt;me@jonathanhogg.com&gt;

Signed-off-by: Jim Mussared &lt;jim.mussared@gmail.com&gt;
diff --git a/ports/esp32/modules/machine.py b/ports/esp32/modules/machine.py
@@ -0,0 +1,174 @@
+import sys
+
+_path = sys.path
+sys.path = ()
+try:
+    import machine as _machine
+finally:
+    sys.path = _path
+    del _path
+    del sys
+
+
+from micropython import const
+import esp32
+
+if hasattr(esp32, "PCNT"):
+    _PCNT_RANGE = const(32000)
+
+    class _CounterBase:
+        _PCNT = esp32.PCNT
+        # Singletons, keyed by PCNT unit_id (shared by both Counter & Encoder).
+        _INSTANCES = {}
+
+        def __new__(cls, unit_id, *_args, **_kwargs):
+            # Find an existing instance for this PCNT unit id.
+            self = cls._INSTANCES.get(unit_id)
+
+            if self:
+                # Verify that this PCNT is being used for the same type
+                # (Encoder or Counter).
+                if not isinstance(self, cls):
+                    raise ValueError("PCNT in use")
+            else:
+                # Previously unused PCNT unit.
+                self = object.__new__(cls)
+                cls._INSTANCES[unit_id] = self
+
+            # __init__ will now be called with the same args.
+            return self
+
+        def __init__(self, unit_id, *args, filter_ns=0, **kwargs):
+            if not hasattr(self, "_pcnt"):
+                # New instance, or previously deinit-ed.
+                self._pcnt = self._PCNT(unit_id, minimum=-_PCNT_RANGE, maximum=_PCNT_RANGE)
+
+            # Counter- or Encoder-specific configuration of self._pcnt.
+            self._configure(*args, **kwargs)
+
+            # Common unit configuration.
+            self._pcnt.init(
+                filter=min(max(0, filter_ns * 80 // 1000), 1023),
+                reset=True,
+            )
+
+            # Note: We track number-of-overflows rather than the actual count in
+            # order to avoid the IRQ handler overflowing MicroPython's "small int"
+            # range. This gives an effective range of 2**30 overflows. User code
+            # should use counter.value(0) to reset the overflow count.
+            # The ESP32 PCNT resets to zero on under/overflow (i.e. it does not wrap
+            # around to the opposite limit), so each overflow corresponds to exactly
+            # _PCNT_RANGE counts.
+
+            # Reset counter state.
+            self._overflows = 0
+            self._offset = 0
+
+            # Install IRQ handler to handle under/overflow.
+            self._pcnt.irq(self._overflow, self._PCNT.IRQ_MINIMUM | self._PCNT.IRQ_MAXIMUM)
+
+            # Start counting.
+            self._pcnt.start()
+
+        # Handle counter under/overflow.
+        def _overflow(self, mask):
+            if mask & self._PCNT.IRQ_MINIMUM:
+                self._overflows -= 1
+            elif mask & self._PCNT.IRQ_MAXIMUM:
+                self._overflows += 1
+
+        # Public machine.Counter & machine.Encoder API.
+        def init(self, *args, **kwargs):
+            self.__init__(None, *args, **kwargs)
+
+        # Public machine.Counter & machine.Encoder API.
+        def deinit(self):
+            if hasattr(self, "_pcnt"):
+                self._pcnt.deinit()
+                del self._pcnt
+
+        # Public machine.Counter & machine.Encoder API.
+        def value(self, value=None):
+            # This loop deals with the possibility that a PCNT overflow occurs
+            # between retrieving self._overflows and self._pcnt.value().
+            while True:
+                overflows = self._overflows
+                current = self._pcnt.value()
+                # Calling PCNT.value() forces any pending PCNT interrupts to run
+                # (see esp32_pcnt_run_irq_handlers). So self._overflows must now
+                # be the the value corresponding to the value we read.
+                if self._overflows == overflows:
+                    break
+
+            # Compute the result including the number of times we've cycled
+            # through the range, and any applied offset.
+            result = overflows * _PCNT_RANGE + current + self._offset
+
+            # If a new value is specified, then zero out the overflows, and set
+            # self._offset so that it zeros out the current PCNT value. The
+            # mutation to self._overflows is atomic w.r.t. the overflow IRQ
+            # handler because the scheduler only runs on branch instructions.
+            if value is not None:
+                self._overflows -= overflows
+                self._offset = value - current
+
+            return result
+
+    class Counter(_CounterBase):
+        # Public machine.Counter API.
+        RISING = 1
+        FALLING = 2
+        UP = _CounterBase._PCNT.INCREMENT
+        DOWN = _CounterBase._PCNT.DECREMENT
+
+        # Counter-specific configuration.
+        def _configure(self, src, edge=RISING, direction=UP):
+            # Only use the first channel.
+            self._pcnt.init(
+                channel=0,
+                pin=src,
+                rising=direction if edge & Counter.RISING else self._PCNT.IGNORE,
+                falling=direction if edge & Counter.FALLING else self._PCNT.IGNORE,
+            )
+
+    class Encoder(_CounterBase):
+        # Encoder-specific configuration.
+        def _configure(self, phase_a, phase_b, phases=1):
+            if phases not in (1, 2, 4):
+                raise ValueError("phases")
+            # Configure the first channel.
+            self._pcnt.init(
+                channel=0,
+                pin=phase_a,
+                falling=self._PCNT.INCREMENT,
+                rising=self._PCNT.DECREMENT,
+                mode_pin=phase_b,
+                mode_low=self._PCNT.HOLD if phases == 1 else self._PCNT.REVERSE,
+            )
+            if phases == 4:
+                # For 4x quadrature, enable the second channel.
+                self._pcnt.init(
+                    channel=1,
+                    pin=phase_b,
+                    falling=self._PCNT.DECREMENT,
+                    rising=self._PCNT.INCREMENT,
+                    mode_pin=phase_a,
+                    mode_low=self._PCNT.REVERSE,
+                )
+            else:
+                # For 1x and 2x quadrature, disable the second channel.
+                self._pcnt.init(channel=1, pin=None, rising=self._PCNT.IGNORE)
+            self._phases = phases
+
+        def phases(self):
+            return self._phases
+
+    del _CounterBase
+
+
+del esp32
+
+
+# Delegate to built-in machine module.
+def __getattr__(attr):
+    return getattr(_machine, attr)
