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pcnt: support accumulate count value

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Closes https://github.com/espressif/esp-idf/issues/10167
This commit is contained in:
morris
2022-10-27 17:30:26 +08:00
parent dcaa753f37
commit 5bd99deb48
8 changed files with 98 additions and 48 deletions
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15
examples/peripherals/mcpwm/mcpwm_bdc_speed_control/main/mcpwm_bdc_control_example_main.c
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@@ -38,17 +38,9 @@ typedef struct {
bdc_motor_handle_t motor;
pcnt_unit_handle_t pcnt_encoder;
pid_ctrl_block_handle_t pid_ctrl;
int accumu_count;
int report_pulses;
} motor_control_context_t;
static bool example_pcnt_on_reach(pcnt_unit_handle_t unit, const pcnt_watch_event_data_t *edata, void *user_ctx)
{
int *accumu_count = (int *)user_ctx;
*accumu_count += edata->watch_point_value;
return false;
}
static void pid_loop_cb(void *args)
{
static int last_pulse_count = 0;
@@ -60,7 +52,6 @@ static void pid_loop_cb(void *args)
// get the result from rotary encoder
int cur_pulse_count = 0;
pcnt_unit_get_count(pcnt_unit, &cur_pulse_count);
cur_pulse_count += ctx->accumu_count;
int real_pulses = cur_pulse_count - last_pulse_count;
last_pulse_count = cur_pulse_count;
ctx->report_pulses = real_pulses;
@@ -77,7 +68,6 @@ static void pid_loop_cb(void *args)
void app_main(void)
{
static motor_control_context_t motor_ctrl_ctx = {
.accumu_count = 0,
.pcnt_encoder = NULL,
};
@@ -99,6 +89,7 @@ void app_main(void)
pcnt_unit_config_t unit_config = {
.high_limit = BDC_ENCODER_PCNT_HIGH_LIMIT,
.low_limit = BDC_ENCODER_PCNT_LOW_LIMIT,
.flags.accum_count = true, // enable counter accumulation
};
pcnt_unit_handle_t pcnt_unit = NULL;
ESP_ERROR_CHECK(pcnt_new_unit(&unit_config, &pcnt_unit));
@@ -124,10 +115,6 @@ void app_main(void)
ESP_ERROR_CHECK(pcnt_channel_set_level_action(pcnt_chan_b, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_INVERSE));
ESP_ERROR_CHECK(pcnt_unit_add_watch_point(pcnt_unit, BDC_ENCODER_PCNT_HIGH_LIMIT));
ESP_ERROR_CHECK(pcnt_unit_add_watch_point(pcnt_unit, BDC_ENCODER_PCNT_LOW_LIMIT));
pcnt_event_callbacks_t pcnt_cbs = {
.on_reach = example_pcnt_on_reach, // accumulate the overflow in the callback
};
ESP_ERROR_CHECK(pcnt_unit_register_event_callbacks(pcnt_unit, &pcnt_cbs, &motor_ctrl_ctx.accumu_count));
ESP_ERROR_CHECK(pcnt_unit_enable(pcnt_unit));
ESP_ERROR_CHECK(pcnt_unit_clear_count(pcnt_unit));
ESP_ERROR_CHECK(pcnt_unit_start(pcnt_unit));