[GitHub] [incubator-nuttx] tmedicci commented on a diff in pull request #7328: esp32: Add support to Quadrature Encoder

[GitBox <gi...@apache.org>]

tmedicci commented on code in PR #7328:
URL: https://github.com/apache/incubator-nuttx/pull/7328#discussion_r996990918


##########
arch/xtensa/src/esp32/esp32_qencoder.c:
##########
@@ -0,0 +1,840 @@
+/****************************************************************************
+ * arch/xtensa/src/esp32/esp32_qencoder.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+#include <assert.h>
+#include <errno.h>
+#include <debug.h>
+#include <inttypes.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/irq.h>
+#include <nuttx/spinlock.h>
+#include <nuttx/sensors/qencoder.h>
+
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "esp32_gpio.h"
+#include "esp32_irq.h"
+
+#include "xtensa.h"
+#include "hardware/esp32_soc.h"
+#include "hardware/esp32_dport.h"
+#include "hardware/esp32_pinmap.h"
+#include "hardware/esp32_gpio_sigmap.h"
+#include "hardware/esp32_pcnt.h"
+#include "esp32_qencoder.h"
+
+#ifdef CONFIG_SENSORS_QENCODER
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Input filter *************************************************************/
+
+#ifdef CONFIG_ESP32_PCNT_U0_QE
+#  ifndef CONFIG_ESP32_PCNT_U0_FILTER_EN
+#    warning "Glitch Filter is recommended for Quadrature Encoder on PCNT_U0"
+#  endif
+#endif
+
+#ifdef CONFIG_ESP32_PCNT_U1_QE
+#  ifndef CONFIG_ESP32_PCNT_U1_FILTER_EN
+#    warning "Glitch Filter is recommended for Quadrature Encoder on PCNT_U1"
+#  endif
+#endif
+
+#ifdef CONFIG_ESP32_PCNT_U2_QE
+#  ifndef CONFIG_ESP32_PCNT_U2_FILTER_EN
+#    warning "Glitch Filter is recommended for Quadrature Encoder on PCNT_U2"
+#  endif
+#endif
+
+#ifdef CONFIG_ESP32_PCNT_U3_QE
+#  ifndef CONFIG_ESP32_PCNT_U3_FILTER_EN
+#    warning "Glitch Filter is recommended for Quadrature Encoder on PCNT_U3"
+#  endif
+#endif
+
+#ifdef CONFIG_ESP32_PCNT_U4_QE
+#  ifndef CONFIG_ESP32_PCNT_U4_FILTER_EN
+#    warning "Glitch Filter is recommended for Quadrature Encoder on PCNT_U4"
+#  endif
+#endif
+
+#ifdef CONFIG_ESP32_PCNT_U5_QE
+#  ifndef CONFIG_ESP32_PCNT_U5_FILTER_EN
+#    warning "Glitch Filter is recommended for Quadrature Encoder on PCNT_U5"
+#  endif
+#endif
+
+#ifdef CONFIG_ESP32_PCNT_U6_QE
+#  ifndef CONFIG_ESP32_PCNT_U6_FILTER_EN
+#    warning "Glitch Filter is recommended for Quadrature Encoder on PCNT_U6"
+#  endif
+#endif
+
+#ifdef CONFIG_ESP32_PCNT_U7_QE
+#  ifndef CONFIG_ESP32_PCNT_U7_FILTER_EN
+#    warning "Glitch Filter is recommended for Quadrature Encoder on PCNT_U7"
+#  endif
+#endif
+
+/* Debug ********************************************************************/
+
+/* Non-standard debug that may be enabled just for testing the quadrature
+ * encoder
+ */
+
+#ifndef CONFIG_DEBUG_FEATURES
+#  undef CONFIG_DEBUG_SENSORS
+#endif
+
+#ifdef CONFIG_DEBUG_SENSORS
+#  ifdef CONFIG_DEBUG_INFO
+#    define qe_dumpgpio(p,m)    esp32_dumpgpio(p,m)
+#  else
+#    define qe_dumpgpio(p,m)
+#  endif
+#else
+#  define qe_dumpgpio(p,m)
+#endif
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/* Constant configuration structure that is retained in FLASH */
+
+struct esp32_qeconfig_s
+{
+  uint8_t   pcntid;        /* PCNT ID {0,1,2,3,4,5,6,7} */
+  uint8_t   ch0_gpio;      /* Channel 0 gpio pin (Edge/Pulse) */
+  uint8_t   ch1_gpio;      /* Channel 1 gpio pin (Level/Ctrl) */
+  uint32_t  ch0_pulse_sig; /* ch0 pulse signal index */
+  uint32_t  ch0_ctrl_sig;  /* ch0 ctrl signal index */
+  uint32_t  ch1_pulse_sig; /* ch1 pulse signal index */
+  uint32_t  ch1_ctrl_sig;  /* ch1 ctrl signal index */
+  uint16_t  filter_thres;  /* Filter threshold for this PCNT Unit */
+};
+
+/* NOTE: we are using Quadrature Encoder in X4 mode on ESP32 PCNT, then
+ * instead of using 'pulse_gpio' and 'ctrl_gpio' names, we only use ch0_gpio
+ * and ch1_gpio names. It avoid confusion, since the same signal that is used
+ * on pin 'pulse' of CH0 is also connected to 'ctrl' pin of the CH1 and
+ * 'ctrl' pin of CH0 is also connected on 'pulse' pin of CH1.
+ */
+
+/* Overall, RAM-based state structure */
+
+struct esp32_lowerhalf_s
+{
+  /* The first field of this state structure must be a pointer to the
+   * lower-half callback structure:
+   */
+
+  const struct qe_ops_s *ops; /* Lower half callback structure */
+
+  /* ESP32 driver-specific fields: */
+
+  const struct esp32_qeconfig_s *config; /* static configuration */
+
+  bool inuse; /* True: The lower-half driver is in-use */
+
+  volatile int32_t position; /* The current position offset */
+
+  spinlock_t lock; /* Device specific lock. */
+};
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/* Helper functions */
+
+#if defined(CONFIG_DEBUG_SENSORS) && defined(CONFIG_DEBUG_INFO)
+static void esp32_dumpregs(struct esp32_lowerhalf_s *priv,
+                           const char *msg);
+#else
+#  define esp32_dumpregs(priv,msg)
+#endif
+
+static struct esp32_lowerhalf_s *esp32_pcnt2lower(int pcnt);
+
+/* Interrupt handling */
+
+#if 0 /* FIXME: To be implement */

Review Comment:
   typo: `/* FIXME: To be implemented */`



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