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Merge #756

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756: Add async quadrature decoder for embassy-nrf r=Dirbaio a=kalkyl

Thsi PR adds an async interface to the QDEC peripheral to embassy-nrf, that can be used for rotary encoders for example.

Co-authored-by: Henrik Alsér <henrik@mindbite.se>
Co-authored-by: Henrik Alsér <henrik.alser@me.com>
Co-authored-by: Henrik Alsér <henrik.alser@me.com>
This commit is contained in:
bors[bot] 2022-05-12 13:40:08 +00:00 committed by GitHub
commit 45c0f1ab88
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GPG key ID: 4AEE18F83AFDEB23
10 changed files with 267 additions and 0 deletions
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3
embassy-nrf/src/chips/nrf52805.rs
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@ -122,6 +122,9 @@ embassy_hal_common::peripherals! {
// TEMP
TEMP,
// QDEC
QDEC,
}
impl_uarte!(UARTE0, UARTE0, UARTE0_UART0);

3
embassy-nrf/src/chips/nrf52810.rs
View file

@ -125,6 +125,9 @@ embassy_hal_common::peripherals! {
// TEMP
TEMP,
// QDEC
QDEC,
}
impl_uarte!(UARTE0, UARTE0, UARTE0_UART0);

3
embassy-nrf/src/chips/nrf52811.rs
View file

@ -125,6 +125,9 @@ embassy_hal_common::peripherals! {
// TEMP
TEMP,
// QDEC
QDEC,
}
impl_uarte!(UARTE0, UARTE0, UARTE0_UART0);

3
embassy-nrf/src/chips/nrf52820.rs
View file

@ -123,6 +123,9 @@ embassy_hal_common::peripherals! {
// TEMP
TEMP,
// QDEC
QDEC,
}
#[cfg(feature = "nightly")]

3
embassy-nrf/src/chips/nrf52832.rs
View file

@ -135,6 +135,9 @@ embassy_hal_common::peripherals! {
// TEMP
TEMP,
// QDEC
QDEC,
}
impl_uarte!(UARTE0, UARTE0, UARTE0_UART0);

3
embassy-nrf/src/chips/nrf52833.rs
View file

@ -155,6 +155,9 @@ embassy_hal_common::peripherals! {
// TEMP
TEMP,
// QDEC
QDEC,
}
#[cfg(feature = "nightly")]

3
embassy-nrf/src/chips/nrf52840.rs
View file

@ -27,6 +27,9 @@ embassy_hal_common::peripherals! {
// QSPI
QSPI,
// QDEC
QDEC,
// UARTE
UARTE0,
UARTE1,

2
embassy-nrf/src/lib.rs
View file

@ -74,6 +74,8 @@ pub mod nvmc;
pub mod ppi;
#[cfg(not(any(feature = "nrf52805", feature = "nrf52820", feature = "_nrf5340-net")))]
pub mod pwm;
#[cfg(not(any(feature = "nrf51", feature = "_nrf9160", feature = "_nrf5340")))]
pub mod qdec;
#[cfg(feature = "nrf52840")]
pub mod qspi;
#[cfg(not(any(feature = "_nrf5340", feature = "_nrf9160")))]

216
embassy-nrf/src/qdec.rs Normal file
View file

@ -0,0 +1,216 @@
//! Quadrature decoder interface
use crate::gpio::sealed::Pin as _;
use crate::gpio::{AnyPin, Pin as GpioPin};
use crate::interrupt;
use crate::pac;
use crate::peripherals::QDEC;
use core::marker::PhantomData;
use core::task::Poll;
use embassy::interrupt::InterruptExt;
use embassy::util::Unborrow;
use embassy::waitqueue::AtomicWaker;
use embassy_hal_common::unborrow;
use futures::future::poll_fn;
/// Quadrature decoder
pub struct Qdec<'d> {
phantom: PhantomData<&'d QDEC>,
}
#[non_exhaustive]
pub struct Config {
pub num_samples: NumSamples,
pub period: SamplePeriod,
pub led_polarity: LedPolarity,
pub debounce: bool,
pub led_pre_usecs: u16,
}
impl Default for Config {
fn default() -> Self {
Self {
num_samples: NumSamples::_1smpl,
period: SamplePeriod::_256us,
led_polarity: LedPolarity::ActiveHigh,
debounce: true,
led_pre_usecs: 0,
}
}
}
static WAKER: AtomicWaker = AtomicWaker::new();
impl<'d> Qdec<'d> {
pub fn new(
qdec: impl Unborrow<Target = QDEC> + 'd,
irq: impl Unborrow<Target = interrupt::QDEC> + 'd,
a: impl Unborrow<Target = impl GpioPin> + 'd,
b: impl Unborrow<Target = impl GpioPin> + 'd,
config: Config,
) -> Self {
unborrow!(a, b);
Self::new_inner(qdec, irq, a.degrade(), b.degrade(), None, config)
}
pub fn new_with_led(
qdec: impl Unborrow<Target = QDEC> + 'd,
irq: impl Unborrow<Target = interrupt::QDEC> + 'd,
a: impl Unborrow<Target = impl GpioPin> + 'd,
b: impl Unborrow<Target = impl GpioPin> + 'd,
led: impl Unborrow<Target = impl GpioPin> + 'd,
config: Config,
) -> Self {
unborrow!(a, b, led);
Self::new_inner(
qdec,
irq,
a.degrade(),
b.degrade(),
Some(led.degrade()),
config,
)
}
fn new_inner(
_t: impl Unborrow<Target = QDEC> + 'd,
irq: impl Unborrow<Target = interrupt::QDEC> + 'd,
a: AnyPin,
b: AnyPin,
led: Option<AnyPin>,
config: Config,
) -> Self {
unborrow!(irq);
let r = Self::regs();
// Select pins.
a.conf().write(|w| w.input().connect().pull().pullup());
b.conf().write(|w| w.input().connect().pull().pullup());
r.psel.a.write(|w| unsafe { w.bits(a.psel_bits()) });
r.psel.b.write(|w| unsafe { w.bits(b.psel_bits()) });
if let Some(led_pin) = &led {
led_pin.conf().write(|w| w.dir().output());
r.psel.led.write(|w| unsafe { w.bits(led_pin.psel_bits()) });
}
// Enables/disable input debounce filters
r.dbfen.write(|w| match config.debounce {
true => w.dbfen().enabled(),
false => w.dbfen().disabled(),
});
// Set LED output pin polarity
r.ledpol.write(|w| match config.led_polarity {
LedPolarity::ActiveHigh => w.ledpol().active_high(),
LedPolarity::ActiveLow => w.ledpol().active_low(),
});
// Set time period the LED is switched ON prior to sampling (0..511 us).
r.ledpre
.write(|w| unsafe { w.ledpre().bits(config.led_pre_usecs.min(511)) });
// Set sample period
r.sampleper.write(|w| match config.period {
SamplePeriod::_128us => w.sampleper()._128us(),
SamplePeriod::_256us => w.sampleper()._256us(),
SamplePeriod::_512us => w.sampleper()._512us(),
SamplePeriod::_1024us => w.sampleper()._1024us(),
SamplePeriod::_2048us => w.sampleper()._2048us(),
SamplePeriod::_4096us => w.sampleper()._4096us(),
SamplePeriod::_8192us => w.sampleper()._8192us(),
SamplePeriod::_16384us => w.sampleper()._16384us(),
SamplePeriod::_32ms => w.sampleper()._32ms(),
SamplePeriod::_65ms => w.sampleper()._65ms(),
SamplePeriod::_131ms => w.sampleper()._131ms(),
});
// Enable peripheral
r.enable.write(|w| w.enable().set_bit());
// Start sampling
unsafe { r.tasks_start.write(|w| w.bits(1)) };
irq.disable();
irq.set_handler(|_| {
let r = Self::regs();
r.intenclr.write(|w| w.reportrdy().clear());
WAKER.wake();
});
irq.enable();
Self {
phantom: PhantomData,
}
}
/// Perform an asynchronous read of the decoder.
/// The returned future can be awaited to obtain the number of steps.
///
/// If the future is dropped, the read is cancelled.
///
/// # Example
///
/// ```no_run
/// let irq = interrupt::take!(QDEC);
/// let config = qdec::Config::default();
/// let mut q = Qdec::new(p.QDEC, p.P0_31, p.P0_30, config);
/// let delta = q.read().await;
/// ```
pub async fn read(&mut self) -> i16 {
let t = Self::regs();
t.intenset.write(|w| w.reportrdy().set());
unsafe { t.tasks_readclracc.write(|w| w.bits(1)) };
let value = poll_fn(|cx| {
WAKER.register(cx.waker());
if t.events_reportrdy.read().bits() == 0 {
return Poll::Pending;
} else {
t.events_reportrdy.reset();
let acc = t.accread.read().bits();
Poll::Ready(acc as i16)
}
})
.await;
value
}
fn regs() -> &'static pac::qdec::RegisterBlock {
unsafe { &*pac::QDEC::ptr() }
}
}
#[derive(Debug, Eq, PartialEq, Clone, Copy)]
pub enum SamplePeriod {
_128us,
_256us,
_512us,
_1024us,
_2048us,
_4096us,
_8192us,
_16384us,
_32ms,
_65ms,
_131ms,
}
#[derive(Debug, Eq, PartialEq, Clone, Copy)]
pub enum NumSamples {
_10smpl,
_40smpl,
_80smpl,
_120smpl,
_160smpl,
_200smpl,
_240smpl,
_280smpl,
_1smpl,
}
#[derive(Debug, Eq, PartialEq, Clone, Copy)]
pub enum LedPolarity {
ActiveHigh,
ActiveLow,
}

28
examples/nrf/src/bin/qdec.rs Normal file
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@ -0,0 +1,28 @@
#![no_std]
#![no_main]
#![feature(type_alias_impl_trait)]
use defmt::info;
use embassy::executor::Spawner;
use embassy_nrf::{
interrupt,
qdec::{self, Qdec},
Peripherals,
};
use defmt_rtt as _; // global logger
use panic_probe as _;
#[embassy::main]
async fn main(_spawner: Spawner, p: Peripherals) {
let irq = interrupt::take!(QDEC);
let config = qdec::Config::default();
let mut rotary_enc = Qdec::new(p.QDEC, irq, p.P0_31, p.P0_30, config);
info!("Turn rotary encoder!");
let mut value = 0;
loop {
value += rotary_enc.read().await;
info!("Value: {}", value);
}
}