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pcnt.h
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pcnt.h
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// Copyright 2015-2019 Espressif Systems (Shanghai) PTE LTD
//
// Licensed 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.
#pragma once
#include "esp_types.h"
#include "esp_err.h"
#include "esp_intr_alloc.h"
#include "freertos/FreeRTOS.h"
#include "driver/gpio.h"
#include "hal/pcnt_types.h"
#include "soc/pcnt_periph.h"
#ifdef __cplusplus
extern "C" {
#endif
typedef intr_handle_t pcnt_isr_handle_t;
/**
* @brief Configure Pulse Counter unit
* @note
* This function will disable three events: PCNT_EVT_L_LIM, PCNT_EVT_H_LIM, PCNT_EVT_ZERO.
*
* @param pcnt_config Pointer of Pulse Counter unit configure parameter
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_STATE pcnt driver already initialized
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pcnt_unit_config(const pcnt_config_t *pcnt_config);
/**
* @brief Get pulse counter value
*
* @param pcnt_unit Pulse Counter unit number
* @param count Pointer to accept counter value
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_STATE pcnt driver has not been initialized
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pcnt_get_counter_value(pcnt_unit_t pcnt_unit, int16_t *count);
/**
* @brief Pause PCNT counter of PCNT unit
*
* @param pcnt_unit PCNT unit number
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_STATE pcnt driver has not been initialized
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pcnt_counter_pause(pcnt_unit_t pcnt_unit);
/**
* @brief Resume counting for PCNT counter
*
* @param pcnt_unit PCNT unit number, select from pcnt_unit_t
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_STATE pcnt driver has not been initialized
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pcnt_counter_resume(pcnt_unit_t pcnt_unit);
/**
* @brief Clear and reset PCNT counter value to zero
*
* @param pcnt_unit PCNT unit number, select from pcnt_unit_t
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_STATE pcnt driver has not been initialized
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pcnt_counter_clear(pcnt_unit_t pcnt_unit);
/**
* @brief Enable PCNT interrupt for PCNT unit
* @note
* Each Pulse counter unit has five watch point events that share the same interrupt.
* Configure events with pcnt_event_enable() and pcnt_event_disable()
*
* @param pcnt_unit PCNT unit number
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_STATE pcnt driver has not been initialized
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pcnt_intr_enable(pcnt_unit_t pcnt_unit);
/**
* @brief Disable PCNT interrupt for PCNT unit
*
* @param pcnt_unit PCNT unit number
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_STATE pcnt driver has not been initialized
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pcnt_intr_disable(pcnt_unit_t pcnt_unit);
/**
* @brief Enable PCNT event of PCNT unit
*
* @param unit PCNT unit number
* @param evt_type Watch point event type.
* All enabled events share the same interrupt (one interrupt per pulse counter unit).
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_STATE pcnt driver has not been initialized
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pcnt_event_enable(pcnt_unit_t unit, pcnt_evt_type_t evt_type);
/**
* @brief Disable PCNT event of PCNT unit
*
* @param unit PCNT unit number
* @param evt_type Watch point event type.
* All enabled events share the same interrupt (one interrupt per pulse counter unit).
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_STATE pcnt driver has not been initialized
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pcnt_event_disable(pcnt_unit_t unit, pcnt_evt_type_t evt_type);
/**
* @brief Set PCNT event value of PCNT unit
*
* @param unit PCNT unit number
* @param evt_type Watch point event type.
* All enabled events share the same interrupt (one interrupt per pulse counter unit).
*
* @param value Counter value for PCNT event
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_STATE pcnt driver has not been initialized
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pcnt_set_event_value(pcnt_unit_t unit, pcnt_evt_type_t evt_type, int16_t value);
/**
* @brief Get PCNT event value of PCNT unit
*
* @param unit PCNT unit number
* @param evt_type Watch point event type.
* All enabled events share the same interrupt (one interrupt per pulse counter unit).
* @param value Pointer to accept counter value for PCNT event
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_STATE pcnt driver has not been initialized
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pcnt_get_event_value(pcnt_unit_t unit, pcnt_evt_type_t evt_type, int16_t *value);
/**
* @brief Get PCNT event status of PCNT unit
*
* @param unit PCNT unit number
* @param status Pointer to accept event status word
* @return
*
* - ESP_OK Success
* - ESP_ERR_INVALID_STATE pcnt driver has not been initialized
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pcnt_get_event_status(pcnt_unit_t unit, uint32_t *status);
/**
* @brief Unregister PCNT interrupt handler (registered by pcnt_isr_register), the handler is an ISR.
* The handler will be attached to the same CPU core that this function is running on.
* If the interrupt service is registered by pcnt_isr_service_install, please call pcnt_isr_service_uninstall instead
*
* @param handle handle to unregister the ISR service.
*
* @return
* - ESP_OK Success
* - ESP_ERR_NOT_FOUND Can not find the interrupt that matches the flags.
* - ESP_ERR_INVALID_ARG Function pointer error.
*/
esp_err_t pcnt_isr_unregister(pcnt_isr_handle_t handle);
/**
* @brief Register PCNT interrupt handler, the handler is an ISR.
* The handler will be attached to the same CPU core that this function is running on.
* Please do not use pcnt_isr_service_install if this function was called.
*
* @param fn Interrupt handler function.
* @param arg Parameter for handler function
* @param intr_alloc_flags Flags used to allocate the interrupt. One or multiple (ORred)
* ESP_INTR_FLAG_* values. See esp_intr_alloc.h for more info.
* @param handle Pointer to return handle. If non-NULL, a handle for the interrupt will
* be returned here. Calling pcnt_isr_unregister to unregister this ISR service if needed,
* but only if the handle is not NULL.
*
* @return
* - ESP_OK Success
* - ESP_ERR_NOT_FOUND Can not find the interrupt that matches the flags.
* - ESP_ERR_INVALID_ARG Function pointer error.
*/
esp_err_t pcnt_isr_register(void (*fn)(void *), void *arg, int intr_alloc_flags, pcnt_isr_handle_t *handle);
/**
* @brief Configure PCNT pulse signal input pin and control input pin
*
* @param unit PCNT unit number
* @param channel PCNT channel number
* @param pulse_io Pulse signal input GPIO
* @param ctrl_io Control signal input GPIO
*
* @note Set the signal input to PCNT_PIN_NOT_USED if unused.
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_STATE pcnt driver has not been initialized
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pcnt_set_pin(pcnt_unit_t unit, pcnt_channel_t channel, int pulse_io, int ctrl_io);
/**
* @brief Enable PCNT input filter
*
* @param unit PCNT unit number
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_STATE pcnt driver has not been initialized
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pcnt_filter_enable(pcnt_unit_t unit);
/**
* @brief Disable PCNT input filter
*
* @param unit PCNT unit number
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_STATE pcnt driver has not been initialized
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pcnt_filter_disable(pcnt_unit_t unit);
/**
* @brief Set PCNT filter value
*
* @param unit PCNT unit number
* @param filter_val PCNT signal filter value, counter in APB_CLK cycles.
* Any pulses lasting shorter than this will be ignored when the filter is enabled.
* @note
* filter_val is a 10-bit value, so the maximum filter_val should be limited to 1023.
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_STATE pcnt driver has not been initialized
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pcnt_set_filter_value(pcnt_unit_t unit, uint16_t filter_val);
/**
* @brief Get PCNT filter value
*
* @param unit PCNT unit number
* @param filter_val Pointer to accept PCNT filter value.
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_STATE pcnt driver has not been initialized
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pcnt_get_filter_value(pcnt_unit_t unit, uint16_t *filter_val);
/**
* @brief Set PCNT counter mode
*
* @param unit PCNT unit number
* @param channel PCNT channel number
* @param pos_mode Counter mode when detecting positive edge
* @param neg_mode Counter mode when detecting negative edge
* @param hctrl_mode Counter mode when control signal is high level
* @param lctrl_mode Counter mode when control signal is low level
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_STATE pcnt driver has not been initialized
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pcnt_set_mode(pcnt_unit_t unit, pcnt_channel_t channel,
pcnt_count_mode_t pos_mode, pcnt_count_mode_t neg_mode,
pcnt_ctrl_mode_t hctrl_mode, pcnt_ctrl_mode_t lctrl_mode);
/**
* @brief Add ISR handler for specified unit.
*
* Call this function after using pcnt_isr_service_install() to
* install the PCNT driver's ISR handler service.
*
* The ISR handlers do not need to be declared with IRAM_ATTR,
* unless you pass the ESP_INTR_FLAG_IRAM flag when allocating the
* ISR in pcnt_isr_service_install().
*
* This ISR handler will be called from an ISR. So there is a stack
* size limit (configurable as "ISR stack size" in menuconfig). This
* limit is smaller compared to a global PCNT interrupt handler due
* to the additional level of indirection.
*
* @param unit PCNT unit number
* @param isr_handler Interrupt handler function.
* @param args Parameter for handler function
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_STATE pcnt driver has not been initialized
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pcnt_isr_handler_add(pcnt_unit_t unit, void(*isr_handler)(void *), void *args);
/**
* @brief Install PCNT ISR service.
* @note We can manage different interrupt service for each unit.
* This function will use the default ISR handle service, Calling pcnt_isr_service_uninstall to
* uninstall the default service if needed. Please do not use pcnt_isr_register if this function was called.
*
* @param intr_alloc_flags Flags used to allocate the interrupt. One or multiple (ORred)
* ESP_INTR_FLAG_* values. See esp_intr_alloc.h for more info.
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_STATE pcnt driver has not been initialized
* - ESP_ERR_NO_MEM No memory to install this service
* - ESP_ERR_INVALID_STATE ISR service already installed
*/
esp_err_t pcnt_isr_service_install(int intr_alloc_flags);
/**
* @brief Uninstall PCNT ISR service, freeing related resources.
*/
void pcnt_isr_service_uninstall(void);
/**
* @brief Delete ISR handler for specified unit.
*
* @param unit PCNT unit number
*
* @return
* - ESP_OK Success
* - ESP_ERR_INVALID_STATE pcnt driver has not been initialized
* - ESP_ERR_INVALID_ARG Parameter error
*/
esp_err_t pcnt_isr_handler_remove(pcnt_unit_t unit);
/**
* @addtogroup pcnt-examples
*
* @{
*
* EXAMPLE OF PCNT CONFIGURATION
* ==============================
* @code{c}
* //1. Config PCNT unit
* pcnt_config_t pcnt_config = {
* .pulse_gpio_num = 4, //set gpio4 as pulse input gpio
* .ctrl_gpio_num = 5, //set gpio5 as control gpio
* .channel = PCNT_CHANNEL_0, //use unit 0 channel 0
* .lctrl_mode = PCNT_MODE_REVERSE, //when control signal is low, reverse the primary counter mode(inc->dec/dec->inc)
* .hctrl_mode = PCNT_MODE_KEEP, //when control signal is high, keep the primary counter mode
* .pos_mode = PCNT_COUNT_INC, //increment the counter
* .neg_mode = PCNT_COUNT_DIS, //keep the counter value
* .counter_h_lim = 10,
* .counter_l_lim = -10,
* };
* pcnt_unit_config(&pcnt_config); //init unit
* @endcode
*
* EXAMPLE OF PCNT EVENT SETTING
* ==============================
* @code{c}
* //2. Configure PCNT watchpoint event.
* pcnt_set_event_value(PCNT_UNIT_0, PCNT_EVT_THRES_1, 5); //set thres1 value
* pcnt_event_enable(PCNT_UNIT_0, PCNT_EVT_THRES_1); //enable thres1 event
* @endcode
*
* For more examples please refer to PCNT example code in IDF_PATH/examples
*
* @}
*/
#ifdef __cplusplus
}
#endif