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mimxrt: Add Quadrature Encoder and Pulse Counter classes. #12347

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mimxrt: Add Quadrature Encoder and Pulse Counter classes. #12347

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This PR adds Quadrature Encoder and Pulse Counter classes based on the Encoder hardware of the mimxrt MCUs. The base methods are as simple as possible, with options to make use of the hardware features supporting fast encoder sensors, like index pulses.

Tested with a slow manual encoder and a simulation of fast encoder/counter signals up to a input frequency of 25 MHz.

The PR is a re-submit of PR #7911, which could not be reopened. The conversation at that PR applies here as well (except for the UART part).

@robert-hh robert-hh force-pushed the mimxrt_qecnt branch 2 times, most recently from 6b55548 to 1365224 Compare August 31, 2023 12:14
@robert-hh robert-hh mentioned this pull request Aug 31, 2023
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Code size report:

   bare-arm:    +0 +0.000% 
minimal x86:    +0 +0.000% 
   unix x64:    +0 +0.000% standard
      stm32:    +0 +0.000% PYBV10
     mimxrt: +5872 +1.618% TEENSY40
        rp2:    +0 +0.000% RPI_PICO
       samd:    +0 +0.000% ADAFRUIT_ITSYBITSY_M4_EXPRESS

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Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 98.39%. Comparing base (c1a6b95) to head (030e4e7).

Additional details and impacted files 
@@           Coverage Diff           @@
##           master   #12347   +/-   ##
=======================================
  Coverage   98.39%   98.39%           
=======================================
  Files         161      161           
  Lines       21204    21204           
=======================================
  Hits        20864    20864           
  Misses        340      340

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This was referenced Feb 29, 2024
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@robert-hh
mimxrt: Implement a Quadrature Encoder and Counter class.
716df00 
These classes are base on the Quadrature Encoder blocks
of the i.MXRT MCUs. The i.MXRT 102x has two encoders, the
other ones four. The i.MXRT 101x does not support this
function. It is implemented as two classes, Encoder and Counter.

The number of pins that can be uses as inputs is limited by
the MCU architecture and the board schematics. The Encoder
class supports:
- Defining the module
- Defining the input pins.
- Defining a pin for an index signal.
- Defining a pin for a Home signal.
- Defining an output pin showing the compare match signal.
- Setting the number of cycles per revolution.
- Setting the initial value for the position.
- Setting the counting direction.
- Setting a glitch filter.
- Setting the value counter as signed or unsigned integers.
- Defining callbacks for getting to a specific position,
  overrun and underrun (starting the next revolution). These
  callbacks can be hard interrupts to ensure short latency.

The encoder counts all phases of a cycle. The span
for the position is 2**32, for the revolution is 2**16. The
highest input frequency is CPU-Clock/24.

The Counter mode counts single pulses on input A of the Encoder.
The configuration support:

- Defining the module
- Defining the input pin.
- Defining the counting direction, either fixed or controlled
  by the level of an input pin.
- Defining a pin for an index signal.
- Defining an ouput pin showing th compare match signal.
- Setting the counter value.
- Setting the glitch filter.
- Returing the value counter as signed or unsigned integer.
- Defining a callback which is called at a certain value.

The counting range is 0 - 2**32-1 and a 16 bit overrun counter.
The highest input frequency is CPU-Clock/12.

Signed-off-by: robert-hh <robert@hammelrath.com>
@robert-hh
mimxrt: Add missing definition for the OLIMEX_RT1010.
a2dd4d0 
Signed-off-by: robert-hh <robert@hammelrath.com>
@robert-hh
mimxrt: Add settings for MIMXRT1015.
039ba98 
The MIMXRT1015 MCU has only one encoder/counter unit.

Signed-off-by: robert-hh <robert@hammelrath.com>
@robert-hh
mimxrt: Add the documentation for the Encoder/Counter class.
83850b3 
This is the MIMXRT specific version, compliant to the
documentation of PR micropython#8072 in the basic methods.

Signed-off-by: robert-hh <robert@hammelrath.com>
@robert-hh
mimxrt: Adapt for PR8813 - Optimise mp_obj_type_t storage.
590de86 
Signed-off-by: robert-hh <robert@hammelrath.com>
@robert-hh
mimxrt: Support Encoder/Counter for the MIMXRT117x family.
4111eb0 
Signed-off-by: robert-hh <robert@hammelrath.com>
@robert-hh
mimxrt: Adapt for the changed pin file creation of PR 12211.
a871d7a 
Signed-off-by: robert-hh <robert@hammelrath.com>
@robert-hh
mimxrt/machine_encoder.c: Replace "STATIC" with "static".
030e4e7 
That's only required for new files.

Signed-off-by: robert-hh <robert@hammelrath.com>
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