From 295ed83409ab0bede761eb2e51f4e4670e4dbf08 Mon Sep 17 00:00:00 2001 From: Peter Johanson Date: Thu, 2 Dec 2021 15:07:29 +0000 Subject: [PATCH] refactor(sensors): ec11 rotation sensor value in degrees. * Add new `steps` property to the `aips,ec11` binding, to make the driver properly report degrees in the rotation delta channel. * Handle old sensor values in sensor rotate behavior. --- app/drivers/sensor/ec11/Kconfig | 2 ++ app/drivers/sensor/ec11/ec11.c | 33 +++++++++++++++---- app/drivers/sensor/ec11/ec11.h | 1 + .../zephyr/dts/bindings/sensor/alps,ec11.yaml | 5 +++ app/include/zmk/events/sensor_event.h | 4 +-- app/include/zmk/sensors.h | 2 +- 6 files changed, 38 insertions(+), 9 deletions(-) diff --git a/app/drivers/sensor/ec11/Kconfig b/app/drivers/sensor/ec11/Kconfig index e86d092a127..5da327280a8 100644 --- a/app/drivers/sensor/ec11/Kconfig +++ b/app/drivers/sensor/ec11/Kconfig @@ -3,6 +3,8 @@ menuconfig EC11 bool "EC11 Incremental Encoder Sensor" + default y + depends on DT_HAS_ALPS_EC11_ENABLED depends on GPIO help Enable driver for EC11 incremental encoder sensors. diff --git a/app/drivers/sensor/ec11/ec11.c b/app/drivers/sensor/ec11/ec11.c index 7091f73e739..ee8b41e74c8 100644 --- a/app/drivers/sensor/ec11/ec11.c +++ b/app/drivers/sensor/ec11/ec11.c @@ -16,6 +16,8 @@ #include "ec11.h" +#define FULL_ROTATION 360 + LOG_MODULE_REGISTER(EC11, CONFIG_SENSOR_LOG_LEVEL); static int ec11_get_ab_state(const struct device *dev) { @@ -59,9 +61,14 @@ static int ec11_sample_fetch(const struct device *dev, enum sensor_channel chan) drv_data->pulses += delta; drv_data->ab_state = val; - drv_data->ticks = drv_data->pulses / drv_cfg->resolution; - drv_data->delta = delta; - drv_data->pulses %= drv_cfg->resolution; + // TODO: Temporary code for backwards compatibility to support + // the sensor channel rotation reporting *ticks* instead of delta of degrees. + // REMOVE ME + if (drv_cfg->steps == 0) { + drv_data->ticks = drv_data->pulses / drv_cfg->resolution; + drv_data->delta = delta; + drv_data->pulses %= drv_cfg->resolution; + } return 0; } @@ -69,13 +76,26 @@ static int ec11_sample_fetch(const struct device *dev, enum sensor_channel chan) static int ec11_channel_get(const struct device *dev, enum sensor_channel chan, struct sensor_value *val) { struct ec11_data *drv_data = dev->data; + const struct ec11_config *drv_cfg = dev->config; + int32_t pulses = drv_data->pulses; if (chan != SENSOR_CHAN_ROTATION) { return -ENOTSUP; } - val->val1 = drv_data->ticks; - val->val2 = drv_data->delta; + drv_data->pulses = 0; + + if (drv_cfg->steps > 0) { + val->val1 = (pulses * FULL_ROTATION) / drv_cfg->steps; + val->val2 = (pulses * FULL_ROTATION) % drv_cfg->steps; + if (val->val2 != 0) { + val->val2 *= 1000000; + val->val2 /= drv_cfg->steps; + } + } else { + val->val1 = drv_data->ticks; + val->val2 = drv_data->delta; + } return 0; } @@ -132,7 +152,8 @@ int ec11_init(const struct device *dev) { const struct ec11_config ec11_cfg_##n = { \ .a = GPIO_DT_SPEC_INST_GET(n, a_gpios), \ .b = GPIO_DT_SPEC_INST_GET(n, b_gpios), \ - COND_CODE_0(DT_INST_NODE_HAS_PROP(n, resolution), (1), (DT_INST_PROP(n, resolution))), \ + .resolution = DT_INST_PROP_OR(n, resolution, 1), \ + .steps = DT_INST_PROP_OR(n, steps, 0), \ }; \ DEVICE_DT_INST_DEFINE(n, ec11_init, NULL, &ec11_data_##n, &ec11_cfg_##n, POST_KERNEL, \ CONFIG_SENSOR_INIT_PRIORITY, &ec11_driver_api); diff --git a/app/drivers/sensor/ec11/ec11.h b/app/drivers/sensor/ec11/ec11.h index 82c21572329..4e2e5d2641c 100644 --- a/app/drivers/sensor/ec11/ec11.h +++ b/app/drivers/sensor/ec11/ec11.h @@ -14,6 +14,7 @@ struct ec11_config { const struct gpio_dt_spec a; const struct gpio_dt_spec b; + const uint16_t steps; const uint8_t resolution; }; diff --git a/app/drivers/zephyr/dts/bindings/sensor/alps,ec11.yaml b/app/drivers/zephyr/dts/bindings/sensor/alps,ec11.yaml index 5cbe77a2ad0..3672ea30579 100644 --- a/app/drivers/zephyr/dts/bindings/sensor/alps,ec11.yaml +++ b/app/drivers/zephyr/dts/bindings/sensor/alps,ec11.yaml @@ -18,4 +18,9 @@ properties: resolution: type: int description: Number of pulses per tick + deprecated: true + required: false + steps: + type: int + description: Number of pulses in one full rotation required: false diff --git a/app/include/zmk/events/sensor_event.h b/app/include/zmk/events/sensor_event.h index 5a5aa3ac711..c5157447dd4 100644 --- a/app/include/zmk/events/sensor_event.h +++ b/app/include/zmk/events/sensor_event.h @@ -6,11 +6,11 @@ #pragma once - +#include #include + #include #include -#include // TODO: Move to Kconfig when we need more than one channel #define ZMK_SENSOR_EVENT_MAX_CHANNELS 1 diff --git a/app/include/zmk/sensors.h b/app/include/zmk/sensors.h index 41061127981..06fbc63e564 100644 --- a/app/include/zmk/sensors.h +++ b/app/include/zmk/sensors.h @@ -6,7 +6,7 @@ #pragma once -#include +#include #define _SENSOR_CHILD_LEN(node) 1 + #define ZMK_KEYMAP_SENSORS_NODE DT_INST(0, zmk_keymap_sensors)