#![no_std]
#![no_main]
use core::{
cell::RefCell,
cmp::min,
sync::atomic::{AtomicI32, Ordering},
};
use critical_section::Mutex;
use esp32_hal as esp_hal;
use esp_backtrace as _;
use esp_hal::{
clock::ClockControl,
interrupt,
pcnt::{channel, channel::PcntSource, unit, PCNT},
peripherals::{self, Peripherals},
prelude::*,
IO,
};
use esp_println::println;
static UNIT0: Mutex<RefCell<Option<unit::Unit>>> = Mutex::new(RefCell::new(None));
static VALUE: AtomicI32 = AtomicI32::new(0);
#[entry]
fn main() -> ! {
let peripherals = Peripherals::take();
let system = peripherals.SYSTEM.split();
let _clocks = ClockControl::boot_defaults(system.clock_control).freeze();
let io = IO::new(peripherals.GPIO, peripherals.IO_MUX);
let unit_number = unit::Number::Unit1;
println!("setup pulse counter unit 0");
let pcnt = PCNT::new(peripherals.PCNT);
let mut u0 = pcnt.get_unit(unit_number);
u0.configure(unit::Config {
low_limit: -100,
high_limit: 100,
filter: Some(min(10u16 * 80, 1023u16)),
..Default::default()
})
.unwrap();
println!("setup channel 0");
let mut ch0 = u0.get_channel(channel::Number::Channel0);
let mut pin_a = io.pins.gpio22.into_pull_up_input();
let mut pin_b = io.pins.gpio23.into_pull_up_input();
ch0.configure(
PcntSource::from_pin(&mut pin_a),
PcntSource::from_pin(&mut pin_b),
channel::Config {
lctrl_mode: channel::CtrlMode::Reverse,
hctrl_mode: channel::CtrlMode::Keep,
pos_edge: channel::EdgeMode::Decrement,
neg_edge: channel::EdgeMode::Increment,
invert_ctrl: false,
invert_sig: false,
},
);
println!("setup channel 1");
let mut ch1 = u0.get_channel(channel::Number::Channel1);
ch1.configure(
PcntSource::from_pin(&mut pin_b),
PcntSource::from_pin(&mut pin_a),
channel::Config {
lctrl_mode: channel::CtrlMode::Reverse,
hctrl_mode: channel::CtrlMode::Keep,
pos_edge: channel::EdgeMode::Increment,
neg_edge: channel::EdgeMode::Decrement,
invert_ctrl: false,
invert_sig: false,
},
);
println!("subscribing to events");
u0.events(unit::Events {
low_limit: true,
high_limit: true,
thresh0: false,
thresh1: false,
zero: false,
});
println!("enabling interrupts");
u0.listen();
println!("resume pulse counter unit 0");
u0.resume();
critical_section::with(|cs| UNIT0.borrow_ref_mut(cs).replace(u0));
interrupt::enable(peripherals::Interrupt::PCNT, interrupt::Priority::Priority2).unwrap();
let mut last_value: i32 = 0;
loop {
critical_section::with(|cs| {
let mut u0 = UNIT0.borrow_ref_mut(cs);
let u0 = u0.as_mut().unwrap();
let value: i32 = u0.get_value() as i32 + VALUE.load(Ordering::SeqCst);
if value != last_value {
println!("value: {value}");
last_value = value;
}
});
}
}
#[interrupt]
fn PCNT() {
critical_section::with(|cs| {
let mut u0 = UNIT0.borrow_ref_mut(cs);
let u0 = u0.as_mut().unwrap();
if u0.interrupt_set() {
let events = u0.get_events();
if events.high_limit {
VALUE.fetch_add(100, Ordering::SeqCst);
} else if events.low_limit {
VALUE.fetch_add(-100, Ordering::SeqCst);
}
u0.reset_interrupt();
}
});
}