WIP

ports/esp32/machine_encoder.c

@@ -47,6 +47,9 @@ See also
 https://github.com/espressif/esp-idf/tree/master/examples/peripherals/pcnt/rotary_encoder
 */
 
+// #define DBG(...)
+#define DBG(...) mp_printf(&mp_plat_print, __VA_ARGS__); mp_printf(&mp_plat_print, "\n");
+
 #include "py/mpprint.h"
 #include "py/runtime.h"
 #include "mphalport.h"
@@ -103,13 +106,25 @@ STATIC void IRAM_ATTR pcnt_intr_handler(void *arg) {
                 self->status = 0;
                 if (PCNT.status_unit[id].THRES1_LAT) {
                     if (self->counter == self->counter_match1) {
+                        /*
+                        int16_t count;
+                        pcnt_get_counter_value(self->unit, &count);
+                        self->counter += count;
+                        pcnt_counter_clear(self->unit);
+                        */
                         self->status |= EVT_THRES_1;
                         mp_sched_schedule(self->handler_match1, MP_OBJ_FROM_PTR(self));
                         mp_hal_wake_main_task_from_isr();
                     }
                 }
                 if (PCNT.status_unit[id].THRES0_LAT) {
                     if (self->counter == self->counter_match2) {
+                        /*
+                        int16_t count;
+                        pcnt_get_counter_value(self->unit, &count);
+                        self->counter += count;
+                        pcnt_counter_clear(self->unit);
+                        */
                         self->status |= EVT_THRES_0;
                         mp_sched_schedule(self->handler_match2, MP_OBJ_FROM_PTR(self));
                         mp_hal_wake_main_task_from_isr();
@@ -344,12 +359,20 @@ STATIC mp_obj_t machine_PCNT_irq(size_t n_pos_args, const mp_obj_t *pos_args, mp
     } else {
         if (trigger & EVT_THRES_1) {
             if (args[ARG_value].u_obj != MP_OBJ_NULL) {
+
+                int16_t count;
+                pcnt_get_counter_value(self->unit, &count);
+                self->counter += count;
+                DBG("self->counter=%d, count=%d", self->counter, count);
+                pcnt_counter_clear(self->unit);
+
                 self->match1 = GET_INT(args[ARG_value].u_obj);
                 #ifdef USE_INT64
                 self->counter_match1 = remainder_of_division(self->match1, INT16_ROLL);
                 #else
                 self->counter_match1 = self->match1 % INT16_ROLL;
                 #endif
+                DBG("self->match1=%d, self->counter_match1=%d", self->match1, self->counter_match1);
                 check_esp_err(pcnt_set_event_value(self->unit, EVT_THRES_1, (int16_t)self->counter_match1));
                 self->counter_match1 = self->match1 - self->counter_match1;
             }
@@ -358,12 +381,19 @@ STATIC mp_obj_t machine_PCNT_irq(size_t n_pos_args, const mp_obj_t *pos_args, mp
         }
         if (trigger & EVT_THRES_0) {
             if (args[ARG_value].u_obj != MP_OBJ_NULL) {
+
+                int16_t count;
+                pcnt_get_counter_value(self->unit, &count);
+                self->counter += count;
+                pcnt_counter_clear(self->unit);
+
                 self->match2 = GET_INT(args[ARG_value].u_obj);
                 #ifdef USE_INT64
                 self->counter_match2 = remainder_of_division(self->match2, INT16_ROLL);
                 #else
                 self->counter_match2 = self->match2 % INT16_ROLL;
                 #endif
+                DBG("self->match2=%d, self->counter_match2=%d", self->match2, self->counter_match2);
                 check_esp_err(pcnt_set_event_value(self->unit, EVT_THRES_0, (int16_t)self->counter_match2));
                 self->counter_match2 = self->match2 - self->counter_match2;
             }

ports/esp32/test/test_counter.py

@@ -0,0 +1,110 @@
+if 1:    
+#try:
+    import machine, time, esp
+
+    from stepper import Stepper
+
+
+    pin = 26 # machine.Pin(26)  # 
+    dir_pin = machine.Pin(23, machine.Pin.OUT, value=1)
+
+    counter = machine.Counter(0, pin, direction=dir_pin)
+    match1 = 100
+    match2 = 200
+
+    stepper = Stepper('', pin, dir_pin)
+    print(stepper)
+
+    def irq_handler1(obj):
+        obj_value = obj.value()
+        print()
+        print("1 obj.value()=", obj_value, 'obj.status()=', obj.status())
+        #counter.irq(handler=irq_handler1, trigger=machine.Counter.IRQ_MATCH1, value=obj_value+2500)
+        print("irq_handler1: obj=", obj)
+        print()
+
+    def irq_handler2(obj):
+        obj_value = obj.value()
+        print()
+        print("2 obj.value()=", obj_value, 'obj.status()=', obj.status())
+        #counter.irq(handler=irq_handler2, trigger=machine.Counter.IRQ_MATCH2, value=obj_value+2500)
+        print("irq_handler2: obj=", obj)
+        print()
+
+    def irq_handler0(obj):
+        obj_value = obj.value()
+        print()
+        print("0 obj.value()=", obj_value, 'obj.status()=', obj.status())
+        #counter.irq(handler=irq_handler2, trigger=machine.Counter.IRQ_MATCH2, value=obj_value+2500)
+        print("irq_handler0: obj=", obj)
+        print()
+
+    counter.value(0)
+    counter.irq(handler=irq_handler1, trigger=machine.Counter.IRQ_MATCH1, value=match1)  
+#     counter.irq(handler=irq_handler2, trigger=machine.Counter.IRQ_MATCH2, value=match2)
+#     counter.irq(handler=irq_handler0, trigger=machine.Counter.IRQ_ZERO)
+    counter.value(0)
+    print(counter)
+    print(counter.value())
+
+    stepper.go(250)
+    print(counter.value())
+
+    time.sleep(2)
+    #1/0
+
+    stepper.go(0)
+    print(counter.value())
+
+    time.sleep(2)
+    #1/0
+
+    counter.irq(handler=irq_handler1, trigger=machine.Counter.IRQ_MATCH1, value=-match1)  
+#     counter.irq(handler=irq_handler2, trigger=machine.Counter.IRQ_MATCH2, value=-match2)
+    print(counter)
+    print(counter.value())
+
+    stepper.go(250)
+    print(counter.value())
+    time.sleep(2)
+
+    stepper.go(-250)
+    print(counter.value())
+
+    time.sleep(2)
+    1/0
+
+    stepper.go(0)
+    print(counter.value())
+
+    time.sleep(2)
+    1/0
+
+
+
+    while 1:
+        print("counter.value()=", counter.value(), 'match1=', match1, 'match2=', match2)
+        if (counter.value() >= match2) and (match2 > 0) or (counter.value() <= match2) and (match2 < 0):
+            #match1 += 2000
+            match2 = - match2
+            #counter.pause()
+            counter.irq(handler=irq_handler2, trigger=machine.Counter.IRQ_MATCH2, value=match2)
+            #counter.resume()
+            dir_pin.value(not dir_pin.value())
+            print('set irq2:', dir_pin.value(), counter)
+
+
+#         if counter.value() > match2:
+#             match2 += 5000
+#             counter.irq(handler=irq_handler2, trigger=machine.Counter.IRQ_MATCH2, value=match2)
+#             print('set irq2:', counter)
+
+        time.sleep(1.0)
+
+# except Exception as e:
+#     try:
+#         counter.deinit()
+#         print('counter.deinit()')
+#     except:
+#         pass
+#