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robert-hhrobert-hh
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mimxrt: Some refactoring of the Encoder/Counter classes.
- rename the revolution() and overflow() method to cycles() - rename the option cpr to cpc (counts per cycle) and enable the option for the Counter class as well. - Move common init code to a common helper function. - Simplify the object print function. Allowing a modulus counting for a modulus smaller than 2**32. As a result of the changemthe print function is simplfied. Further optimization is possible for common code of the init_helper functions.
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‎ports/mimxrt/machine_qecnt.c

Lines changed: 63 additions & 77 deletions
Original file line numberDiff line numberDiff line change
@@ -158,13 +158,9 @@ __attribute__((section(".ram_functions"))) void ENC4_IRQHandler(void) {
158158

159159
STATIC void mp_machine_qencd_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
160160
machine_qencd_obj_t *self = MP_OBJ_TO_PTR(self_in);
161-
if (self->mode == MODE_ENCODER) {
162-
mp_printf(print, "<Encoder cpr=%lu compare=%lu filter=%luns>\n",
163-
self->cpr, self->compare_pos, self->filter);
164-
} else {
165-
mp_printf(print, "<Counter compare=%lu filter=%luns>\n",
166-
self->compare_pos, self->filter);
167-
}
161+
mp_printf(print, "%s cpr=%lu compare=%lu filter=%luns>\n",
162+
self->mode == MODE_ENCODER ? "<Encoder" : "<Counter",
163+
self->cpr, self->compare_pos, self->filter);
168164
}
169165

170166
// Utililty functions
@@ -293,18 +289,58 @@ STATIC uint32_t calc_filter(uint32_t filter_ns, uint16_t *count, uint16_t *perio
293289

294290
// Micropython API functions
295291
//
292+
STATIC void mp_machine_qencd_init_helper_common(machine_qencd_obj_t *self,
293+
mp_arg_val_t args[], enc_config_t *enc_config) {
294+
295+
enum { ARG_match, ARG_filter, ARG_cpc, ARG_compare, ARG_signed };
296+
297+
if (args[ARG_signed].u_int != 0) {
298+
self->is_signed = true;
299+
}
300+
301+
if (args[ARG_cpc].u_obj != mp_const_none) {
302+
uint32_t cpr = mp_get_ll_int(args[ARG_cpc].u_obj);
303+
self->cpr = cpr;
304+
if (cpr == 0) {
305+
enc_config->enableModuloCountMode = false;
306+
enc_config->positionModulusValue = 0;
307+
enc_config->positionInitialValue = 0;
308+
} else {
309+
enc_config->enableModuloCountMode = true;
310+
enc_config->positionModulusValue = cpr - 1;
311+
}
312+
}
313+
314+
// Check for a Match pin for the compare match signal
315+
mp_obj_t match = args[ARG_match].u_obj;
316+
if (match != MP_ROM_INT(-1)) {
317+
self->match_pin = connect_pin_to_encoder(match, xbar_ouput_table[self->id].enc_match, XBAR_OUT);
318+
}
319+
320+
if (args[ARG_compare].u_obj != mp_const_none) {
321+
uint32_t compare = mp_get_ll_int(args[ARG_compare].u_obj);
322+
self->compare_pos = compare;
323+
enc_config->positionCompareValue = compare;
324+
}
325+
326+
if (args[ARG_filter].u_int >= 0) {
327+
self->filter = calc_filter(args[ARG_filter].u_int,
328+
&(enc_config->filterCount), &(enc_config->filterSamplePeriod));
329+
}
330+
}
331+
296332
STATIC void mp_machine_qencd_init_helper(machine_qencd_obj_t *self,
297333
size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
298-
enum { ARG_index, ARG_home, ARG_match, ARG_filter, ARG_reverse, ARG_cpr, ARG_compare, ARG_signed};
334+
enum { ARG_match, ARG_filter, ARG_cpc, ARG_compare, ARG_signed, ARG_index, ARG_home, ARG_reverse };
299335
static const mp_arg_t allowed_args[] = {
300-
{ MP_QSTR_index, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_INT(-1)} },
301-
{ MP_QSTR_home, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_INT(-1)} },
302336
{ MP_QSTR_match, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_INT(-1)} },
303337
{ MP_QSTR_filter, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} },
304-
{ MP_QSTR_reverse, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },
305-
{ MP_QSTR_cpr, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = mp_const_none} },
338+
{ MP_QSTR_cpc, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = mp_const_none} },
306339
{ MP_QSTR_compare, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = mp_const_none} },
307340
{ MP_QSTR_signed, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },
341+
{ MP_QSTR_index, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_INT(-1)} },
342+
{ MP_QSTR_home, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_INT(-1)} },
343+
{ MP_QSTR_reverse, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },
308344
};
309345
enc_config_t enc_config;
310346

@@ -314,31 +350,17 @@ STATIC void mp_machine_qencd_init_helper(machine_qencd_obj_t *self,
314350

315351
ENC_GetDefaultConfig(&enc_config);
316352

353+
// Set the first common options
354+
mp_machine_qencd_init_helper_common(self, args, &enc_config);
355+
317356
// Allow the trigger pulse to clear the registers
318357
enc_config.enableTRIGGERClearPositionCounter = true;
319358

320-
// Process the keyword arguments
359+
// Process the remaining keyword arguments
321360
if (args[ARG_reverse].u_int != 0) {
322361
enc_config.enableReverseDirection = true;
323362
}
324363

325-
if (args[ARG_signed].u_int != 0) {
326-
self->is_signed = true;
327-
}
328-
329-
if (args[ARG_cpr].u_obj != mp_const_none) {
330-
uint32_t cpr = mp_get_ll_int(args[ARG_cpr].u_obj);
331-
self->cpr = cpr;
332-
if (cpr == 0) {
333-
enc_config.enableModuloCountMode = false;
334-
enc_config.positionModulusValue = 0;
335-
enc_config.positionInitialValue = 0;
336-
} else {
337-
enc_config.enableModuloCountMode = true;
338-
enc_config.positionModulusValue = cpr - 1;
339-
}
340-
}
341-
342364
// Count revolutions on RollOverModulus or index pulse
343365
enc_config.revolutionCountCondition = kENC_RevolutionCountOnRollOverModulus;
344366
mp_obj_t index = args[ARG_index].u_obj;
@@ -356,23 +378,6 @@ STATIC void mp_machine_qencd_init_helper(machine_qencd_obj_t *self,
356378
enc_config.HOMETriggerMode = kENC_HOMETriggerOnRisingEdge;
357379
}
358380

359-
// Check for a Match pin for the compare match signal
360-
mp_obj_t match = args[ARG_match].u_obj;
361-
if (match != MP_ROM_INT(-1)) {
362-
self->match_pin = connect_pin_to_encoder(match, xbar_ouput_table[self->id].enc_match, XBAR_OUT);
363-
}
364-
365-
if (args[ARG_compare].u_obj != mp_const_none) {
366-
uint32_t compare = mp_get_ll_int(args[ARG_compare].u_obj);
367-
self->compare_pos = compare;
368-
enc_config.positionCompareValue = compare;
369-
}
370-
371-
if (args[ARG_filter].u_int >= 0) {
372-
self->filter = calc_filter(args[ARG_filter].u_int,
373-
&enc_config.filterCount, &enc_config.filterSamplePeriod);
374-
}
375-
376381
// Initialize the ENC module.
377382
ENC_Init(self->instance, &enc_config);
378383
clear_encoder_registers(self);
@@ -480,8 +485,8 @@ STATIC mp_obj_t machine_qencd_value(size_t n_args, const mp_obj_t *args) {
480485
}
481486
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(machine_qencd_value_obj, 1, 2, machine_qencd_value);
482487

483-
// qencd.revolution([value])
484-
STATIC mp_obj_t machine_qencd_revolution(size_t n_args, const mp_obj_t *args) {
488+
// qencd.cycles([value])
489+
STATIC mp_obj_t machine_qencd_cycles(size_t n_args, const mp_obj_t *args) {
485490
machine_qencd_obj_t *self = MP_OBJ_TO_PTR(args[0]);
486491
if (n_args == 1) {
487492
// Get the revolution counter as unsigned int.
@@ -492,7 +497,7 @@ STATIC mp_obj_t machine_qencd_revolution(size_t n_args, const mp_obj_t *args) {
492497
return mp_const_none;
493498
}
494499
}
495-
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(machine_qencd_revolution_obj, 1, 2, machine_qencd_revolution);
500+
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(machine_qencd_cycles_obj, 1, 2, machine_qencd_cycles);
496501

497502
// qencd.compare([value])
498503
STATIC mp_obj_t machine_qencd_compare(size_t n_args, const mp_obj_t *args) {
@@ -561,7 +566,7 @@ STATIC const mp_rom_map_elem_t machine_qencd_locals_dict_table[] = {
561566
{ MP_ROM_QSTR(MP_QSTR_init), MP_ROM_PTR(&machine_qencd_init_obj) },
562567
{ MP_ROM_QSTR(MP_QSTR_irq), MP_ROM_PTR(&machine_qencd_irq_obj) },
563568
{ MP_ROM_QSTR(MP_QSTR_value), MP_ROM_PTR(&machine_qencd_value_obj) },
564-
{ MP_ROM_QSTR(MP_QSTR_revolution), MP_ROM_PTR(&machine_qencd_revolution_obj) },
569+
{ MP_ROM_QSTR(MP_QSTR_cycles), MP_ROM_PTR(&machine_qencd_cycles_obj) },
565570
{ MP_ROM_QSTR(MP_QSTR_status), MP_ROM_PTR(&machine_qencd_status_obj) },
566571

567572
{ MP_ROM_QSTR(MP_QSTR_COMPARE), MP_ROM_INT(ENCODER_TRIGGER_COMPARE) },
@@ -583,13 +588,14 @@ const mp_obj_type_t machine_qencd_type = {
583588

584589
STATIC void mp_machine_counter_init_helper(machine_qencd_obj_t *self,
585590
size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
586-
enum { ARG_direction, ARG_match, ARG_filter, ARG_compare, ARG_signed};
591+
enum {ARG_match, ARG_filter, ARG_cpc, ARG_compare, ARG_signed, ARG_direction };
587592
static const mp_arg_t allowed_args[] = {
588-
{ MP_QSTR_direction, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_INT(-1)} },
589593
{ MP_QSTR_match, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_INT(-1)} },
590594
{ MP_QSTR_filter, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} },
595+
{ MP_QSTR_cpc, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = mp_const_none} },
591596
{ MP_QSTR_compare, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = mp_const_none} },
592597
{ MP_QSTR_signed, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = false} },
598+
{ MP_QSTR_direction, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_INT(-1)} },
593599
};
594600
enc_config_t enc_config;
595601

@@ -604,7 +610,9 @@ STATIC void mp_machine_counter_init_helper(machine_qencd_obj_t *self,
604610
enc_config.revolutionCountCondition = kENC_RevolutionCountOnRollOverModulus;
605611
enc_config.enableTRIGGERClearPositionCounter = true;
606612

607-
// Process the keyword arguments
613+
// Set the first common options
614+
mp_machine_qencd_init_helper_common(self, args, &enc_config);
615+
608616
mp_obj_t direction = args[ARG_direction].u_obj;
609617
if (direction != MP_ROM_INT(-1)) {
610618
if (direction == MP_ROM_INT(COUNTER_UP)) {
@@ -616,28 +624,6 @@ STATIC void mp_machine_counter_init_helper(machine_qencd_obj_t *self,
616624
}
617625
}
618626

619-
// Check for a Match pin for the compare match signal
620-
mp_obj_t match = args[ARG_match].u_obj;
621-
if (match != MP_ROM_INT(-1)) {
622-
self->match_pin = connect_pin_to_encoder(match, xbar_ouput_table[self->id].enc_match, XBAR_OUT);
623-
}
624-
625-
if (args[ARG_compare].u_obj != mp_const_none) {
626-
uint64_t compare = mp_get_ll_int(args[ARG_compare].u_obj);
627-
self->compare_pos = compare & 0xffffffff;
628-
self->compare_rev = (uint16_t)(compare >> 32U) & 0xffff;
629-
enc_config.positionCompareValue = self->compare_pos;
630-
}
631-
632-
if (args[ARG_filter].u_int >= 0) {
633-
self->filter = calc_filter(args[ARG_filter].u_int,
634-
&enc_config.filterCount, &enc_config.filterSamplePeriod);
635-
}
636-
637-
if (args[ARG_signed].u_int != 0) {
638-
self->is_signed = true;
639-
}
640-
641627
// Initialize the ENC module.
642628
ENC_Init(self->instance, &enc_config);
643629
clear_encoder_registers(self);
@@ -695,7 +681,7 @@ STATIC const mp_rom_map_elem_t machine_counter_locals_dict_table[] = {
695681
{ MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&machine_qencd_deinit_obj) },
696682
{ MP_ROM_QSTR(MP_QSTR_compare), MP_ROM_PTR(&machine_qencd_compare_obj) },
697683
{ MP_ROM_QSTR(MP_QSTR_value), MP_ROM_PTR(&machine_qencd_value_obj) },
698-
{ MP_ROM_QSTR(MP_QSTR_overflow), MP_ROM_PTR(&machine_qencd_revolution_obj) },
684+
{ MP_ROM_QSTR(MP_QSTR_cycles), MP_ROM_PTR(&machine_qencd_cycles_obj) },
699685
{ MP_ROM_QSTR(MP_QSTR_init), MP_ROM_PTR(&machine_counter_init_obj) },
700686
{ MP_ROM_QSTR(MP_QSTR_irq), MP_ROM_PTR(&machine_qencd_irq_obj) },
701687
{ MP_ROM_QSTR(MP_QSTR_status), MP_ROM_PTR(&machine_qencd_status_obj) },

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