primitives/encoder uses interrupts.

peterhinch · peterhinch · commit 3661ee977bd0 · 2021-07-01T18:53:03.000+01:00
diff --git a/v3/docs/DRIVERS.md b/v3/docs/DRIVERS.md
@@ -340,29 +340,28 @@ this for applications requiring rapid response.
 
 # 6. Quadrature encoders
 
+This is a work in progress. Changes may occur.
+
 The `Encoder` class is an asynchronous driver for control knobs based on
 quadrature encoder switches such as
-[this Adafruit product](https://www.adafruit.com/product/377). This is not
-intended for high throughput encoders such as those used in CNC machines where
-[an interrupt based solution](https://github.com/peterhinch/micropython-samples#47-rotary-incremental-encoder)
-is required. This is because the driver works by polling the switches. The
-latency between successive readings of the switch state will depend on the
-behaviour of other tasks in the application, but if changes occur rapidly it is
-likely that transitions will be missed.
+[this Adafruit product](https://www.adafruit.com/product/377). The driver is
+not intended for applications such as CNC machines where
+[a solution such as this one](https://github.com/peterhinch/micropython-samples#47-rotary-incremental-encoder)
+is required. Drivers for NC machines must never miss an edge. Contact bounce or
+vibration induced jitter can cause transitions to occur at a high rate; these
+must be tracked.
 
-In the context of a rotary dial this is usually not a problem, firstly because
-changes occur at a relatively low rate and secondly because there is usually
-some form of feedback to the user. A single missed increment on a CNC machine
-is a fail. In a user interface it usually is not.
+This driver runs the user supplied callback in an `asyncio` context, so it runs
+only when other tasks have yielded to the scheduler. This ensures that the
+callback can run safely. The driver allows limits to be assigned to the control
+so that a dial running from (say) 0 to 100 may be implemented. If limits are
+used, encoder values no longer represent absolute angles.
 
-The API uses a callback which occurs whenever the value changes. Alternatively
-the `Encoder` may be queried to retrieve the current position.
+The callback only runs if a change in position has occurred.
 
-A high throughput solution can be used with rotary dials but there is a
-difference in the way contact bounce (or vibration induced jitter) are handled.
-The high throughput solution results in +-1 count jitter with the callback
-repeatedly occurring. This driver uses hysteresis to ensure that transitions
-due to contact bounce are ignored. 
+A consequence of the callback running in an `asyncio` context is that, by the
+time it runs, the encoder's position may have changed by more than one
+increment. 
 
 ## 6.1 Encoder class
 
@@ -375,14 +374,17 @@ Constructor arguments:
  Optionally maximum and/or minimum limits can be set.
  5. `vmax=None`
  6. `callback=lambda *_ : None` Optional callback function. The callback
- receives two args, `v` being the encoder's current value and `fwd` being
- `True` if the value has incremented of `False` if it decremented. Further args
- may be appended by the following.
+ receives two args, `v` being the encoder's current value and `delta` being
+ the signed difference between the current value and the previous one. Further
+ args may be appended by the following.
  7. `args=()` An optional tuple of args for the callback.
 
 Synchronous method:  
  * `value` No args. Returns an integer being the `Encoder` current value.
 
+Class variable:  
+ * `LATENCY=50` This sets a minumum period (in ms) between callback runs.
+
 ###### [Contents](./DRIVERS.md#1-contents)
 
 # 7. Additional functions
diff --git a/v3/primitives/encoder.py b/v3/primitives/encoder.py
@@ -7,43 +7,52 @@
 # suitable for NC machine applications. Please see the docs.
 
 import uasyncio as asyncio
+from machine import Pin
 
 class Encoder:
+    LATENCY = 50
+
     def __init__(self, pin_x, pin_y, v=0, vmin=None, vmax=None,
                  callback=lambda a, b : None, args=()):
+        self._pin_x = pin_x
+        self._pin_y = pin_y
         self._v = v
-        asyncio.create_task(self._run(pin_x, pin_y, vmin, vmax,
-                                      callback, args))
+        self._tsf = asyncio.ThreadSafeFlag()
+        try:
+            xirq = pin_x.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self._x_cb, hard=True)
+            yirq = pin_y.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self._y_cb, hard=True)
+        except TypeError:
+            xirq = pin_x.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self._x_cb)
+            yirq = pin_y.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self._y_cb)
+        asyncio.create_task(self._run(vmin, vmax, callback, args))
+
+
+    # Hardware IRQ's
+    def _x_cb(self, pin):
+        fwd = pin() ^ self._pin_y()
+        self._v += 1 if fwd else -1
+        self._tsf.set()
 
-    def _run(self, pin_x, pin_y, vmin, vmax, callback, args):
-        xp = pin_x()  # Prior levels
-        yp = pin_y()
-        pf = None  # Prior direction
+    def _y_cb(self, pin):
+        fwd = pin() ^ self._pin_x() ^ 1
+        self._v += 1 if fwd else -1
+        self._tsf.set()
+
+    async def _run(self, vmin, vmax, cb, args):
+        pv = self._v  # Prior value
         while True:
-            await asyncio.sleep_ms(0)
-            x = pin_x()  # Current levels
-            y = pin_y()
-            if xp == x:
-                if yp == y:
-                    continue  # No change, nothing to do
-                fwd = x ^ y ^ 1  # y changed
-            else:
-                fwd = x ^ y  # x changed
-            pv = self._v  # Cache prior value
-            nv = pv + (1 if fwd else -1)  # New value
-            if vmin is not None:
-                nv = max(vmin, nv)
+            await self._tsf.wait()
+            cv = self._v  # Current value
             if vmax is not None:
-                nv = min(vmax, nv)
-            if nv != pv:  # Change
-                rev = (pf is not None) and (pf != fwd)
-                if not rev:
-                    callback(nv, fwd, *args)
-                    self._v = nv
-
-            pf = fwd  # Update prior state
-            xp = x
-            yp = y
+                cv = min(cv, vmax)
+            if vmin is not None:
+                cv = max(cv, vmin)
+            self._v = cv
+            #print(cv, pv)
+            if cv != pv:
+                cb(cv, cv - pv, *args)  # User CB in uasyncio context
+                pv = cv
+            await asyncio.sleep_ms(self.LATENCY)
 
     def value(self):
         return self._v
diff --git a/v3/primitives/tests/encoder_test.py b/v3/primitives/tests/encoder_test.py
@@ -11,8 +11,8 @@
 px = Pin(33, Pin.IN)
 py = Pin(25, Pin.IN)
 
-def cb(pos, fwd):
-    print(pos, fwd)
+def cb(pos, delta):
+    print(pos, delta)
 
 async def main():
     while True:
