Initial support for PCNT in ESP32-H2 (#551)

* feat: ✨ Enable PCNT peripheral

* feat: ✨ Rename PCNT GPIOs

* feat: ✨ Add pcnt_encoder example

* build: ⬆️ Update esp-pacs revision

* docs: 📝 Update changelog

CHANGELOG.md

@@ -25,6 +25,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Added support for multicore async GPIO (#542)
 - Add initial support for MCPWM in ESP32-H2 (#544)
 - Add some miscellaneous examples for the ESP32-H2 (#548)
+- Add initial support for PCNT in ESP32-H2 (#551)
 
 ### Fixed
 

esp-hal-common/Cargo.toml

@@ -55,7 +55,7 @@ esp32   = { version = "0.23.0", features = ["critical-section"], optional = true
 esp32c2 = { version = "0.11.0", features = ["critical-section"], optional = true }
 esp32c3 = { version = "0.14.0", features = ["critical-section"], optional = true }
 esp32c6 = { version = "0.4.0",  features = ["critical-section"], optional = true }
-esp32h2 = { git = "https://github.com/esp-rs/esp-pacs", rev = "ff70333", package = "esp32h2", features = ["critical-section"], optional = true }
+esp32h2 = { git = "https://github.com/esp-rs/esp-pacs", rev = "4fe0791", package = "esp32h2", features = ["critical-section"], optional = true }
 esp32s2 = { version = "0.14.0", features = ["critical-section"], optional = true }
 esp32s3 = { version = "0.18.0", features = ["critical-section"], optional = true }
 

esp-hal-common/devices/esp32h2.toml

@@ -36,7 +36,7 @@ peripherals = [
     # "otp_debug",
     # "parl_io",
     # "pau",
-    # "pcnt",
+    "pcnt",
     "pcr",
     # "pmu",
     # "rmt",

esp-hal-common/src/soc/esp32h2/gpio.rs

@@ -96,22 +96,22 @@ pub enum InputSignal {
     SIG_FUNC_98         = 98,
     SIG_FUNC_99         = 99,
     SIG_FUNC_100        = 100,
-    PCNT_SIG_CH00       = 101,
-    PCNT_SIG_CH10       = 102,
-    PCNT_CTRL_CH00      = 103,
-    PCNT_CTRL_CH10      = 104,
-    PCNT_SIG_CH01       = 105,
-    PCNT_SIG_CH11       = 106,
-    PCNT_CTRL_CH01      = 107,
-    PCNT_CTRL_CH11      = 108,
-    PCNT_SIG_CH02       = 109,
-    PCNT_SIG_CH12       = 110,
-    PCNT_CTRL_CH02      = 111,
-    PCNT_CTRL_CH12      = 112,
-    PCNT_SIG_CH03       = 113,
-    PCNT_SIG_CH13       = 114,
-    PCNT_CTRL_CH03      = 115,
-    PCNT_CTRL_CH13      = 116,
+    PCNT0_SIG_CH0       = 101,
+    PCNT0_SIG_CH1       = 102,
+    PCNT0_CTRL_CH0      = 103,
+    PCNT0_CTRL_CH1      = 104,
+    PCNT1_SIG_CH0       = 105,
+    PCNT1_SIG_CH1       = 106,
+    PCNT1_CTRL_CH0      = 107,
+    PCNT1_CTRL_CH1      = 108,
+    PCNT2_SIG_CH0       = 109,
+    PCNT2_SIG_CH1       = 110,
+    PCNT2_CTRL_CH0      = 111,
+    PCNT2_CTRL_CH1      = 112,
+    PCNT3_SIG_CH0       = 113,
+    PCNT3_SIG_CH1       = 114,
+    PCNT3_CTRL_CH0      = 115,
+    PCNT3_CTRL_CH1      = 116,
     SPIQ                = 121,
     SPID                = 122,
     SPIHD               = 123,

esp-hal-common/src/soc/esp32h2/peripherals.rs

@@ -38,7 +38,7 @@ crate::peripherals! {
     // OTP_DEBUG => true,
     // PARL_IO => true,
     // PAU => true,
-    // PCNT => true,
+    PCNT => true,
     PCR => true,
     // PMU => true,
     // RMT => true,

esp32h2-hal/examples/pcnt_encoder.rs

@@ -0,0 +1,157 @@
+//! PCNT Encoder Demo
+//!
+//! This example decodes a quadrature encoder
+//!
+//! Since the PCNT units reset to zero when they reach their limits
+//! we enable an interrupt on the upper and lower limits and
+//! track the overflow in an AtomicI32
+
+#![no_std]
+#![no_main]
+use core::{
+    cell::RefCell,
+    cmp::min,
+    sync::atomic::{AtomicI32, Ordering},
+};
+
+use critical_section::Mutex;
+use esp32h2_hal as esp_hal;
+use esp_backtrace as _;
+use esp_hal::{
+    clock::ClockControl,
+    interrupt,
+    pcnt::{channel, channel::PcntSource, unit, PCNT},
+    peripherals::{self, Peripherals},
+    prelude::*,
+    timer::TimerGroup,
+    Rtc,
+    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 mut system = peripherals.PCR.split();
+    let clocks = ClockControl::boot_defaults(system.clock_control).freeze();
+
+    // Disable the watchdog timers. For the ESP32-H2, this includes the Super WDT,
+    // and the TIMG WDTs.
+    let mut rtc = Rtc::new(peripherals.LP_CLKRST);
+    let timer_group0 = TimerGroup::new(
+        peripherals.TIMG0,
+        &clocks,
+        &mut system.peripheral_clock_control,
+    );
+    let mut wdt0 = timer_group0.wdt;
+    let timer_group1 = TimerGroup::new(
+        peripherals.TIMG1,
+        &clocks,
+        &mut system.peripheral_clock_control,
+    );
+    let mut wdt1 = timer_group1.wdt;
+
+    // Disable watchdog timers
+    rtc.swd.disable();
+    rtc.rwdt.disable();
+    wdt0.disable();
+    wdt1.disable();
+
+    let unit_number = unit::Number::Unit1;
+
+    // setup a pulse couter
+    println!("setup pulse counter unit 0");
+    let pcnt = PCNT::new(peripherals.PCNT, &mut system.peripheral_clock_control);
+    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 io = IO::new(peripherals.GPIO, peripherals.IO_MUX);
+    let mut pin_a = io.pins.gpio4.into_pull_up_input();
+    let mut pin_b = io.pins.gpio5.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();
+        }
+    });
+}