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Fix CI

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This commit is contained in:
ivmarkov 2023-11-22 06:14:39 +00:00
parent 82a43d637b
commit 455cf15dc6
1 changed files with 10 additions and 10 deletions
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20
examples/pcnt_i64_encoder.rs → examples/pcnt_rotary_encoder.rs
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@ -3,7 +3,7 @@
//! To try this out, connect a rotary encoder to pins 5 and 6, the common should be grounded
//!
//! Note that PCNT only track a singed 16bit value. We use interrupts to detect a LOW and HIGH
//! threshold and track how much that accounts for and provide an i64 value result
//! threshold and track how much that accounts for and provide an i32 value result
//!
#[cfg(all(not(feature = "riscv-ulp-hal"), any(esp32, esp32s2, esp32s3)))]
@ -24,7 +24,7 @@ fn main() -> anyhow::Result<()> {
println!("setup encoder");
let encoder = Encoder::new(peripherals.pcnt0, &mut pin_a, &mut pin_b)?;
let mut last_value = 0i64;
let mut last_value = 0i32;
loop {
let value = encoder.get_value()?;
if value != last_value {
@ -48,7 +48,7 @@ fn main() {
// esp-idf encoder implementation using v4 pcnt api
mod encoder {
use std::cmp::min;
use std::sync::atomic::AtomicI64;
use std::sync::atomic::AtomicI32;
use std::sync::atomic::Ordering;
use std::sync::Arc;
@ -63,7 +63,7 @@ mod encoder {
pub struct Encoder<'d> {
unit: PcntDriver<'d>,
approx_value: Arc<AtomicI64>,
approx_value: Arc<AtomicI32>,
}
impl<'d> Encoder<'d> {
@ -109,19 +109,19 @@ mod encoder {
unit.set_filter_value(min(10 * 80, 1023))?;
unit.filter_enable()?;
let approx_value = Arc::new(AtomicI64::new(0));
let approx_value = Arc::new(AtomicI32::new(0));
// unsafe interrupt code to catch the upper and lower limits from the encoder
// and track the overflow in `value: Arc<AtomicI64>` - I plan to use this for
// and track the overflow in `value: Arc<AtomicI32>` - I plan to use this for
// a wheeled robot's odomerty
unsafe {
let approx_value = approx_value.clone();
unit.subscribe(move |status| {
let status = PcntEventType::from_repr_truncated(status);
if status.contains(PcntEvent::HighLimit) {
approx_value.fetch_add(HIGH_LIMIT as i64, Ordering::SeqCst);
approx_value.fetch_add(HIGH_LIMIT as i32, Ordering::SeqCst);
}
if status.contains(PcntEvent::LowLimit) {
approx_value.fetch_add(LOW_LIMIT as i64, Ordering::SeqCst);
approx_value.fetch_add(LOW_LIMIT as i32, Ordering::SeqCst);
}
})?;
}
@ -134,9 +134,9 @@ mod encoder {
Ok(Self { unit, approx_value })
}
pub fn get_value(&self) -> Result<i64, EspError> {
pub fn get_value(&self) -> Result<i32, EspError> {
let value =
self.approx_value.load(Ordering::Relaxed) + self.unit.get_counter_value()? as i64;
self.approx_value.load(Ordering::Relaxed) + self.unit.get_counter_value()? as i32;
Ok(value)
}
}