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clear PIN_EXTERNAL_FLAG before PCNT channel config #319

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Merged
merged 3 commits into from
May 22, 2025
Merged

clear PIN_EXTERNAL_FLAG before PCNT channel config #319

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33ba62b
clear PIN_EXTERNAL_FLAG before channel config
May 19, 2025
0def267
dir_pin as function parameter
May 21, 2025
5f93f7f
check if default dirPin is known to the stepper
May 22, 2025
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6 changes: 4 additions & 2 deletions src/FastAccelStepper.h
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Original file line number Diff line number Diff line change
Expand Up @@ -795,14 +795,16 @@ class FastAccelStepper {
#if defined(SUPPORT_ESP32_PULSE_COUNTER) && (ESP_IDF_VERSION_MAJOR == 5)
bool attachToPulseCounter(uint8_t unused_pcnt_unit = 0,
int16_t low_value = -16384,
int16_t high_value = 16384);
int16_t high_value = 16384,
uint8_t dir_pin_readback = PIN_UNDEFINED);
int16_t readPulseCounter();
void clearPulseCounter();
inline bool pulseCounterAttached() { return _attached_pulse_unit != NULL; }
#endif
#if defined(SUPPORT_ESP32_PULSE_COUNTER) && (ESP_IDF_VERSION_MAJOR == 4)
bool attachToPulseCounter(uint8_t pcnt_unit, int16_t low_value = -16384,
int16_t high_value = 16384);
int16_t high_value = 16384,
uint8_t dir_pin_readback = PIN_UNDEFINED);
int16_t readPulseCounter();
void clearPulseCounter();
inline bool pulseCounterAttached() { return _attached_pulse_cnt_unit >= 0; }
Expand Down
11 changes: 7 additions & 4 deletions src/FastAccelStepper_idf4_esp32_pcnt.cpp
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Expand Up @@ -20,16 +20,19 @@ uint32_t ctrl_idx[SUPPORT_ESP32_PULSE_COUNTER] = {

bool FastAccelStepper::attachToPulseCounter(uint8_t pcnt_unit,
int16_t low_value,
int16_t high_value) {
int16_t high_value,
uint8_t dir_pin) {
if (pcnt_unit >= SUPPORT_ESP32_PULSE_COUNTER) {
return false;
}

pcnt_config_t cfg;
uint8_t dir_pin = getDirectionPin();
uint8_t step_pin = getStepPin();
cfg.pulse_gpio_num = PCNT_PIN_NOT_USED;
if (dir_pin == PIN_UNDEFINED) {
dir_pin = getDirectionPin();
}
cfg.pulse_gpio_num = PCNT_PIN_NOT_USED;
if (dir_pin == PIN_UNDEFINED || (dir_pin & PIN_EXTERNAL_FLAG) != 0) {
cfg.ctrl_gpio_num = PCNT_PIN_NOT_USED;
cfg.hctrl_mode = PCNT_MODE_KEEP;
cfg.lctrl_mode = PCNT_MODE_KEEP;
Expand Down Expand Up @@ -64,7 +67,7 @@ bool FastAccelStepper::attachToPulseCounter(uint8_t pcnt_unit,
gpio_matrix_in(step_pin, sig_idx[pcnt_unit], 0);
gpio_iomux_in(step_pin,
sig_idx[pcnt_unit]); // test failure without this call
if (dir_pin != PIN_UNDEFINED) {
if (dir_pin != PIN_UNDEFINED && (dir_pin & PIN_EXTERNAL_FLAG) == 0) {
pinMode(dir_pin, OUTPUT);
gpio_matrix_out(dir_pin, 0x100, false, false);
gpio_matrix_in(dir_pin, ctrl_idx[pcnt_unit], 0);
Expand Down
13 changes: 9 additions & 4 deletions src/FastAccelStepper_idf5_esp32_pcnt.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,8 @@ struct pcnt_chan_t {

bool FastAccelStepper::attachToPulseCounter(uint8_t unused_pcnt_unit,
int16_t low_value,
int16_t high_value) {
int16_t high_value,
uint8_t dir_pin) {
pcnt_unit_config_t config = {.low_limit = low_value,
.high_limit = high_value,
.intr_priority = 0,
Expand All @@ -44,8 +45,12 @@ bool FastAccelStepper::attachToPulseCounter(uint8_t unused_pcnt_unit,

pcnt_channel_level_action_t level_high = PCNT_CHANNEL_LEVEL_ACTION_KEEP;
pcnt_channel_level_action_t level_low = PCNT_CHANNEL_LEVEL_ACTION_KEEP;
uint8_t dir_pin = getDirectionPin();
if (dir_pin != PIN_UNDEFINED) {

if (dir_pin == PIN_UNDEFINED) {
dir_pin = getDirectionPin();
}

if (dir_pin != PIN_UNDEFINED && (dir_pin & PIN_EXTERNAL_FLAG) == 0) {
chan_config.level_gpio_num = dir_pin;
if (directionPinHighCountsUp()) {
level_low = PCNT_CHANNEL_LEVEL_ACTION_INVERSE;
Expand Down Expand Up @@ -105,7 +110,7 @@ bool FastAccelStepper::attachToPulseCounter(uint8_t unused_pcnt_unit,
.pulse_sig;
gpio_matrix_in(step_pin, signal, 0);
gpio_iomux_in(step_pin, signal);
if (dir_pin != PIN_UNDEFINED) {
if (dir_pin != PIN_UNDEFINED && (dir_pin & PIN_EXTERNAL_FLAG) == 0) {
pinMode(dir_pin, OUTPUT);
int control = pcnt_periph_signals.groups[0]
.units[unit_id]
Expand Down