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refactor(sensors): ec11 rotation sensor value in degrees.

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* Add new `steps` property to the `aips,ec11` binding, to make
  the driver properly report degrees in the rotation delta channel.
* Handle old sensor values in sensor rotate behavior.
This commit is contained in:
Peter Johanson 2021-12-02 15:07:29 +00:00 • committed by Pete Johanson
parent 2244bd3d81
commit 295ed83409
6 changed files with 38 additions and 9 deletions
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2
app/drivers/sensor/ec11/Kconfig
View file

@ -3,6 +3,8 @@
menuconfig EC11
bool "EC11 Incremental Encoder Sensor"
default y
depends on DT_HAS_ALPS_EC11_ENABLED
depends on GPIO
help
Enable driver for EC11 incremental encoder sensors.

23
app/drivers/sensor/ec11/ec11.c
View file

@ -16,6 +16,8 @@
#include "ec11.h"
#define FULL_ROTATION 360
LOG_MODULE_REGISTER(EC11, CONFIG_SENSOR_LOG_LEVEL);
static int ec11_get_ab_state(const struct device *dev) {
@ -59,9 +61,14 @@ static int ec11_sample_fetch(const struct device *dev, enum sensor_channel chan)
drv_data->pulses += delta;
drv_data->ab_state = val;
// TODO: Temporary code for backwards compatibility to support
// the sensor channel rotation reporting *ticks* instead of delta of degrees.
// REMOVE ME
if (drv_cfg->steps == 0) {
drv_data->ticks = drv_data->pulses / drv_cfg->resolution;
drv_data->delta = delta;
drv_data->pulses %= drv_cfg->resolution;
}
return 0;
}
@ -69,13 +76,26 @@ static int ec11_sample_fetch(const struct device *dev, enum sensor_channel chan)
static int ec11_channel_get(const struct device *dev, enum sensor_channel chan,
struct sensor_value *val) {
struct ec11_data *drv_data = dev->data;
const struct ec11_config *drv_cfg = dev->config;
int32_t pulses = drv_data->pulses;
if (chan != SENSOR_CHAN_ROTATION) {
return -ENOTSUP;
}
drv_data->pulses = 0;
if (drv_cfg->steps > 0) {
val->val1 = (pulses * FULL_ROTATION) / drv_cfg->steps;
val->val2 = (pulses * FULL_ROTATION) % drv_cfg->steps;
if (val->val2 != 0) {
val->val2 *= 1000000;
val->val2 /= drv_cfg->steps;
}
} else {
val->val1 = drv_data->ticks;
val->val2 = drv_data->delta;
}
return 0;
}
@ -132,7 +152,8 @@ int ec11_init(const struct device *dev) {
const struct ec11_config ec11_cfg_##n = { \
.a = GPIO_DT_SPEC_INST_GET(n, a_gpios), \
.b = GPIO_DT_SPEC_INST_GET(n, b_gpios), \
COND_CODE_0(DT_INST_NODE_HAS_PROP(n, resolution), (1), (DT_INST_PROP(n, resolution))), \
.resolution = DT_INST_PROP_OR(n, resolution, 1), \
.steps = DT_INST_PROP_OR(n, steps, 0), \
}; \
DEVICE_DT_INST_DEFINE(n, ec11_init, NULL, &ec11_data_##n, &ec11_cfg_##n, POST_KERNEL, \
CONFIG_SENSOR_INIT_PRIORITY, &ec11_driver_api);

1
app/drivers/sensor/ec11/ec11.h
View file

@ -14,6 +14,7 @@ struct ec11_config {
const struct gpio_dt_spec a;
const struct gpio_dt_spec b;
const uint16_t steps;
const uint8_t resolution;
};

5
app/drivers/zephyr/dts/bindings/sensor/alps,ec11.yaml
View file

@ -18,4 +18,9 @@ properties:
resolution:
type: int
description: Number of pulses per tick
deprecated: true
required: false
steps:
type: int
description: Number of pulses in one full rotation
required: false

4
app/include/zmk/events/sensor_event.h
View file

@ -6,11 +6,11 @@
#pragma once
#include <zephyr/device.h>
#include <zephyr/drivers/sensor.h>
#include <zmk/event_manager.h>
#include <zmk/sensors.h>
#include <device.h>
// TODO: Move to Kconfig when we need more than one channel
#define ZMK_SENSOR_EVENT_MAX_CHANNELS 1

2
app/include/zmk/sensors.h
View file

@ -6,7 +6,7 @@
#pragma once
#include <drivers/sensor.h>
#include <zephyr/drivers/sensor.h>
#define _SENSOR_CHILD_LEN(node) 1 +
#define ZMK_KEYMAP_SENSORS_NODE DT_INST(0, zmk_keymap_sensors)