PCNT: Runtime ISR binding (#1396)

* PCNT: Runtime ISR binding

* Changelog entry

* fmt + warnings

* Unify `interrupt_handler` + alignment with latest changes

---------

Co-authored-by: Scott Mabin <scott@mabez.dev>

esp-hal/CHANGELOG.md

@@ -57,6 +57,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - ESP32-C6: The `gpio::lp_gpio` module has been renamed to `gpio::lp_io` to match the peripheral name (#1397)
 - Runtime ISR binding for assist_debug (#1395)
 - Runtime ISR binding for software interrupts, software interrupts are split now, interrupt-executor takes the software interrupt to use, interrupt-executor is easier to use (#1398)
+- PCNT: Runtime ISR binding (#1396)
 - Runtime ISR binding for RTC (#1405)
 
 ### Removed

esp-hal/src/pcnt/mod.rs

@@ -34,7 +34,7 @@
 //!
 //! // setup a pulse couter
 //! println!("setup pulse counter unit 0");
-//! let pcnt = PCNT::new(peripherals.PCNT);
+//! let pcnt = PCNT::new(peripherals.PCNT, Some(interrupt_handler));
 //! let mut u0 = pcnt.get_unit(unit_number);
 //! u0.configure(unit::Config {
 //!     low_limit: -100,
@@ -93,8 +93,6 @@
 //!
 //! 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| {
@@ -111,8 +109,8 @@
 //!
 //! Where the `PCNT` interrupt handler is defined as:
 //! ```no_run
-//! #[interrupt]
-//! fn PCNT() {
+//! #[handler(priority = esp_hal::interrupt::Priority::Priority2)]
+//! fn interrupt_handler() {
 //!     critical_section::with(|cs| {
 //!         let mut u0 = UNIT0.borrow_ref_mut(cs);
 //!         let u0 = u0.as_mut().unwrap();
@@ -134,7 +132,9 @@
 
 use self::unit::Unit;
 use crate::{
+    interrupt::{self, InterruptHandler},
     peripheral::{Peripheral, PeripheralRef},
+    peripherals::{self, Interrupt},
     system::PeripheralClockControl,
 };
 
@@ -142,16 +142,26 @@ pub mod channel;
 pub mod unit;
 
 pub struct PCNT<'d> {
-    _instance: PeripheralRef<'d, crate::peripherals::PCNT>,
+    _instance: PeripheralRef<'d, peripherals::PCNT>,
 }
 
 impl<'d> PCNT<'d> {
     /// Return a new PCNT
-    pub fn new(_instance: impl Peripheral<P = crate::peripherals::PCNT> + 'd) -> Self {
+    pub fn new(
+        _instance: impl Peripheral<P = peripherals::PCNT> + 'd,
+        interrupt: Option<InterruptHandler>,
+    ) -> Self {
         crate::into_ref!(_instance);
         // Enable the PCNT peripherals clock in the system peripheral
         PeripheralClockControl::enable(crate::system::Peripheral::Pcnt);
 
+        if let Some(interrupt) = interrupt {
+            unsafe {
+                interrupt::bind_interrupt(Interrupt::PCNT, interrupt.handler());
+                interrupt::enable(Interrupt::PCNT, interrupt.priority()).unwrap();
+            }
+        }
+
         PCNT { _instance }
     }
 

examples/Cargo.toml

@@ -35,6 +35,7 @@ lis3dh-async        = "0.9.2"
 nb                  = "1.1.0"
 p192                = { version = "0.13.0", default-features = false, features = ["arithmetic"] }
 p256                = { version = "0.13.2", default-features = false, features = ["arithmetic"] }
+portable-atomic      = { version = "1.6.0", default-features = false }
 sha2                = { version = "0.10.8", default-features = false}
 smart-leds          = "0.4.0"
 ssd1306             = "0.8.4"

examples/src/bin/pcnt_encoder.rs

@@ -11,22 +11,19 @@
 #![no_std]
 #![no_main]
 
-use core::{
-    cell::RefCell,
-    cmp::min,
-    sync::atomic::{AtomicI32, Ordering},
-};
+use core::{cell::RefCell, cmp::min, sync::atomic::Ordering};
 
 use critical_section::Mutex;
 use esp_backtrace as _;
 use esp_hal::{
     gpio::IO,
-    interrupt::{self, Priority},
+    interrupt::Priority,
     pcnt::{channel, channel::PcntSource, unit, PCNT},
-    peripherals::{Interrupt, Peripherals},
+    peripherals::Peripherals,
     prelude::*,
 };
 use esp_println::println;
+use portable_atomic::AtomicI32;
 
 static UNIT0: Mutex<RefCell<Option<unit::Unit>>> = Mutex::new(RefCell::new(None));
 static VALUE: AtomicI32 = AtomicI32::new(0);
@@ -39,7 +36,7 @@ fn main() -> ! {
 
     // Set up a pulse counter:
     println!("setup pulse counter unit 0");
-    let pcnt = PCNT::new(peripherals.PCNT);
+    let pcnt = PCNT::new(peripherals.PCNT, Some(interrupt_handler));
     let mut u0 = pcnt.get_unit(unit::Number::Unit1);
     u0.configure(unit::Config {
         low_limit: -100,
@@ -97,8 +94,6 @@ fn main() -> ! {
 
     critical_section::with(|cs| UNIT0.borrow_ref_mut(cs).replace(u0));
 
-    interrupt::enable(Interrupt::PCNT, Priority::Priority2).unwrap();
-
     let mut last_value: i32 = 0;
     loop {
         critical_section::with(|cs| {
@@ -113,7 +108,7 @@ fn main() -> ! {
     }
 }
 
-#[cfg(not(feature = "esp32s2"))]
+#[handler(priority = Priority::Priority2)]
 fn interrupt_handler() {
     critical_section::with(|cs| {
         let mut u0 = UNIT0.borrow_ref_mut(cs);
@@ -129,25 +124,3 @@ fn interrupt_handler() {
         }
     });
 }
-
-#[cfg(feature = "esp32s2")]
-fn interrupt_handler() {
-    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.store(VALUE.load(Ordering::SeqCst) + 100, Ordering::SeqCst);
-            } else if events.low_limit {
-                VALUE.store(VALUE.load(Ordering::SeqCst) - 100, Ordering::SeqCst);
-            }
-            u0.reset_interrupt();
-        }
-    });
-}
-
-#[interrupt]
-fn PCNT() {
-    interrupt_handler();
-}