Merge pull request #352 from pimoroni/motor-and-encoder

Added support for motors and encoders
pimoroni · May 16, 2022 · cbf1aba · cbf1aba
2 parents aa75a7b + 717ad90
commit cbf1aba
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Showing 141 changed files with 13,056 additions and 36 deletions.
diff --git a/common/pimoroni_common.hpp b/common/pimoroni_common.hpp
@@ -6,6 +6,12 @@
 #define PIMORONI_I2C_DEFAULT_INSTANCE i2c0
 #define PIMORONI_SPI_DEFAULT_INSTANCE spi0
 
+// Macro to return a value clamped between a minimum and maximum
+#ifndef CLAMP
+#define CLAMP(a, mn, mx) ((a)<(mx)?((a)>(mn)?(a):(mn)):(mx))
+#endif
+
+
 namespace pimoroni {
     static const unsigned int PIN_UNUSED = INT_MAX; // Intentionally INT_MAX to avoid overflowing MicroPython's int type
 
@@ -53,6 +59,11 @@ namespace pimoroni {
       ACTIVE_HIGH = 1
     };
 
+    enum Direction {
+      NORMAL_DIR    = 0,
+      REVERSED_DIR  = 1,
+    };
+
     inline uint32_t millis() {
       return to_ms_since_boot(get_absolute_time());
     }
@@ -74,4 +85,36 @@ namespace pimoroni {
       162, 163, 165, 167, 169, 170, 172, 174, 176, 178, 179, 181, 183, 185, 187, 189,
       191, 193, 194, 196, 198, 200, 202, 204, 206, 208, 210, 212, 214, 216, 218, 220,
       222, 224, 227, 229, 231, 233, 235, 237, 239, 241, 244, 246, 248, 250, 252, 255};
+
+  struct pin_pair {
+    union {
+      uint8_t first;
+      uint8_t a;
+      uint8_t positive;
+      uint8_t phase;
+    };
+    union {
+      uint8_t second;
+      uint8_t b;
+      uint8_t negative;
+      uint8_t enable;
+    };
+
+    pin_pair() : first(0), second(0) {}
+    pin_pair(uint8_t first, uint8_t second) : first(first), second(second) {}
+  };
+
+  struct bool_pair {
+    union {
+      bool first;
+      bool a;
+    };
+    union {
+      bool second;
+      bool b;
+    };
+
+    bool_pair() : first(false), second(false) {}
+    bool_pair(bool first, bool second) : first(first), second(second) {}
+  };
 }
diff --git a/drivers/CMakeLists.txt b/drivers/CMakeLists.txt
@@ -21,6 +21,7 @@ add_subdirectory(bme68x)
 add_subdirectory(bmp280)
 add_subdirectory(bme280)
 add_subdirectory(button)
+add_subdirectory(pid)
 add_subdirectory(plasma)
 add_subdirectory(rgbled)
 add_subdirectory(icp10125)
@@ -29,4 +30,6 @@ add_subdirectory(hub75)
 add_subdirectory(uc8151)
 add_subdirectory(pwm)
 add_subdirectory(servo)
+add_subdirectory(encoder)
+add_subdirectory(motor)
 add_subdirectory(vl53l5cx)
diff --git a/drivers/analogmux/analogmux.cpp b/drivers/analogmux/analogmux.cpp
@@ -27,6 +27,10 @@ namespace pimoroni {
       gpio_init(en_pin);
       gpio_set_dir(en_pin, GPIO_OUT);
     }
+
+    if(muxed_pin != PIN_UNUSED) {
+      gpio_set_input_enabled(muxed_pin, true);
+    }
   }
 
   void AnalogMux::select(uint8_t address) {
@@ -77,4 +81,11 @@ namespace pimoroni {
         pull_downs &= ~(1u << address);
     }
   }
+
+  bool AnalogMux::read() {
+    if(muxed_pin != PIN_UNUSED) {
+      return gpio_get(muxed_pin);
+    }
+    return false;
+  }
 }
diff --git a/drivers/analogmux/analogmux.hpp b/drivers/analogmux/analogmux.hpp
@@ -14,6 +14,7 @@ namespace pimoroni {
     void select(uint8_t address);
     void disable();
     void configure_pulls(uint8_t address, bool pullup, bool pulldown);
+    bool read();
 
   private:
     uint addr0_pin;

diff --git a/drivers/encoder/CMakeLists.txt b/drivers/encoder/CMakeLists.txt
@@ -0,0 +1 @@
+include(encoder.cmake)
diff --git a/drivers/encoder/encoder.cmake b/drivers/encoder/encoder.cmake
@@ -0,0 +1,16 @@
+set(DRIVER_NAME encoder)
+add_library(${DRIVER_NAME} INTERFACE)
+
+target_sources(${DRIVER_NAME} INTERFACE
+  ${CMAKE_CURRENT_LIST_DIR}/encoder.cpp
+)
+
+pico_generate_pio_header(${DRIVER_NAME} ${CMAKE_CURRENT_LIST_DIR}/encoder.pio)
+
+target_include_directories(${DRIVER_NAME} INTERFACE ${CMAKE_CURRENT_LIST_DIR})
+
+# Pull in pico libraries that we need
+target_link_libraries(${DRIVER_NAME} INTERFACE
+    pico_stdlib
+    hardware_pio
+    )