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

* 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.
zmkfirmware · Jun 19, 2023 · 295ed83 · 295ed83
1 parent 2244bd3
commit 295ed83
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Showing 6 changed files with 38 additions and 9 deletions.
diff --git a/app/drivers/sensor/ec11/Kconfig b/app/drivers/sensor/ec11/Kconfig
@@ -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.

diff --git a/app/drivers/sensor/ec11/ec11.c b/app/drivers/sensor/ec11/ec11.c
@@ -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) {
@@ -59,23 +61,41 @@ static int ec11_sample_fetch(const struct device *dev, enum sensor_channel chan)
     drv_data->pulses += delta;
     drv_data->ab_state = val;
 
-    drv_data->ticks = drv_data->pulses / drv_cfg->resolution;
-    drv_data->delta = delta;
-    drv_data->pulses %= drv_cfg->resolution;
+    // 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;
 }
 
 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;
     }
 
-    val->val1 = drv_data->ticks;
-    val->val2 = drv_data->delta;
+    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);

diff --git a/app/drivers/sensor/ec11/ec11.h b/app/drivers/sensor/ec11/ec11.h
@@ -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;
 };
 

diff --git a/app/drivers/zephyr/dts/bindings/sensor/alps,ec11.yaml b/app/drivers/zephyr/dts/bindings/sensor/alps,ec11.yaml
@@ -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
diff --git a/app/include/zmk/events/sensor_event.h b/app/include/zmk/events/sensor_event.h
@@ -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

diff --git a/app/include/zmk/sensors.h b/app/include/zmk/sensors.h
@@ -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)