When I try to build the teeny 4.1 encoder>speedTest.ino example I get the following error:
error: cannot convert 'volatile uint32_t {aka volatile long unsigned int}' to 'volatile unsigned char*' in initialization #define portOutputRegister(pin) ((digital_pin_to_info_PGM[(pin)].reg + 0))**
More detail on the error below.
Hardware & Software Board Teensy 4.1
Arduino IDE version 1.8.19
Teensyduino Version 1.56 for windows 7 and up (downloaded from teensyduino website today 3/22/2022)
The board is a Teensy 4.1
My operating system is Windows 10 pro
Arduino Sketch
Using the included encoder>speedtest.ino latest version, downloaded from https://github.com/PaulStoffregen/Encoder. The same error occurs with the version included with Teensyduino 1.56.
/* Encoder Library - SpeedTest - for measuring maximum Encoder speed
* http://www.pjrc.com/teensy/td_libs_Encoder.html
*
* This example code is in the public domain.
*/
// This SpeedTest example provides a simple way to verify how much
// CPU time Encoder is consuming. Connect a DC voltmeter to the
// output pin and measure the voltage while the encoder is stopped
// or running at a very slow speed. Even though the pin is rapidly
// pulsing, a DC voltmeter will show the average voltage. Due to
// software timing, it will read a number much less than a steady
// logic high, but this number will give you a baseline reading
// for output with minimal interrupt overhead. Then increase the
// encoder speed. The voltage will decrease as the processor spends
// more time in Encoder's interrupt routines counting the pulses
// and less time pulsing the output pin. When the voltage is
// close to zero and will not decrease any farther, you have reached
// the absolute speed limit. Or, if using a mechanical system where
// you reach a speed limit imposed by your motors or other hardware,
// the amount this voltage has decreased, compared to the baseline,
// should give you a good approximation of the portion of available
// CPU time Encoder is consuming at your maximum speed.
// Encoder requires low latency interrupt response. Available CPU
// time does NOT necessarily prove or guarantee correct performance.
// If another library, like NewSoftSerial, is disabling interrupts
// for lengthy periods of time, Encoder can be prevented from
// properly counting the intput signals while interrupt are disabled.
// This optional setting causes Encoder to use more optimized code,
// but the downside is a conflict if any other part of your sketch
// or any other library you're using requires attachInterrupt().
// It must be defined before Encoder.h is included.
//#define ENCODER_OPTIMIZE_INTERRUPTS
#include <Encoder.h>
#include "pins_arduino.h"
// Change these two numbers to the pins connected to your encoder
// or shift register circuit which emulates a quadrature encoder
// case 1: both pins are interrupts
// case 2: only first pin used as interrupt
Encoder myEnc(5, 6);
// Connect a DC voltmeter to this pin.
const int outputPin = 12;
/* This simple circuit, using a Dual Flip-Flop chip, can emulate
quadrature encoder signals. The clock can come from a fancy
function generator or a cheap 555 timer chip. The clock
frequency can be measured with another board running FreqCount
http://www.pjrc.com/teensy/td_libs_FreqCount.html
+5V
| Quadrature Encoder Signal Emulator
Clock |
Input o----*-------------------------- ---------------------------o Output1
| |14 | |
| _______|_______ | | _______________
| | CD4013 | | | | CD4013 |
| 5 | | 1 | | 9 | | 13
---------| D Q |-----|----*----| D Q |------o Output2
| | | | | | |
| | 3 | | | 11 | |
| ----|> Clk | ---------|> Clk |
| | | | |
| 6 | | 8 | |
| ----| S | ----| S |
| | | | | | |
| | 4 | _ | 2 | 10 | _ | 12
| *----| R Q |--- *----| R Q |----
| | | | | | | |
| | |_______________| | |_______________| |
| | | | |
| | | 7 | |
| | | | |
--------------------------------------------------------------
| | |
| | |
----- ----- -----
--- --- ---
- - -
*/
void setup() {
pinMode(outputPin, OUTPUT);
}
#if defined(__AVR__) || defined(TEENSYDUINO)
#define REGTYPE unsigned char
#else
#define REGTYPE unsigned long
#endif
void loop() {
volatile int count = 0;
volatile REGTYPE *reg = portOutputRegister(digitalPinToPort(outputPin));
REGTYPE mask = digitalPinToBitMask(outputPin);
while (1) {
myEnc.read(); // Read the encoder while interrupts are enabled.
noInterrupts();
*reg |= mask; // Pulse the pin high, while interrupts are disabled.
count = count + 1;
*reg &= ~mask;
interrupts();
}
}
Full Error Readout
Arduino: 1.8.19 Hourly Build 2019/02/04 10:33 (Windows 10), TD: 1.56, Board: "Teensy 4.1, Serial, 600 MHz, Faster, US English"
In file included from C:\Program Files (x86)\Arduino\hardware\teensy\avr\cores\teensy4/core_pins.h:33:0,
from C:\Program Files (x86)\Arduino\hardware\teensy\avr\cores\teensy4/wiring.h:39,
from C:\Program Files (x86)\Arduino\hardware\teensy\avr\cores\teensy4/WProgram.h:45,
from C:\Users\name\AppData\Local\Temp\arduino_build_426018\pch\Arduino.h:6:
SpeedTest: In function 'void loop()':
C:\Program Files (x86)\Arduino\hardware\teensy\avr\cores\teensy4/pins_arduino.h:149:75: error: cannot convert 'volatile uint32_t* {aka volatile long unsigned int*}' to 'volatile unsigned char*' in initialization
#define portOutputRegister(pin) ((digital_pin_to_info_PGM[(pin)].reg + 0))
^
C:\Users\name~1\AppData\Local\Temp\arduino_modified_sketch_275677\SpeedTest.ino:101:27: note: in expansion of macro 'portOutputRegister'
volatile REGTYPE *reg = portOutputRegister(digitalPinToPort(outputPin));
^
C:\Users\name~1\AppData\Local\Temp\arduino_modified_sketch_275677\SpeedTest.pde: At global scope:
SpeedTest:46: error: redefinition of 'Encoder myEnc'
Encoder myEnc(5, 6);
^
C:\Users\name~1\AppData\Local\Temp\arduino_modified_sketch_275677\SpeedTest.ino:46:9: note: 'Encoder myEnc' previously declared here
Encoder myEnc(5, 6);
^
SpeedTest:49: error: redefinition of 'const int outputPin'
const int outputPin = 12;
^
C:\Users\name~1\AppData\Local\Temp\arduino_modified_sketch_275677\SpeedTest.ino:49:11: note: 'const int outputPin' previously defined here
const int outputPin = 12;
^
SpeedTest: In function 'void setup()':
SpeedTest:89: error: redefinition of 'void setup()'
void setup() {
^
C:\Users\name~1\AppData\Local\Temp\arduino_modified_sketch_275677\SpeedTest.ino:89:6: note: 'void setup()' previously defined here
void setup() {
^
SpeedTest: In function 'void loop()':
SpeedTest:99: error: redefinition of 'void loop()'
void loop() {
^
C:\Users\name~1\AppData\Local\Temp\arduino_modified_sketch_275677\SpeedTest.ino:99:6: note: 'void loop()' previously defined here
void loop() {
^
In file included from C:\Program Files (x86)\Arduino\hardware\teensy\avr\cores\teensy4/core_pins.h:33:0,
from C:\Program Files (x86)\Arduino\hardware\teensy\avr\cores\teensy4/wiring.h:39,
from C:\Program Files (x86)\Arduino\hardware\teensy\avr\cores\teensy4/WProgram.h:45,
from C:\Users\name~1\AppData\Local\Temp\arduino_build_426018\pch\Arduino.h:6:
C:\Program Files (x86)\Arduino\hardware\teensy\avr\cores\teensy4/pins_arduino.h:149:75: error: cannot convert 'volatile uint32_t* {aka volatile long unsigned int*}' to 'volatile unsigned char*' in initialization
#define portOutputRegister(pin) ((digital_pin_to_info_PGM[(pin)].reg + 0))
^
C:\Users\name~1\AppData\Local\Temp\arduino_modified_sketch_275677\SpeedTest.pde:101:27: note: in expansion of macro 'portOutputRegister'
volatile REGTYPE *reg = portOutputRegister(digitalPinToPort(outputPin));
^
redefinition of 'Encoder myEnc'
This report would have more information with
"Show verbose output during compilation"
option enabled in File -> Preferences.
I searched and wasn't able to find an answer anywhere. I found a similar sounding issue on the Github here, but with a different version:
https://github.com/PaulStoffregen/Encoder/issues/44
however there is no "direct_pin_red.h" which is what the answer there says to add the code to.
He says to add the following code to that file
#if defined(__IMXRT1062__)
#define IO_REG_TYPE uint32_t
#define PIN_TO_BASEREG(pin) (portInputRegister(digitalPinToPort(pin)))
#define PIN_TO_BITMASK(pin) (digitalPinToBitMask(pin))
#define DIRECT_PIN_READ(base, mask) (((*(base)) & (mask)) ? 1 : 0)
I found a file with similar code in Arduino\hardware\teensy\avr\libraries\Encoder\utility\direct_pin_read.h
#define IO_REG_TYPE uint32_t
#define PIN_TO_BASEREG(pin) (portOutputRegister(pin))
#define PIN_TO_BITMASK(pin) (digitalPinToBitMask(pin))
#define DIRECT_PIN_READ(base, mask) (((*(base)) & (mask)) ? 1 : 0)
The only difference being the PIN_TO_BASEREG definition in the answer on git is
#define PIN_TO_BASEREG(pin) (portOutputRegister(pin))
vs
#define PIN_TO_BASEREG(pin) (portInputRegister(digitalPinToPort(pin)))
So I tried changing it to match the given solution, but I get the same errors.
I'm not sure why it is calling this a conversion error between volatile uint32_t* to volatile unsigned char*, or where I need to change the definition.
The macro definition is clearly wrong. It looks like it was done for the old AVR Teensies and was not adjusted to the 32bit ARM boards. For a T4.x you can simply replace it by
which compiles. You can also replace the complete register stuff and simply use
But, I'm not sure if the measurement makes sense for a 600MHz T4. The outputPin will be high for a few nanoseconds only...