circuitpython/ports/espressif/common-hal/rotaryio/IncrementalEncoder.c

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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
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* Copyright (c) 2020 microDev
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*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include "common-hal/rotaryio/IncrementalEncoder.h"
#include "shared-bindings/rotaryio/IncrementalEncoder.h"
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#include "common-hal/microcontroller/Pin.h"
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#include "py/runtime.h"
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void common_hal_rotaryio_incrementalencoder_construct(rotaryio_incrementalencoder_obj_t *self,
const mcu_pin_obj_t *pin_a, const mcu_pin_obj_t *pin_b) {
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claim_pin(pin_a);
claim_pin(pin_b);
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// Prepare configuration for the PCNT unit
pcnt_config_t pcnt_config = {
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// Set PCNT input signal and control GPIOs
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.pulse_gpio_num = pin_a->number,
.ctrl_gpio_num = pin_b->number,
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.channel = PCNT_CHANNEL_0,
// What to do on the positive / negative edge of pulse input?
.pos_mode = PCNT_COUNT_DEC, // Count up on the positive edge
.neg_mode = PCNT_COUNT_INC, // Keep the counter value on the negative edge
// What to do when control input is low or high?
.lctrl_mode = PCNT_MODE_REVERSE, // Reverse counting direction if low
.hctrl_mode = PCNT_MODE_KEEP, // Keep the primary counter mode if high
};
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// Initialize PCNT unit
const int8_t unit = peripherals_pcnt_get_unit(pcnt_config);
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if (unit == -1) {
mp_raise_RuntimeError(translate("All PCNT units in use"));
}
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pcnt_unit_config(&pcnt_config);
pcnt_config.pulse_gpio_num = pin_b->number; // What was control is now signal
pcnt_config.ctrl_gpio_num = pin_a->number; // What was signal is now control
pcnt_config.channel = PCNT_CHANNEL_1;
// What to do on the positive / negative edge of pulse input?
pcnt_config.pos_mode = PCNT_COUNT_DEC; // Count up on the positive edge
pcnt_config.neg_mode = PCNT_COUNT_INC; // Keep the counter value on the negative edge
// What to do when control input is low or high?
pcnt_config.lctrl_mode = PCNT_MODE_KEEP; // Keep the primary counter mode if low
pcnt_config.hctrl_mode = PCNT_MODE_REVERSE; // Reverse counting direction if high
pcnt_unit_config(&pcnt_config);
// Initialize PCNT's counter
pcnt_counter_pause(pcnt_config.unit);
pcnt_counter_clear(pcnt_config.unit);
// Everything is set up, now go to counting
pcnt_counter_resume(pcnt_config.unit);
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self->pin_a = pin_a->number;
self->pin_b = pin_b->number;
self->unit = (pcnt_unit_t)unit;
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}
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bool common_hal_rotaryio_incrementalencoder_deinited(rotaryio_incrementalencoder_obj_t *self) {
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return self->unit == PCNT_UNIT_MAX;
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}
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void common_hal_rotaryio_incrementalencoder_deinit(rotaryio_incrementalencoder_obj_t *self) {
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if (common_hal_rotaryio_incrementalencoder_deinited(self)) {
return;
}
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reset_pin_number(self->pin_a);
reset_pin_number(self->pin_b);
peripherals_pcnt_deinit(&self->unit);
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}
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mp_int_t common_hal_rotaryio_incrementalencoder_get_position(rotaryio_incrementalencoder_obj_t *self) {
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int16_t count;
pcnt_get_counter_value(self->unit, &count);
return (count + self->position) / self->divisor;
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}
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void common_hal_rotaryio_incrementalencoder_set_position(rotaryio_incrementalencoder_obj_t *self,
mp_int_t new_position) {
self->position = new_position * self->divisor;
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pcnt_counter_clear(self->unit);
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}
mp_int_t common_hal_rotaryio_incrementalencoder_get_divisor(rotaryio_incrementalencoder_obj_t *self) {
return self->divisor;
}
void common_hal_rotaryio_incrementalencoder_set_divisor(rotaryio_incrementalencoder_obj_t *self, mp_int_t divisor) {
self->divisor = divisor;
}