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IncrementalEncoder: support swapped pins

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Closes: #4422
This commit is contained in:
Jeff Epler 2021-04-04 13:48:47 -05:00
parent 93d6ceedd9
commit fc86475de5
2 changed files with 12 additions and 4 deletions
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15
ports/raspberrypi/common-hal/rotaryio/IncrementalEncoder.c
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@ -60,10 +60,17 @@ STATIC void incrementalencoder_interrupt_handler(void *self_in);
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) {
mp_obj_t pins[] = {MP_OBJ_FROM_PTR(pin_a), MP_OBJ_FROM_PTR(pin_b)};
bool swap = false;
if (!common_hal_rp2pio_pins_are_sequential(2, pins)) {
mp_raise_RuntimeError(translate("Pins must be sequential"));
pins[0] = MP_OBJ_FROM_PTR(pin_b);
pins[1] = MP_OBJ_FROM_PTR(pin_a);
swap = true;
if (!common_hal_rp2pio_pins_are_sequential(2, pins)) {
mp_raise_RuntimeError(translate("Pins must be sequential"));
}
}
self->swap = swap;
self->position = 0;
self->quarter_count = 0;
@ -72,7 +79,7 @@ void common_hal_rotaryio_incrementalencoder_construct(rotaryio_incrementalencode
1000000,
encoder_init, MP_ARRAY_SIZE(encoder_init), // init
NULL, 0, 0, 0, // out pin
pin_a, 2, // in pins
pins[0], 2, // in pins
3, 0, // in pulls
NULL, 0, 0, 0x1f, // set pins
NULL, 0, 0, 0x1f, // sideset pins
@ -106,12 +113,12 @@ void common_hal_rotaryio_incrementalencoder_deinit(rotaryio_incrementalencoder_o
}
mp_int_t common_hal_rotaryio_incrementalencoder_get_position(rotaryio_incrementalencoder_obj_t *self) {
return self->position;
return self->swap ? -self->position : self->position;
}
void common_hal_rotaryio_incrementalencoder_set_position(rotaryio_incrementalencoder_obj_t *self,
mp_int_t new_position) {
self->position = new_position;
self->position = self->swap ? -new_position : new_position;
}
STATIC void incrementalencoder_interrupt_handler(void *self_in) {

1
ports/raspberrypi/common-hal/rotaryio/IncrementalEncoder.h
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@ -37,4 +37,5 @@ typedef struct {
uint8_t last_state : 4; // <old A><old B><new A><new B>
int8_t quarter_count : 4; // count intermediate transitions between detents
mp_int_t position;
bool swap;
} rotaryio_incrementalencoder_obj_t;