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