117 lines
4.3 KiB
C
117 lines
4.3 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) 2018 Scott Shawcroft for Adafruit Industries
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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-module/rotaryio/IncrementalEncoder.h"
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#include "atmel_start_pins.h"
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#include "eic_handler.h"
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#include "samd/external_interrupts.h"
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#include "py/runtime.h"
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#include "supervisor/shared/translate.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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if (!pin_a->has_extint || !pin_b->has_extint) {
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mp_raise_RuntimeError(translate("Both pins must support hardware interrupts"));
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}
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// TODO: The SAMD51 has a peripheral dedicated to quadrature encoder debugging. Use it instead
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// of the external interrupt.
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if (eic_get_enable()) {
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if (!eic_channel_free(pin_a->extint_channel) || !eic_channel_free(pin_b->extint_channel)) {
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mp_raise_RuntimeError(translate("A hardware interrupt channel is already in use"));
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}
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} else {
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turn_on_external_interrupt_controller();
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}
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// These default settings apply when the EIC isn't yet enabled.
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self->eic_channel_a = pin_a->extint_channel;
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self->eic_channel_b = pin_b->extint_channel;
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self->pin_a = pin_a->number;
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self->pin_b = pin_b->number;
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gpio_set_pin_function(self->pin_a, GPIO_PIN_FUNCTION_A);
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gpio_set_pin_pull_mode(self->pin_a, GPIO_PULL_UP);
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gpio_set_pin_function(self->pin_b, GPIO_PIN_FUNCTION_A);
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gpio_set_pin_pull_mode(self->pin_b, GPIO_PULL_UP);
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set_eic_channel_data(self->eic_channel_a, (void*) self);
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set_eic_channel_data(self->eic_channel_b, (void*) self);
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self->position = 0;
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self->quarter_count = 0;
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shared_module_softencoder_state_init(self,
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((uint8_t) gpio_get_pin_level(self->pin_a) << 1) |
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(uint8_t) gpio_get_pin_level(self->pin_b));
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claim_pin(pin_a);
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claim_pin(pin_b);
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set_eic_handler(self->eic_channel_a, EIC_HANDLER_INCREMENTAL_ENCODER);
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turn_on_eic_channel(self->eic_channel_a, EIC_CONFIG_SENSE0_BOTH_Val);
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set_eic_handler(self->eic_channel_b, EIC_HANDLER_INCREMENTAL_ENCODER);
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turn_on_eic_channel(self->eic_channel_b, EIC_CONFIG_SENSE0_BOTH_Val);
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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->pin_a == NO_PIN;
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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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set_eic_handler(self->eic_channel_a, EIC_HANDLER_NO_INTERRUPT);
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turn_off_eic_channel(self->eic_channel_a);
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set_eic_handler(self->eic_channel_b, EIC_HANDLER_NO_INTERRUPT);
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turn_off_eic_channel(self->eic_channel_b);
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reset_pin_number(self->pin_a);
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self->pin_a = NO_PIN;
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reset_pin_number(self->pin_b);
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self->pin_b = NO_PIN;
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}
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void incrementalencoder_interrupt_handler(uint8_t channel) {
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rotaryio_incrementalencoder_obj_t* self = get_eic_channel_data(channel);
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uint8_t new_state =
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((uint8_t) gpio_get_pin_level(self->pin_a) << 1) |
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(uint8_t) gpio_get_pin_level(self->pin_b);
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shared_module_softencoder_state_update(self, new_state);
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}
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