117 lines
4.0 KiB
C
117 lines
4.0 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) 2019 Nick Moore 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 "nrfx_gpiote.h"
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#include "py/runtime.h"
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#include <stdio.h>
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// obj array to map pin number -> self since nrfx hide the mapping
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static rotaryio_incrementalencoder_obj_t *_objs[NUMBER_OF_PINS];
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static void _intr_handler(nrfx_gpiote_pin_t pin, nrf_gpiote_polarity_t action) {
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rotaryio_incrementalencoder_obj_t *self = _objs[pin];
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if (!self) return;
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// reads a state 0 .. 3 *in order*.
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uint8_t new_state = nrf_gpio_pin_read(self->pin_a);
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new_state = (new_state << 1) + (new_state ^ nrf_gpio_pin_read(self->pin_b));
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uint8_t change = (new_state - self->state) & 0x03;
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if (change == 1) self->quarter++;
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else if (change == 3) self->quarter--;
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// ignore other state transitions
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self->state = new_state;
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// logic from the atmel-samd port: provides some damping and scales movement
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// down by 4:1.
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if (self->quarter >= 4) {
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self->position++;
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self->quarter = 0;
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} else if (self->quarter <= -4) {
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self->position--;
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self->quarter = 0;
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}
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}
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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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self->pin_a = pin_a->number;
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self->pin_b = pin_b->number;
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_objs[self->pin_a] = self;
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_objs[self->pin_b] = self;
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nrfx_gpiote_in_config_t cfg = {
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.sense = NRF_GPIOTE_POLARITY_TOGGLE,
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.pull = NRF_GPIO_PIN_PULLUP,
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.is_watcher = false,
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.hi_accuracy = true,
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.skip_gpio_setup = false
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};
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nrfx_gpiote_in_init(self->pin_a, &cfg, _intr_handler);
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nrfx_gpiote_in_init(self->pin_b, &cfg, _intr_handler);
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nrfx_gpiote_in_event_enable(self->pin_a, true);
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nrfx_gpiote_in_event_enable(self->pin_b, true);
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claim_pin(pin_a);
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claim_pin(pin_b);
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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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_objs[self->pin_a] = NULL;
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_objs[self->pin_b] = NULL;
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nrfx_gpiote_in_event_disable(self->pin_a);
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nrfx_gpiote_in_event_disable(self->pin_b);
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nrfx_gpiote_in_uninit(self->pin_a);
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nrfx_gpiote_in_uninit(self->pin_b);
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reset_pin_number(self->pin_a);
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reset_pin_number(self->pin_b);
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self->pin_a = NO_PIN;
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self->pin_b = NO_PIN;
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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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return self->position;
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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;
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}
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