136 lines
5.0 KiB
C
136 lines
5.0 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) 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 "py/runtime.h"
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#include <hardware/regs/pio.h>
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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 "shared-module/rotaryio/IncrementalEncoder.h"
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#include "bindings/rp2pio/__init__.h"
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#include "bindings/rp2pio/StateMachine.h"
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STATIC const uint16_t encoder[] = {
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// again:
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// in pins, 2
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0x4002,
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// mov x, isr
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0xa026,
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// jmp x!=y, push_data
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0x00a5,
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// mov isr, null
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0xa0c3,
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// jmp again
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0x0000,
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// push_data:
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// push
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0x8020,
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// mov y, x
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0xa041,
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};
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STATIC const uint16_t encoder_init[] = {
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// set y, 31
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0xe05f,
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};
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STATIC void incrementalencoder_interrupt_handler(void *self_in);
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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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mp_obj_t pins[] = {MP_OBJ_FROM_PTR(pin_a), MP_OBJ_FROM_PTR(pin_b)};
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// Start out with swapped to match behavior with other ports.
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self->swapped = true;
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if (!common_hal_rp2pio_pins_are_sequential(2, pins)) {
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pins[0] = MP_OBJ_FROM_PTR(pin_b);
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pins[1] = MP_OBJ_FROM_PTR(pin_a);
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self->swapped = false;
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if (!common_hal_rp2pio_pins_are_sequential(2, pins)) {
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mp_raise_RuntimeError(translate("Pins must be sequential GPIO pins"));
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}
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}
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self->position = 0;
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self->sub_count = 0;
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common_hal_rp2pio_statemachine_construct(&self->state_machine,
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encoder, MP_ARRAY_SIZE(encoder),
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1000000,
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encoder_init, MP_ARRAY_SIZE(encoder_init), // init
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NULL, 0, 0, 0, // out pin
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pins[0], 2, // in pins
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3, 0, // in pulls
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NULL, 0, 0, 0x1f, // set pins
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NULL, 0, 0, 0x1f, // sideset pins
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false, // No sideset enable
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NULL, PULL_NONE, // jump pin
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0, // wait gpio pins
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true, // exclusive pin use
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false, 32, false, // out settings
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false, // Wait for txstall
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false, 32, false, // in settings
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false, // Not user-interruptible.
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0, MP_ARRAY_SIZE(encoder) - 1 // wrap settings
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);
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// We're guaranteed by the init code that some output will be available promptly
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uint8_t quiescent_state;
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common_hal_rp2pio_statemachine_readinto(&self->state_machine, &quiescent_state, 1, 1);
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shared_module_softencoder_state_init(self, quiescent_state & 3);
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common_hal_rp2pio_statemachine_set_interrupt_handler(&self->state_machine, incrementalencoder_interrupt_handler, self, PIO_IRQ0_INTF_SM0_RXNEMPTY_BITS);
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}
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bool common_hal_rotaryio_incrementalencoder_deinited(rotaryio_incrementalencoder_obj_t *self) {
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return common_hal_rp2pio_statemachine_deinited(&self->state_machine);
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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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common_hal_rp2pio_statemachine_set_interrupt_handler(&self->state_machine, NULL, NULL, 0);
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common_hal_rp2pio_statemachine_deinit(&self->state_machine);
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}
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STATIC void incrementalencoder_interrupt_handler(void *self_in) {
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rotaryio_incrementalencoder_obj_t *self = self_in;
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while (common_hal_rp2pio_statemachine_get_in_waiting(&self->state_machine)) {
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// Bypass all the logic of StateMachine.c:_transfer, we need something
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// very simple and fast for an interrupt!
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uint8_t new_state = self->state_machine.pio->rxf[self->state_machine.state_machine];
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if (self->swapped) {
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if (new_state == 0x1) {
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new_state = 0x2;
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} else if (new_state == 0x2) {
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new_state = 0x1;
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}
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}
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shared_module_softencoder_state_update(self, new_state);
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}
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}
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