void Encoder::_pcapInit(void) {
_filterAndSampleWindowInit(mcn, mdn);
mcsif_SetMode(mcn, mdn, MCSIF_PFAU);
mcpfau_SetCapMode1(mcn, mdn, MCPFAU_CAP_BOTH_CLEAR);
mcpfau_SetCapInterval1(mcn, mdn, 1L);
mcpfau_SetCap1INT(mcn, mdn, 0L);
mcpfau_SetPolarity1(mcn, mdn, MCPFAU_POL_NORMAL);
mcpfau_SetMask1(mcn, mdn, MCPFAU_MASK_NONE);
mcpfau_SetRLDTRIG1(mcn, mdn, MCPFAU_RLDTRIG_DISABLE);
mcpfau_SetFAU1TRIG(mcn, mdn, MCPFAU_FAUTRIG_INPUT1);
mcpfau_SetFAU1RELS(mcn, mdn, MCPFAU_FAURELS_INPUT0);
mcpfau_SetCapMode2(mcn, mdn, MCPFAU_CAP_BOTH_CLEAR);
mcpfau_SetCapInterval2(mcn, mdn, 1L);
mcpfau_SetCap2INT(mcn, mdn, 0L);
mcpfau_SetPolarity2(mcn, mdn, MCPFAU_POL_NORMAL);
mcpfau_SetMask2(mcn, mdn, MCPFAU_MASK_NONE);
mcpfau_SetRLDTRIG2(mcn, mdn, MCPFAU_RLDTRIG_DISABLE);
mcpfau_SetFAU2TRIG(mcn, mdn, MCPFAU_FAUTRIG_INPUT1);
mcpfau_SetFAU2RELS(mcn, mdn, MCPFAU_FAURELS_INPUT0);
mcpfau_SetCapMode3(mcn, mdn, MCPFAU_CAP_BOTH_CLEAR);
mcpfau_SetCapInterval3(mcn, mdn, 1L);
mcpfau_SetCap3INT(mcn, mdn, 0L);
mcpfau_SetPolarity3(mcn, mdn, MCPFAU_POL_NORMAL);
mcpfau_SetMask3(mcn, mdn, MCPFAU_MASK_NONE);
mcpfau_SetRLDTRIG3(mcn, mdn, MCPFAU_RLDTRIG_DISABLE);
mcpfau_SetFAU3TRIG(mcn, mdn, MCPFAU_FAUTRIG_INPUT1);
mcpfau_SetFAU3RELS(mcn, mdn, MCPFAU_FAURELS_INPUT0);
#if defined (DMP_DOS_BC) || (DMP_DOS_DJGPP)
io_DisableINT();
#elif defined (DMP_LINUX)
OSSPINLOCK(encvar);
#endif
_mcmode[mcn] = MODE_CAPTURE;
#if defined (DMP_DOS_BC) || (DMP_DOS_DJGPP)
io_RestoreINT();
#elif defined (DMP_LINUX)
OSSPINUNLOCK(encvar);
#endif
}
DMP_INLINE(void) mcmsif_init(int32_t mc)
{
mcsif_SetInputFilter(mc, MCSIF_MODULEB, 20L);
mcsif_SetSWDeadband(mc, MCSIF_MODULEB, 0L);
mcsif_SetSWPOL(mc, MCSIF_MODULEB, MCSIF_SWPOL_REMAIN);
mcsif_SetSamplWin(mc, MCSIF_MODULEB, MCSIF_SWSTART_DISABLE + MCSIF_SWEND_NOW);
mcsif_SetSamplWin(mc, MCSIF_MODULEB, MCSIF_SWSTART_NOW + MCSIF_SWEND_DISABLE);
mcsif_SetMode(mc, MCSIF_MODULEB, MCSIF_PFAU); // enable MC2 SIFA
mcpfau_SetCapMode1(mc, MCSIF_MODULEB, MCPFAU_CAP_DISABLE);
mcpfau_SetCapInterval1(mc, MCSIF_MODULEB, 1L); // pin1 for FAUTRIG
mcpfau_SetCap1INT(mc, MCSIF_MODULEB, 1L);
mcpfau_SetPolarity1(mc, MCSIF_MODULEB, MCPFAU_POL_NORMAL);
mcpfau_SetMask1(mc, MCSIF_MODULEB, MCPFAU_MASK_NONE);
mcpfau_SetRLDTRIG1(mc, MCSIF_MODULEB, MCPFAU_RLDTRIG_DISABLE);
mcpfau_SetFAU1TRIG(mc, MCSIF_MODULEB, MCPFAU_FAUTRIG_INPUT1);
mcpfau_SetFAU1RELS(mc, MCSIF_MODULEB, MCPFAU_FAURELS_INPUT0);
mcpfau_SetCapMode2(mc, MCSIF_MODULEB, MCPFAU_CAP_DISABLE); // pin2 for RLDTRIG
mcpfau_SetCapInterval2(mc, MCSIF_MODULEB, 1L);
mcpfau_SetCap2INT(mc, MCSIF_MODULEB, 1L);
mcpfau_SetPolarity2(mc, MCSIF_MODULEB, MCPFAU_POL_NORMAL);
mcpfau_SetMask2(mc, MCSIF_MODULEB, MCPFAU_MASK_NONE);
mcpfau_SetRLDTRIG2(mc, MCSIF_MODULEB, MCPFAU_RLDTRIG_DISABLE);
mcpfau_SetFAU2TRIG(mc, MCSIF_MODULEB, MCPFAU_FAUTRIG_INPUT1);
mcpfau_SetFAU2RELS(mc, MCSIF_MODULEB, MCPFAU_FAURELS_INPUT0);
mcpfau_SetCapMode3(mc, MCSIF_MODULEB, MCPFAU_CAP_DISABLE);
mcpfau_SetCapInterval3(mc, MCSIF_MODULEB, 1L); // pin3 for FAUTRIG
mcpfau_SetCap3INT(mc, MCSIF_MODULEB, 1L);
mcpfau_SetPolarity3(mc, MCSIF_MODULEB, MCPFAU_POL_NORMAL);
mcpfau_SetMask3(mc, MCSIF_MODULEB, MCPFAU_MASK_NONE);
mcpfau_SetRLDTRIG3(mc, MCSIF_MODULEB, MCPFAU_RLDTRIG_DISABLE);
mcpfau_SetFAU3TRIG(mc, MCSIF_MODULEB, MCPFAU_FAUTRIG_INPUT1);
mcpfau_SetFAU3RELS(mc, MCSIF_MODULEB, MCPFAU_FAURELS_INPUT0);
#if defined (DMP_DOS_DJGPP)
io_DisableINT();
#endif
mcm_init[mc] = true;
#if defined (DMP_DOS_DJGPP)
io_RestoreINT();
#endif
}
static void mcmsif_init(void) {
if(mcm_init[mc] == true) return;
mcsif_SetInputFilter(mc, md, 20L);
mcsif_SetSWDeadband(mc, md, 0L);
mcsif_SetSWPOL(mc, md, MCSIF_SWPOL_REMAIN);
mcsif_SetSamplWin(mc, md, MCSIF_SWSTART_DISABLE + MCSIF_SWEND_NOW); // stop the current sampling window first
mcsif_SetSamplWin(mc, md, MCSIF_SWSTART_NOW + MCSIF_SWEND_DISABLE);
mcsif_SetMode(mc, md, MCSIF_PFAU); // enable MC2 SIFA
mcpfau_SetCapMode1(mc, md, MCPFAU_CAP_DISABLE);
mcpfau_SetCapInterval1(mc, md, 1L); // pin1 for FAUTRIG
mcpfau_SetCap1INT(mc, md, 1L);
mcpfau_SetPolarity1(mc, md, MCPFAU_POL_NORMAL);
mcpfau_SetMask1(mc, md, MCPFAU_MASK_NONE);
mcpfau_SetRLDTRIG1(mc, md, MCPFAU_RLDTRIG_DISABLE);
mcpfau_SetFAU1TRIG(mc, md, MCPFAU_FAUTRIG_INPUT1);
mcpfau_SetFAU1RELS(mc, md, MCPFAU_FAURELS_INPUT0);
mcpfau_SetCapMode2(mc, md, MCPFAU_CAP_DISABLE); // pin2 for RLDTRIG
mcpfau_SetCapInterval2(mc, md, 1L);
mcpfau_SetCap2INT(mc, md, 1L);
mcpfau_SetPolarity2(mc, md, MCPFAU_POL_NORMAL);
mcpfau_SetMask2(mc, md, MCPFAU_MASK_NONE);
mcpfau_SetRLDTRIG2(mc, md, MCPFAU_RLDTRIG_DISABLE);
mcpfau_SetFAU2TRIG(mc, md, MCPFAU_FAUTRIG_INPUT1);
mcpfau_SetFAU2RELS(mc, md, MCPFAU_FAURELS_INPUT0);
mcpfau_SetCapMode3(mc, md, MCPFAU_CAP_DISABLE);
mcpfau_SetCapInterval3(mc, md, 1L); // pin3 for FAUTRIG
mcpfau_SetCap3INT(mc, md, 1L);
mcpfau_SetPolarity3(mc, md, MCPFAU_POL_NORMAL);
mcpfau_SetMask3(mc, md, MCPFAU_MASK_NONE);
mcpfau_SetRLDTRIG3(mc, md, MCPFAU_RLDTRIG_DISABLE);
mcpfau_SetFAU3TRIG(mc, md, MCPFAU_FAUTRIG_INPUT1);
mcpfau_SetFAU3RELS(mc, md, MCPFAU_FAURELS_INPUT0);
io_DisableINT();
mcm_init[mc] = true;
io_RestoreINT();
}
void Encoder::_pcapInit(void) {
_filterAndSampleWindowInit(mcn, mdn);
mcsif_SetMode(mcn, mdn, MCSIF_PFAU);
mcpfau_SetCapMode1(mcn, mdn, MCPFAU_CAP_BOTH_CLEAR);
mcpfau_SetCapInterval1(mcn, mdn, 1L);
mcpfau_SetCap1INT(mcn, mdn, 0L);
mcpfau_SetPolarity1(mcn, mdn, MCPFAU_POL_NORMAL);
mcpfau_SetMask1(mcn, mdn, MCPFAU_MASK_NONE);
mcpfau_SetRLDTRIG1(mcn, mdn, MCPFAU_RLDTRIG_DISABLE);
mcpfau_SetFAU1TRIG(mcn, mdn, MCPFAU_FAUTRIG_INPUT1);
mcpfau_SetFAU1RELS(mcn, mdn, MCPFAU_FAURELS_INPUT0);
mcpfau_SetCapMode2(mcn, mdn, MCPFAU_CAP_BOTH_CLEAR);
mcpfau_SetCapInterval2(mcn, mdn, 1L);
mcpfau_SetCap2INT(mcn, mdn, 0L);
mcpfau_SetPolarity2(mcn, mdn, MCPFAU_POL_NORMAL);
mcpfau_SetMask2(mcn, mdn, MCPFAU_MASK_NONE);
mcpfau_SetRLDTRIG2(mcn, mdn, MCPFAU_RLDTRIG_DISABLE);
mcpfau_SetFAU2TRIG(mcn, mdn, MCPFAU_FAUTRIG_INPUT1);
mcpfau_SetFAU2RELS(mcn, mdn, MCPFAU_FAURELS_INPUT0);
mcpfau_SetCapMode3(mcn, mdn, MCPFAU_CAP_BOTH_CLEAR);
mcpfau_SetCapInterval3(mcn, mdn, 1L);
mcpfau_SetCap3INT(mcn, mdn, 0L);
mcpfau_SetPolarity3(mcn, mdn, MCPFAU_POL_NORMAL);
mcpfau_SetMask3(mcn, mdn, MCPFAU_MASK_NONE);
mcpfau_SetRLDTRIG3(mcn, mdn, MCPFAU_RLDTRIG_DISABLE);
mcpfau_SetFAU3TRIG(mcn, mdn, MCPFAU_FAUTRIG_INPUT1);
mcpfau_SetFAU3RELS(mcn, mdn, MCPFAU_FAURELS_INPUT0);
io_DisableINT();
_mcmode[mcn] = MODE_CAPTURE;
io_RestoreINT();
}