void Encoder::setIndexReset(bool condition) {
if(mode == MODE_NOSET || mode == MODE_CAPTURE || mode == MODE_SSI) return;
mcsif_Disable(mcn, mdn);
if(condition == true)
{
mcenc_SetResetMode(mcn, mdn, MCENC_RESET_INC_CNTMINIDX + MCENC_RESET_DEC_CNTMAXIDX);
if(_setZPol == false) // if you use setInputPolarity() to set Z pin's pol to inverse before setIndexReset()
{
// In fact, below actions are same as mcenc_SetIdxCond(mcn, mdn, MCENC_PDIR_IDXCOND_Z, MCENC_ICZ1);
if(mode == MODE_STEP_DIR || mode == MODE_STEP_DIR_x2)
mcenc_SetIdxCond(mcn, mdn, MCENC_PDIR_IDXCOND_Z, MCENC_ICZ1);
else if(mode == MODE_CWCCW || mode == MODE_CWCCW_x2)
mcenc_SetIdxCond(mcn, mdn, MCENC_CWCCW_IDXCOND_Z, MCENC_ICZ1);
else if(mode == MODE_AB_PHASE || mode == MODE_AB_PHASE_x2)
mcenc_SetIdxCond(mcn, mdn, MCENC_PAB_IDXCOND_Z, MCENC_ICZ1);
}
io_DisableINT();
_encmode[mcn] |= INTR_INDEX;
io_RestoreINT();
}
else
{
mcenc_SetIdxCond(mcn, mdn, MCENC_PDIR_IDXCOND_DISABLE, 0L);
mcenc_SetResetMode(mcn, mdn, MCENC_RESET_INC_CNTMIN + MCENC_RESET_DEC_CNTMAX);
io_DisableINT();
_encmode[mcn] &= ~(INTR_INDEX);
io_RestoreINT();
}
mcsif_Enable(mcn, mdn);
}
static void _defaultEncoderSetting(int mc, int md) {
mcenc_SetIdxCond(mc, md, MCENC_PDIR_IDXCOND_DISABLE, 0L);
mcenc_SetCapMode(mc, md, MCENC_CAP_PCNT_DISABLE + MCENC_CAP_EXTRIG_DISABLE + MCENC_CAP_IDXCOND_DISABLE);
mcenc_SetCntMin(mc, md, 0L);
mcenc_SetCntMax(mc, md, 0xffffffffL);
mcenc_SetResetMode(mc, md, MCENC_RESET_INC_CNTMIN + MCENC_RESET_DEC_CNTMAX);
mcenc_SetTrigResetMode(mc, md, MCENC_TRIGRESET_IDXCOND_0TO1);
mcenc_SetPulCnt(mc, md, 0L);
}
void Encoder::setIndexReset(bool condition) {
if(mode == MODE_NOSET || mode == MODE_CAPTURE || mode == MODE_SSI) return;
mcsif_Disable(mcn, mdn);
if(condition == true)
{
mcenc_SetResetMode(mcn, mdn, MCENC_RESET_INC_CNTMINIDX + MCENC_RESET_DEC_CNTMAXIDX);
mcenc_SetCapMode(mcn, mdn, MCENC_CAP_PCNT_DISABLE + MCENC_CAP_EXTRIG_DISABLE + MCENC_CAP_IDXCOND_ENABLE); // start to use FIFO (mean that capture event will occur)
if(_setZPol == false) // if you use setInputPolarity() to set Z pin's pol to inverse before setIndexReset()
{
// In fact, below actions are same as mcenc_SetIdxCond(mcn, mdn, MCENC_PDIR_IDXCOND_Z, MCENC_ICZ1);
if(mode == MODE_STEP_DIR || mode == MODE_STEP_DIR_x2)
mcenc_SetIdxCond(mcn, mdn, MCENC_PDIR_IDXCOND_Z, MCENC_ICZ1);
else if(mode == MODE_CWCCW || mode == MODE_CWCCW_x2)
mcenc_SetIdxCond(mcn, mdn, MCENC_CWCCW_IDXCOND_Z, MCENC_ICZ1);
else if(mode == MODE_AB_PHASE || mode == MODE_AB_PHASE_x2)
mcenc_SetIdxCond(mcn, mdn, MCENC_PAB_IDXCOND_Z, MCENC_ICZ1);
}
io_DisableINT();
_encmode[mcn] |= INTR_INDEX;
io_RestoreINT();
}
else
{
if((_encmode[mcn] & (INTR_INDEX | INTR_OVERFLOW | INTR_UNDERFLOW)) == 0)
mcenc_SetCapMode(mcn, mdn, MCENC_CAP_PCNT_DISABLE + MCENC_CAP_EXTRIG_DISABLE + MCENC_CAP_IDXCOND_DISABLE);
mcenc_SetIdxCond(mcn, mdn, MCENC_PDIR_IDXCOND_DISABLE, 0L);
mcenc_SetResetMode(mcn, mdn, MCENC_RESET_INC_CNTMIN + MCENC_RESET_DEC_CNTMAX);
io_DisableINT();
_encmode[mcn] &= ~(INTR_INDEX);
io_RestoreINT();
}
mcsif_Enable(mcn, mdn);
}
void Encoder::setInputPolarity(bool pinA, bool pinB, bool pinZ) {
if(mode == MODE_NOSET || mode == MODE_CAPTURE || mode == MODE_SSI) return;
mcsif_Disable(mcn, mdn);
if(mode == MODE_STEP_DIR)
{
// 8 conditions
if(pinA == LOW && pinB == HIGH)
{
mcenc_SetCntMode(mcn, mdn, MCENC_PDIR_DIR0_INC1TO0 + MCENC_PDIR_DIR1_DEC1TO0);
}
else if(pinA == HIGH && pinB == LOW)
{
mcenc_SetCntMode(mcn, mdn, MCENC_PDIR_DIR0_DEC0TO1 + MCENC_PDIR_DIR1_INC0TO1);
}
else if(pinA == LOW && pinB == LOW)
{
mcenc_SetCntMode(mcn, mdn, MCENC_PDIR_DIR0_DEC1TO0 + MCENC_PDIR_DIR1_INC1TO0);
}
else // all HIGH
{
mcenc_SetCntMode(mcn, mdn, MCENC_PDIR_DIR0_INC0TO1 + MCENC_PDIR_DIR1_DEC0TO1);
}
if(pinZ == LOW)
{
mcenc_SetIdxCond(mcn, mdn, MCENC_PDIR_IDXCOND_Z, MCENC_ICZ0);
_setZPol = true;
}
else
mcenc_SetIdxCond(mcn, mdn, MCENC_PDIR_IDXCOND_Z, MCENC_ICZ1);
}
else if(mode == MODE_CWCCW)
{
if(pinA == LOW && pinB == HIGH)
{
mcenc_SetCntMode(mcn, mdn, MCENC_CWCCW_CW_INC1TO0 + MCENC_CWCCW_CCW_DEC0TO1);
}
else if(pinA == HIGH && pinB == LOW)
{
mcenc_SetCntMode(mcn, mdn, MCENC_CWCCW_CW_INC0TO1 + MCENC_CWCCW_CCW_DEC1TO0);
}
else if(pinA == LOW && pinB == LOW)
{
mcenc_SetCntMode(mcn, mdn, MCENC_CWCCW_CW_INC1TO0 + MCENC_CWCCW_CCW_DEC1TO0);
}
else // all NORMAL
{
mcenc_SetCntMode(mcn, mdn, MCENC_CWCCW_CW_INC0TO1 + MCENC_CWCCW_CCW_DEC0TO1);
}
if(pinZ == LOW)
{
mcenc_SetIdxCond(mcn, mdn, MCENC_CWCCW_IDXCOND_Z, MCENC_ICZ0);
_setZPol = true;
}
else
mcenc_SetIdxCond(mcn, mdn, MCENC_CWCCW_IDXCOND_Z, MCENC_ICZ1);
}
else if(mode == MODE_AB_PHASE)
{
if((pinA == LOW && pinB == LOW) || (pinA == HIGH && pinB == HIGH))
mcenc_SetCntMode(mcn, mdn, MCENC_PAB_DIR0_INCA + MCENC_PAB_DIR1_DECA);
else
mcenc_SetCntMode(mcn, mdn, MCENC_PAB_DIR0_DECA + MCENC_PAB_DIR1_INCA);
if(pinZ == LOW)
{
mcenc_SetIdxCond(mcn, mdn, MCENC_PAB_IDXCOND_Z, MCENC_ICZ0);
_setZPol = true;
}
else
mcenc_SetIdxCond(mcn, mdn, MCENC_PAB_IDXCOND_Z, MCENC_ICZ1);
}
// 2X samplerate cases
else if(mode == MODE_STEP_DIR_x2)
{
// 4 conditions
if(pinB == LOW)
{
mcenc_SetCntMode(mcn, mdn, MCENC_PDIR_DIR0_DECBOTH + MCENC_PDIR_DIR1_INCBOTH);
}
else // all HIGH
{
mcenc_SetCntMode(mcn, mdn, MCENC_PDIR_DIR0_INCBOTH + MCENC_PDIR_DIR1_DECBOTH);
}
if(pinZ == LOW)
{
mcenc_SetIdxCond(mcn, mdn, MCENC_PDIR_IDXCOND_Z, MCENC_ICZ0);
_setZPol = true;
}
else
mcenc_SetIdxCond(mcn, mdn, MCENC_PDIR_IDXCOND_Z, MCENC_ICZ1);
}
else if(mode == MODE_CWCCW_x2)
{
if(pinZ == LOW)
{
mcenc_SetIdxCond(mcn, mdn, MCENC_CWCCW_IDXCOND_Z, MCENC_ICZ0);
_setZPol = true;
}
else
mcenc_SetIdxCond(mcn, mdn, MCENC_CWCCW_IDXCOND_Z, MCENC_ICZ1);
}
else if(mode == MODE_AB_PHASE_x2)
{
if((pinA == LOW && pinB == LOW) || (pinA == HIGH && pinB == HIGH))
mcenc_SetCntMode(mcn, mdn, MCENC_PAB_DIR0_INCAB + MCENC_PAB_DIR1_DECAB);
else
mcenc_SetCntMode(mcn, mdn, MCENC_PAB_DIR0_DECAB + MCENC_PAB_DIR1_INCAB);
if(pinZ == LOW)
{
mcenc_SetIdxCond(mcn, mdn, MCENC_PAB_IDXCOND_Z, MCENC_ICZ0);
_setZPol = true;
}
else
mcenc_SetIdxCond(mcn, mdn, MCENC_PAB_IDXCOND_Z, MCENC_ICZ1);
}
mcsif_Enable(mcn, mdn);
}
