void Encoder::_ssiInit(unsigned long bits, unsigned long clk, unsigned long wtime, bool gray2bin) {
_filterAndSampleWindowInit(mcn, mdn);
mcsif_SetMode(mcn, mdn, MCSIF_SSI);
if(clk == 0L) clk = 1000000L; // default value
if(wtime == 0L) wtime = 20L; // default value
if(bits > 32) bits = 32L; // default value
clk = ((100000000L)/(clk))/2L; // = ((1/clk)x1000000x100)/2
wtime = wtime * 100L;
if(wtime <= clk) return;
mcssi_SetClock(mcn, mdn, clk-1L);
mcssi_SetWaitTime(mcn, mdn, wtime-1L);
mcssi_SetLatchPhase(mcn, mdn, MCSSI_LATCH_PHASE0);
mcssi_SetLatchTime(mcn, mdn, 0L);
mcssi_SetNumberBITS(mcn, mdn, bits-1L);
mcssi_SetCntMode(mcn, mdn, MCSSI_CONTINUE);
if(gray2bin == true) mcssi_SetGAY2BINBit(mcn, mdn);
io_DisableINT();
_mcmode[mcn] = MODE_SSI;
io_RestoreINT();
}
void Encoder::_pabInit(int samplerate) {
_filterAndSampleWindowInit(mcn, mdn);
mcsif_SetMode(mcn, mdn, MCSIF_ENC_PAB);
_defaultEncoderSetting(mcn, mdn);
#if defined (DMP_DOS_BC) || (DMP_DOS_DJGPP)
io_DisableINT();
#elif defined (DMP_LINUX)
OSSPINLOCK(encvar);
#endif
if(samplerate == 1)
{
mcenc_SetCntMode(mcn, mdn, MCENC_PAB_DIR0_INCA + MCENC_PAB_DIR1_DECA);
_mcmode[mcn] = MODE_AB_PHASE;
}
else
{
mcenc_SetCntMode(mcn, mdn, MCENC_PAB_DIR0_INCAB + MCENC_PAB_DIR1_DECAB);
_mcmode[mcn] = MODE_AB_PHASE_x2;
}
#if defined (DMP_DOS_BC) || (DMP_DOS_DJGPP)
io_RestoreINT();
#elif defined (DMP_LINUX)
OSSPINUNLOCK(encvar);
#endif
}
void Encoder::_cwccwInit(int samplerate) {
_filterAndSampleWindowInit(mcn, mdn);
mcsif_SetMode(mcn, mdn, MCSIF_ENC_CWCCW);
_defaultEncoderSetting(mcn, mdn);
#if defined (DMP_DOS_BC) || (DMP_DOS_DJGPP)
io_DisableINT();
#elif defined (DMP_LINUX)
OSSPINLOCK(encvar);
#endif
if(samplerate == 1)
{
mcenc_SetCntMode(mcn, mdn, MCENC_CWCCW_CW_INC0TO1 + MCENC_CWCCW_CCW_DEC0TO1);
_mcmode[mcn] = MODE_CWCCW;
}
else
{
mcenc_SetCntMode(mcn, mdn, MCENC_CWCCW_CW_INCBOTH + MCENC_CWCCW_CCW_DECBOTH);
_mcmode[mcn] = MODE_CWCCW_x2;
}
#if defined (DMP_DOS_BC) || (DMP_DOS_DJGPP)
io_RestoreINT();
#elif defined (DMP_LINUX)
OSSPINUNLOCK(encvar);
#endif
}
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::_pabInit(int samplerate) {
_filterAndSampleWindowInit(mcn, mdn);
mcsif_SetMode(mcn, mdn, MCSIF_ENC_PAB);
_defaultEncoderSetting(mcn, mdn);
io_DisableINT();
if(samplerate == 1)
{
mcenc_SetCntMode(mcn, mdn, MCENC_PAB_DIR0_INCA + MCENC_PAB_DIR1_DECA);
_mcmode[mcn] = MODE_AB_PHASE;
}
else
{
mcenc_SetCntMode(mcn, mdn, MCENC_PAB_DIR0_INCAB + MCENC_PAB_DIR1_DECAB);
_mcmode[mcn] = MODE_AB_PHASE_x2;
}
io_RestoreINT();
}
void Encoder::_cwccwInit(int samplerate) {
_filterAndSampleWindowInit(mcn, mdn);
mcsif_SetMode(mcn, mdn, MCSIF_ENC_CWCCW);
_defaultEncoderSetting(mcn, mdn);
io_DisableINT();
if(samplerate == 1)
{
mcenc_SetCntMode(mcn, mdn, MCENC_CWCCW_CW_INC0TO1 + MCENC_CWCCW_CCW_DEC0TO1);
_mcmode[mcn] = MODE_CWCCW;
}
else
{
mcenc_SetCntMode(mcn, mdn, MCENC_CWCCW_CW_INCBOTH + MCENC_CWCCW_CCW_DECBOTH);
_mcmode[mcn] = MODE_CWCCW_x2;
}
io_RestoreINT();
}
void Encoder::_pdirInit(int samplerate) {
_filterAndSampleWindowInit(mcn, mdn);
mcsif_SetMode(mcn, mdn, MCSIF_ENC_PDIR);
_defaultEncoderSetting(mcn, mdn);
io_DisableINT();
if(samplerate == 1)
{
mcenc_SetCntMode(mcn, mdn, MCENC_PDIR_DIR0_INC0TO1 + MCENC_PDIR_DIR1_DEC0TO1);
_mcmode[mcn] = MODE_STEP_DIR;
}
else
{
mcenc_SetCntMode(mcn, mdn, MCENC_PDIR_DIR0_INCBOTH + MCENC_PDIR_DIR1_DECBOTH);
_mcmode[mcn] = MODE_STEP_DIR_x2;
}
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();
}