/////////////////////////////////////////////////////////////////////////////
//! Checks for pin changes, and calls given callback function with following parameters:
//! \code
//! void DIN_NotifyToggle(u32 pin, u32 value)
//! \endcode
//! \param[in] _callback pointer to callback function
//! \return < 0 on errors
/////////////////////////////////////////////////////////////////////////////
s32 MIOS32_DIN_Handler(void *_callback)
{
s32 sr;
s32 sr_pin;
u8 changed;
void (*callback)(u32 pin, u32 value) = _callback;
u8 num_sr = MIOS32_SRIO_ScanNumGet();
// no SRIOs?
#if MIOS32_SRIO_NUM_SR == 0
return -1;
#endif
if( num_sr == 0 )
return -1;
// no callback function?
if( _callback == NULL )
return -1;
// check all shift registers for DIN pin changes
for(sr=0; sr<num_sr; ++sr) {
// check if there are pin changes (mask all pins)
changed = MIOS32_DIN_SRChangedGetAndClear(sr, 0xff);
// any pin change at this SR?
if( !changed )
continue;
// check all 8 pins of the SR
for(sr_pin=0; sr_pin<8; ++sr_pin)
if( changed & (1 << sr_pin) ) {
// call the notification function
callback(8*sr+sr_pin, (mios32_srio_din[sr] & (1 << sr_pin)) ? 1 : 0);
// start debouncing (if enabled in SRIO driver)
MIOS32_SRIO_DebounceStart();
}
}
return 0;
}
/////////////////////////////////////////////////////////////////////////////
//! Returns encoder configuration
//! \param[in] encoder encoder number (0..MIOS32_ENC_NUM_MAX-1)
//! \return enc_config.cfg.type encoder type (DISABLED/NON_DETENTED/DETENTED1..3)
//! \return enc_config.cfg.speed encoder speed mode (NORMAL/FAST/SLOW)
//! \return enc_config.cfg.speed_par speed parameter (0-7)
//! \return enc_config.cfg.sr shift register (1-16) or application control (0) for the case that encoders are directly connected to GPIO pins<BR>
//! \return enc_config.cfg.pos pin position of first pin (0, 2, 4 or 6)
/////////////////////////////////////////////////////////////////////////////
mios32_enc_config_t MIOS32_ENC_ConfigGet(u32 encoder)
{
// encoder number valid?
if( encoder >= MIOS32_ENC_NUM_MAX ) {
const mios32_enc_config_t dummy = { .cfg.type=DISABLED, .cfg.speed=NORMAL, .cfg.speed_par=0, .cfg.sr=0, .cfg.pos=0 };
return dummy;
}
return enc_config[encoder];
}
/////////////////////////////////////////////////////////////////////////////
//! This function can be called from an application to update the state of
//! an encoder that isn't connected to the SRIO chain (in this case, the
//! appr. enc_config.cfg.sr field has to be set to 0!)
//!
//! Usage examples can be found in following tutorials: 014b_enc_j5_relative
//! and 015b_enc_j5_absolute
//! \param[in] encoder encoder number (0..MIOS32_ENC_NUM_MAX-1)
//! \param[in] new_state two bits with the new encoder pin values
//! \return < 0 on errors
/////////////////////////////////////////////////////////////////////////////
s32 MIOS32_ENC_StateSet(u32 encoder, u8 new_state)
{
// encoder number valid?
if( encoder >= MIOS32_ENC_NUM_MAX )
return -1; // invalid number
// this operation should be atomic
MIOS32_IRQ_Disable();
enc_state_t *enc_state_ptr = &enc_state[encoder];
enc_state_ptr->last12 = enc_state_ptr->act12;
enc_state_ptr->act12 = new_state;
MIOS32_IRQ_Enable();
return 0; // no error
}
/////////////////////////////////////////////////////////////////////////////
//! This function is only intented for debugging purposes - it returns
//! the current state of the given encoder.
//! \param[in] encoder encoder number (0..MIOS32_ENC_NUM_MAX-1)
//! \return < 0 on errors
/////////////////////////////////////////////////////////////////////////////
s32 MIOS32_ENC_StateGet(u32 encoder)
{
// encoder number valid?
if( encoder >= MIOS32_ENC_NUM_MAX )
return -1; // invalid number
// return current state
return enc_state[encoder].act12;
}
/////////////////////////////////////////////////////////////////////////////
//! This function has to be called after a SRIO scan to update encoder states
//! \return < 0 on errors
/////////////////////////////////////////////////////////////////////////////
s32 MIOS32_ENC_UpdateStates(void)
{
u8 enc;
// check all encoders
// Note: scanning of 64 encoders takes ca. 30 uS @ 72 MHz :-)
for(enc=0; enc<MIOS32_ENC_NUM_MAX; ++enc) {
mios32_enc_config_t *enc_config_ptr = &enc_config[enc];
// skip if encoder not configured
if( enc_config_ptr->cfg.type == DISABLED )
continue;
enc_state_t *enc_state_ptr = &enc_state[enc];
// decrement accelerator until it is zero (used to determine rotation speed)
if( enc_state_ptr->accelerator )
--enc_state_ptr->accelerator;
// take over encoder state from SRIO handler if SR != 0
// (if SR configured with 0 we expect that the state is controlled from application, e.g. by scanning GPIOs)
if( enc_config_ptr->cfg.sr != 0 ) {
// check if encoder state has been changed, and clear changed flags, so that the changes won't be propagated to DIN handler
u8 sr = enc_config_ptr->cfg.sr-1;
u8 pos = enc_config_ptr->cfg.pos;
u8 changed_mask = 3 << pos; // note: by checking mios32_srio_din_changed[sr] directly, we speed up the scanning of unmoved encoders by factor 3!
enc_state_ptr->last12 = enc_state_ptr->act12;
if( (mios32_srio_din_changed[sr] & changed_mask) && MIOS32_DIN_SRChangedGetAndClear(sr, changed_mask) )
enc_state_ptr->act12 = (MIOS32_DIN_SRGet(sr) >> pos) & 3;
}
// new encoder state?
if( enc_state_ptr->last12 != enc_state_ptr->act12 ) {
mios32_enc_type_t enc_type = enc_config_ptr->cfg.type;
s32 predivider;
s32 acc;
// State Machine (own Design from 1999)
// changed 2000-1-5: special "analyse" state which corrects the ENC direction
// if encoder is rotated to fast - I should patent it ;-)
// changed 2009-09-14: new ENC_MODE-format, using Bits of ENC_MODE_xx to
// indicate edges, which trigger Do_Inc / Do_Dec
// if Bit N of ENC_MODE is set, according ENC_STAT triggers Do_Inc / Do_Dec
//
// Bit N 7 6 5 4
// ENC_STAT 8 E 7 1
// DEC <- <- <- <-
// Pin A ____|-------|_______
// Pin B ________|-------|___
// INC -> -> -> ->
// ENC_STAT 2 B D 4
// Bit N 0 1 2 3
// This method is based on ideas from Avogra
if( (enc_state_ptr->state == 0x01 && (enc_type & (1 << 4))) ||
(enc_state_ptr->state == 0x07 && (enc_type & (1 << 5))) ||
(enc_state_ptr->state == 0x0e && (enc_type & (1 << 6))) ||
(enc_state_ptr->state == 0x08 && (enc_type & (1 << 7))) ) {
// DEC
// plausibility check: when accelerator > 0xe0, exit if last event was a INC.
// if non-detented encoder: only do anything if the state has actually changed
if( (enc_state_ptr->decinc || enc_state_ptr->accelerator <= 0xe0) &&
(enc_type != 0xff || enc_state_ptr->state != enc_state_ptr->prev_state_dec) ) {
// memorize DEC
enc_state_ptr->decinc = 1;
// limit maximum increase of accelerator
if( (int)enc_state_ptr->accelerator - (int)enc_state_ptr->prev_acc > 20) {
enc_state_ptr->accelerator = enc_state_ptr->prev_acc + 20;
}
// branch depending on speed mode
switch( enc_config_ptr->cfg.speed ) {
case FAST:
if( (acc=(enc_state_ptr->accelerator >> (7-enc_config_ptr->cfg.speed_par))) == 0 )
acc = 1;
enc_state_ptr->incrementer -= acc;
break;
case SLOW:
predivider = enc_state_ptr->predivider - (enc_config_ptr->cfg.speed_par+1);
// increment on 4bit underrun
if( predivider < 0 )
--enc_state_ptr->incrementer;
enc_state_ptr->predivider = predivider;
break;
default: // NORMAL
--enc_state_ptr->incrementer;
break;
}
// save last acceleration value
enc_state_ptr->prev_acc = enc_state_ptr->accelerator;
// set accelerator to max value (will be decremented on each tick, so that the encoder speed can be determined)
enc_state_ptr->accelerator = 0xff;
// save last state to compare whether the state changed in the next run
enc_state_ptr->prev_state_dec = enc_state_ptr->state;
}
} else if( (enc_state_ptr->state == 0x02 && (enc_type & (1 << 0))) ||
