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::_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::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);
}
