void Encoder::attachInterrupt(void (*callback)(int)) {
if(mode == MODE_NOSET) return;
if(mode == MODE_CAPTURE && callback != NULL)
{
if(_pcapfunc[mcn][0] != NULL || _pcapfunc[mcn][1] != NULL || _pcapfunc[mcn][2] != NULL) return;
if(interrupt_init(mcn) == false) return;
mcsif_Disable(mcn, mdn);
io_DisableINT();
_pcapfunc[mcn][0] = callback;
_pcapfunc[mcn][1] = callback;
_pcapfunc[mcn][2] = callback;
io_RestoreINT();
clear_INTSTATUS(mcn);
enable_MCINT(mcn, SIFB_CAP1INTBIT);
enable_MCINT(mcn, SIFB_CAP2INTBIT);
enable_MCINT(mcn, SIFB_CAP3INTBIT);
// Enable interrupt option
for(int i=0; i<3; i++)
{
sifIntMode[i](mcn, mdn, MCPFAU_CAP_BOTH_CLEAR);
sifSetInt[i](mcn, mdn, 1L);
}
mcsif_Enable(mcn, mdn);
_pcapAttchINT = true;
return;
}
if(callback != NULL)
{
if(_encfunc[mcn] != NULL) return;
if(interrupt_init(mcn) == false) return;
mcsif_Disable(mcn, mdn);
io_DisableINT();
_encfunc[mcn] = callback;
io_RestoreINT();
clear_INTSTATUS(mcn);
enable_MCINT(mcn, SIFB_TRIGRESETBIT);
enable_MCINT(mcn, SIFB_USEREVTBIT);
enable_MCINT(mcn, SIFB_PCNT_OV);
enable_MCINT(mcn, SIFB_PCNT_UV);
// Enable interrupt option
mcenc_SetCapInterval(mcn, mdn, 1L);
mcsif_Enable(mcn, mdn);
}
}
void Encoder::setRange(unsigned long val, bool condition) {
if(mode == MODE_NOSET || mode == MODE_CAPTURE || mode == MODE_SSI) return;
if(val == 0L) return;
mcsif_Disable(mcn, mdn);
if(condition == true)
{
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)
io_DisableINT();
_encmode[mcn] |= INTR_OVERFLOW;
_encmode[mcn] |= INTR_UNDERFLOW;
io_RestoreINT();
}
else
{
if((_encmode[mcn] & (INTR_INDEX | INTR_OVERFLOW | INTR_UNDERFLOW)) == 0 && condition == false)
mcenc_SetCapMode(mcn, mdn, MCENC_CAP_PCNT_DISABLE + MCENC_CAP_EXTRIG_DISABLE + MCENC_CAP_IDXCOND_DISABLE);
io_DisableINT();
_encmode[mcn] &= ~(INTR_OVERFLOW);
_encmode[mcn] &= ~(INTR_UNDERFLOW);
io_RestoreINT();
}
mcenc_SetCntMax(mcn, mdn, val);
mcsif_Enable(mcn, mdn);
}
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);
}
void Encoder::begin(int sifmode, unsigned long bits, unsigned long clk, unsigned long wtime, bool gray2bin) {
#if defined (DMP_LINUX)
lockMCMSIF();
if(mode != MODE_NOSET) {unLockMCMSIF(); return;}
#else
if(mode != MODE_NOSET) return;
#endif
OSSPININIT(encvar);
mode = sifmode;
if(mode == MODE_CWCCW) _cwccwInit(1);
else if(mode == MODE_AB_PHASE) _pabInit(1);
else if(mode == MODE_STEP_DIR_x2) _pdirInit(2);
else if(mode == MODE_CWCCW_x2) _cwccwInit(2);
else if(mode == MODE_AB_PHASE_x2) _pabInit(2);
else if(mode == MODE_CAPTURE) _pcapInit();
else if(mode == MODE_SSI) _ssiInit(bits, clk, wtime, gray2bin);
else
{
mode = MODE_STEP_DIR;
_pdirInit(1);
}
open_mcm_crossbar(mcn);
open_encoder_pin(mcn, 0);
open_encoder_pin(mcn, 1);
open_encoder_pin(mcn, 2);
mcsif_Enable(mcn, mdn);
#if defined (DMP_LINUX)
unLockMCMSIF();
#endif
}
void detachInterrupt(uint8_t interruptNum) {
int i;
mc = interruptNum/3;
if(interruptNum >= EXTERNAL_NUM_INTERRUPTS) return;
if(_userfunc[interruptNum] == NULL) return;
mcsif_Disable(mc, md);
sifIntMode[interruptNum%3](mc, md, MCPFAU_CAP_DISABLE);
io_DisableINT();
_userfunc[interruptNum] = NULL;
io_RestoreINT();
for(i=0; i<3; i++)
if(_userfunc[mc*3+i] != NULL) break;
if(i == 3) mcmsif_close(); else mcsif_Enable(mc, md);
for(i=0; i<EXTERNAL_NUM_INTERRUPTS; i++)
if(_userfunc[i] != NULL) break;
if(i == EXTERNAL_NUM_INTERRUPTS)
{
if(irq_UninstallISR(used_irq, (void*)name) == false)
printf("irq_install fail\n");
else
used_irq = 0xff;
}
}
void Encoder::setDigitalFilter(unsigned long width) {
if(mode == MODE_NOSET) return;
if(mode == MODE_CAPTURE && _pcapAttchINT == true) return;
mcsif_Disable(mcn, mdn);
mcsif_SetInputFilter(mcn, mdn, width);
mcsif_Enable(mcn, mdn);
}
DMP_INLINE(int) addIRQEntry(uint8_t interruptNum, void (*callback)(void), int mode, uint32_t timeout)
{
OSSPINLOCK(idc.spinlock);
idc.intr[interruptNum].used = true;
idc.intr[interruptNum].callback = callback;
idc.intr[interruptNum].mode = mode;
idc.intr[interruptNum].start = micros();
idc.intr[interruptNum].timeout = timeout;
pinMode(pin_interrupt[interruptNum], INPUT);
if(mode != LOW && mode != HIGH && timeout == 0)
{
uint16_t crossbar_ioaddr;
int32_t mc = interruptNum/3;
int32_t md = MCSIF_MODULEB;
lockMCMSIF();
if(mcm_init[mc] == false)
mcmsif_init(mc);
crossbar_ioaddr = sb_Read16(0x64)&0xfffe;
if (mc == 0)
io_outpb(crossbar_ioaddr + 2, 0x01); // GPIO port2: 0A, 0B, 0C, 3A
else if (mc == 1)
io_outpb(crossbar_ioaddr + 3, 0x02); // GPIO port3: 1A, 1B, 1C, 3B
else if(mc == 2)
io_outpb(crossbar_ioaddr, 0x03); // GPIO port0: 2A, 2B, 2C, 3C
else if(mc == 3)
{
io_outpb(crossbar_ioaddr + 2, 0x01);
io_outpb(crossbar_ioaddr + 3, 0x02);
io_outpb(crossbar_ioaddr, 0x03);
}
mcsif_Disable(mc, md);
switch (mode)
{
case CHANGE:
sifIntMode[interruptNum%3](mc, md, MCPFAU_CAP_BOTH);
break;
case FALLING:
sifIntMode[interruptNum%3](mc, md, MCPFAU_CAP_1TO0);
break;
case RISING:
sifIntMode[interruptNum%3](mc, md, MCPFAU_CAP_0TO1);
break;
default:
break;
}
// switch crossbar to MCM_SIF_PIN
io_outpb(crossbar_ioaddr + 0x90 + pin_offset[interruptNum], 0x08);//RICH IO
mcsif_Enable(mc, md);
unLockMCMSIF();
}
OSSPINUNLOCK(idc.spinlock);
}
void Encoder::write(unsigned long cnt) {
if(mode == MODE_NOSET || mode == MODE_CAPTURE) return;
mcsif_Disable(mcn, mdn);
if(mode == MODE_SSI)
mcssi_SetPulCnt(mcn, mdn, cnt);
else
mcenc_SetPulCnt(mcn, mdn, cnt);
mcsif_Enable(mcn, mdn);
}
// only for COMPAREMATCH and INDEXRESET condition
void Encoder::detachInterrupt() {
int i;
if(mode == MODE_CAPTURE)
{
if(_pcapfunc[mcn][0] == NULL || _pcapfunc[mcn][1] == NULL || _pcapfunc[mcn][2] == NULL) return;
mcsif_Disable(mcn, mdn);
// Disable interrupt option
for(i=0; i<3; i++) sifSetInt[i](mcn, mdn, 0L);
io_DisableINT();
_pcapfunc[mcn][0] = NULL;
_pcapfunc[mcn][1] = NULL;
_pcapfunc[mcn][2] = NULL;
io_RestoreINT();
_pcapAttchINT = false;
mcsif_Enable(mcn, mdn);
return;
}
if(_encfunc[mcn] == NULL) return;
mcsif_Disable(mcn, mdn);
// Disable interrupt option
mcenc_SetCapInterval(mcn, mdn, 0L);
io_DisableINT();
_encfunc[mcn] = NULL;
_encmode[mcn] &= ~(INTR_COMPARE);
_encmode[mcn] &= ~(INTR_INDEX);
_encmode[mcn] &= ~(INTR_OVERFLOW);
_encmode[mcn] &= ~(INTR_UNDERFLOW);
io_RestoreINT();
// re-enable sif
mcsif_Enable(mcn, mdn);
}
void Encoder::setComparator(unsigned long evncnt, bool condition) {
if(mode == MODE_NOSET || mode == MODE_CAPTURE || mode == MODE_SSI) return;
mcsif_Disable(mcn, mdn);
mcenc_SetCntEvt(mcn, mdn, evncnt);
io_DisableINT();
if(condition == true)
_encmode[mcn] |= INTR_COMPARE;
else
_encmode[mcn] &= ~(INTR_COMPARE);
io_RestoreINT();
mcsif_Enable(mcn, mdn);
}
void Encoder::setDigitalFilter(unsigned long width) {
if(mode == MODE_NOSET) return;
if(mode == MODE_CAPTURE && _pcapAttchINT == true) return;
#if defined (DMP_LINUX)
lockMCMSIF();
#endif
mcsif_Disable(mcn, mdn);
mcsif_SetInputFilter(mcn, mdn, width);
mcsif_Enable(mcn, mdn);
#if defined (DMP_LINUX)
unLockMCMSIF();
#endif
}
void Encoder::write(unsigned long cnt) {
if(mode == MODE_NOSET || mode == MODE_CAPTURE) return;
#if defined (DMP_LINUX)
lockMCMSIF();
#endif
mcsif_Disable(mcn, mdn);
if(mode == MODE_SSI)
mcssi_SetPulCnt(mcn, mdn, cnt);
else
mcenc_SetPulCnt(mcn, mdn, cnt);
mcsif_Enable(mcn, mdn);
#if defined (DMP_LINUX)
unLockMCMSIF();
#endif
}
DMPAPI(void) detachInterrupt(uint8_t interruptNum)
{
#if defined (DMP_LINUX)
if(interruptNum > MAX_INTR_NUM + 1)
return;
OSSPINLOCK(idc.spinlock);
idc.intr[interruptNum].used = false;
uint8_t mc = interruptNum/3;
lockMCMSIF();
if(mc < 4 && !(idc.intr[mc*3].used) && !(idc.intr[mc*3 + 1].used) && !(idc.intr[mc*3 + 2].used))
mcmsif_close(mc);
unLockMCMSIF();
OSSPINUNLOCK(idc.spinlock);
#elif defined (DMP_DOS_DJGPP)
int i;
mc = interruptNum/3;
if(interruptNum >= EXTERNAL_NUM_INTERRUPTS) return;
if(_userfunc[interruptNum] == NULL) return;
mcsif_Disable(mc, md);
sifIntMode[interruptNum%3](mc, md, MCPFAU_CAP_DISABLE);
io_DisableINT();
_userfunc[interruptNum] = NULL;
io_RestoreINT();
for(i=0; i<3; i++)
if(_userfunc[mc*3+i] != NULL) break;
if(i == 3) mcmsif_close(mc);
else mcsif_Enable(mc, md);
for(i=0; i<EXTERNAL_NUM_INTERRUPTS; i++)
if(_userfunc[i] != NULL) break;
if(i == EXTERNAL_NUM_INTERRUPTS)
{
if(irq_UninstallISR(used_irq, (void*)name) == false)
printf("irq_install fail\n");
else
used_irq = 0xff;
}
#endif
}
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::begin(int sifmode, unsigned long bits, unsigned long clk, unsigned long wtime, bool gray2bin) {
if(mode != MODE_NOSET) return;
mode = sifmode;
if(mode == MODE_CWCCW) _cwccwInit(1);
else if(mode == MODE_AB_PHASE) _pabInit(1);
else if(mode == MODE_STEP_DIR_x2) _pdirInit(2);
else if(mode == MODE_CWCCW_x2) _cwccwInit(2);
else if(mode == MODE_AB_PHASE_x2) _pabInit(2);
else if(mode == MODE_CAPTURE) _pcapInit();
else if(mode == MODE_SSI) _ssiInit(bits, clk, wtime, gray2bin);
else
{
mode = MODE_STEP_DIR;
_pdirInit(1);
}
open_mcm_crossbar(mcn);
open_encoder_pin(mcn, 0);
open_encoder_pin(mcn, 1);
open_encoder_pin(mcn, 2);
mcsif_Enable(mcn, mdn);
}
void attachInterrupt(uint8_t interruptNum, void (*userCallBackFunc)(void), int mode) {
unsigned short crossbar_ioaddr;
if(interruptNum >= EXTERNAL_NUM_INTERRUPTS)
{
printf("This interrupt%d has no one pin to use\n", interruptNum);
return;
}
mc = PIN86[INTPINSMAP[interruptNum]].ENCMC;
md = PIN86[INTPINSMAP[interruptNum]].ENCMD;
if(PIN86[INTPINSMAP[interruptNum]].userfunc != NULL) return;
if(interrupt_init() == false) return;
mcmsif_init();
clear_INTSTATUS();
enable_MCINT(0xfc); // SIFB FAULT INT3/2/1 + STAT3/2/1 = 6 bits
crossbar_ioaddr = sb_Read16(0x64)&0xfffe;
mcsif_Disable(mc, md);
io_DisableINT();
PIN86[INTPINSMAP[interruptNum]].userfunc = userCallBackFunc;
io_RestoreINT();
switch (mode)
{
case LOW:
sifSetPol[interruptNum%3](mc, md, MCPFAU_POL_INVERSE);
sifSetMask[interruptNum%3](mc, md, MCPFAU_MASK_INACTIVE);
sifSetRelease[interruptNum%3](mc, md, MCPFAU_FAURELS_FSTAT0);
sifClearStat[interruptNum%3](mc, md);
_usedMode[mc][interruptNum%3] = MCPFAU_CAP_LEVEL0;
clear_INTSTATUS();
break;
case HIGH:
sifSetMask[interruptNum%3](mc, md, MCPFAU_MASK_INACTIVE);
sifSetRelease[interruptNum%3](mc, md, MCPFAU_FAURELS_FSTAT0);
sifClearStat[interruptNum%3](mc, md);
_usedMode[mc][interruptNum%3] = MCPFAU_CAP_LEVEL1;
clear_INTSTATUS();
break;
case CHANGE:
sifIntMode[interruptNum%3](mc, md, MCPFAU_CAP_BOTH);
_usedMode[mc][interruptNum%3] = MCPFAU_CAP_BOTH;
break;
case FALLING:
sifIntMode[interruptNum%3](mc, md, MCPFAU_CAP_1TO0);
_usedMode[mc][interruptNum%3] = MCPFAU_CAP_1TO0;
break;
case RISING:
sifIntMode[interruptNum%3](mc, md, MCPFAU_CAP_0TO1);
_usedMode[mc][interruptNum%3] = MCPFAU_CAP_0TO1;
break;
default:
printf("No support this mode\n");
return;
}
// switch crossbar to MCM_SIF_PIN
io_outpb(crossbar_ioaddr + 0x90 + PIN86[INTPINSMAP[interruptNum]].gpN, 0x08);//RICH IO
mcsif_Enable(mc, md);
// If select level-trigger, switch the MASK to "NONE" after sif is enabled.
switch (mode)
{
case LOW: case HIGH:
sifSetMask[interruptNum%3](mc, md, MCPFAU_MASK_NONE);
break;
default: break;
}
}
void attachInterrupt(uint8_t interruptNum, void (*userFunc)(void), int mode) {
int i;
unsigned short crossbar_ioaddr;
if(interruptNum >= EXTERNAL_NUM_INTERRUPTS)
{
printf("This interrupt%d has no one pin to use\n", interruptNum);
return;
}
mc = interruptNum/3;
md = MCSIF_MODULEB;
if(_userfunc[interruptNum] != NULL) return;
if(interrupt_init() == false) return;
mcmsif_init();
clear_INTSTATUS();
enable_MCINT(0xfc); // SIFB FAULT INT3/2/1 + STAT3/2/1 = 6 bits
crossbar_ioaddr = sb_Read16(0x64)&0xfffe;
if (mc == 0)
io_outpb(crossbar_ioaddr + 2, 0x01); // GPIO port2: 0A, 0B, 0C, 3A
else if (mc == 1)
io_outpb(crossbar_ioaddr + 3, 0x02); // GPIO port3: 1A, 1B, 1C, 3B
else if(mc == 2)
io_outpb(crossbar_ioaddr, 0x03); // GPIO port0: 2A, 2B, 2C, 3C
else if(mc == 3)
{
io_outpb(crossbar_ioaddr + 2, 0x01);
io_outpb(crossbar_ioaddr + 3, 0x02);
io_outpb(crossbar_ioaddr, 0x03);
}
mcsif_Disable(mc, md);
io_DisableINT();
_userfunc[interruptNum] = userFunc;
io_RestoreINT();
switch (mode)
{
case LOW:
sifSetPol[interruptNum%3](mc, md, MCPFAU_POL_INVERSE);
sifSetMask[interruptNum%3](mc, md, MCPFAU_MASK_INACTIVE);
sifSetRelease[interruptNum%3](mc, md, MCPFAU_FAURELS_FSTAT0);
sifClearStat[interruptNum%3](mc, md);
_usedMode[mc][interruptNum%3] = MCPFAU_CAP_LEVEL0;
clear_INTSTATUS();
break;
case HIGH:
sifSetMask[interruptNum%3](mc, md, MCPFAU_MASK_INACTIVE);
sifSetRelease[interruptNum%3](mc, md, MCPFAU_FAURELS_FSTAT0);
sifClearStat[interruptNum%3](mc, md);
_usedMode[mc][interruptNum%3] = MCPFAU_CAP_LEVEL1;
clear_INTSTATUS();
break;
case CHANGE:
sifIntMode[interruptNum%3](mc, md, MCPFAU_CAP_BOTH);
_usedMode[mc][interruptNum%3] = MCPFAU_CAP_BOTH;
break;
case FALLING:
sifIntMode[interruptNum%3](mc, md, MCPFAU_CAP_1TO0);
_usedMode[mc][interruptNum%3] = MCPFAU_CAP_1TO0;
break;
case RISING:
sifIntMode[interruptNum%3](mc, md, MCPFAU_CAP_0TO1);
_usedMode[mc][interruptNum%3] = MCPFAU_CAP_0TO1;
break;
default:
printf("No support this mode\n");
return;
}
// switch crossbar to MCM_SIF_PIN
io_outpb(crossbar_ioaddr + 0x90 + pin_offset[interruptNum], 0x08);//RICH IO
mcsif_Enable(mc, md);
// If select level-trigger, switch the MASK to "NONE" after sif is enabled.
switch (mode)
{
case LOW: case HIGH:
sifSetMask[interruptNum%3](mc, md, MCPFAU_MASK_NONE);
break;
default: break;
}
}
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);
}