mirror of
https://github.com/letscontrolit/ESPEasy.git
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269 lines
7.5 KiB
C++
269 lines
7.5 KiB
C++
/*-------------------------------------------------------------------------
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Arduino library to ...
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Written by Jochen Krapf,
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contributions by ... and other members of the open
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source community.
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-------------------------------------------------------------------------
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This file is part of the MechInputs library.
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MechInputs is free software: you can redistribute it and/or modify
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it under the terms of the GNU Lesser General Public License as
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published by the Free Software Foundation, either version 3 of
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the License, or (at your option) any later version.
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MechInputs is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with MechInputs. If not, see
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<http://www.gnu.org/licenses/>.
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-------------------------------------------------------------------------*/
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#include "QEIx4.h"
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#include <limits.h>
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#ifndef CORE_POST_3_0_0
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#ifdef ESP8266
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#define IRAM_ATTR ICACHE_RAM_ATTR
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#endif
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#endif
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#ifdef ESP32
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// Special macros to disable interrupts from within an ISR function.
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//
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// See:
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// Re-added interrupt code again for ESP32:
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// https://github.com/espressif/arduino-esp32/commit/55d608e322443b7ac080b0ab62d5a93f26d2212f
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// However this code cannot be called from an interrupt service routine.
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// See comments at portDISABLE_INTERRUPTS
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# define ISR_noInterrupts() \
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portMUX_TYPE updateMux = portMUX_INITIALIZER_UNLOCKED; \
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portTRY_ENTER_CRITICAL_ISR(&updateMux, 1000);
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# define ISR_interrupts() portEXIT_CRITICAL(&updateMux);
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# endif // ifdef ESP32
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# ifdef ESP8266
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# define ISR_noInterrupts() noInterrupts();
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# define ISR_interrupts() interrupts();
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# endif // ifdef ESP8266
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// bit masks for state machine - don't change!!!
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#define QEIx4_STATE 0xC
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#define QEIx4_MASK 0x1C
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#define QEIx4_1x_INC 0x0100
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#define QEIx4_2x_INC 0x0200
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#define QEIx4_4x_INC 0x0400
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#define QEIx4_1x_DEC 0x1000
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#define QEIx4_2x_DEC 0x2000
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#define QEIx4_4x_DEC 0x4000
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#define QEIx4_1x_MASK 0x11FF
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#define QEIx4_2x_MASK 0x33FF
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#define QEIx4_4x_MASK 0x77FF
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#define QEIx4_DIR 0x20
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#define QEIx4_A 1
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#define QEIx4_B 2
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#define QEIx4_AB 3
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#define QEIx4_S0 0x0
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#define QEIx4_S1 0x4
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#define QEIx4_S2 0x8
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#define QEIx4_S3 0xC
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#define QEIx4_CCW 0
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#define QEIx4_CW 0x10
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#define QEIx4_IS_CHG 0x7700
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#define QEIx4_IS_INC 0x0700
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#define QEIx4_IS_DEC 0x7000
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#define QEIx4_IS_DIR 0x20
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// state machine for decoting - don't change!!!
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uint16_t QEIx4::__stateLUT[32] = {
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// act state S0 in CCW direction
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QEIx4_CCW | QEIx4_S0,
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QEIx4_CW | QEIx4_S1 | QEIx4_A | QEIx4_4x_INC | QEIx4_DIR,
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QEIx4_CCW | QEIx4_S0 | QEIx4_B,
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QEIx4_CCW | QEIx4_S3 | QEIx4_AB | QEIx4_1x_DEC,
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// act state S1 in CCW direction
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QEIx4_CCW | QEIx4_S1,
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QEIx4_CCW | QEIx4_S1 | QEIx4_A,
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QEIx4_CCW | QEIx4_S0 | QEIx4_B | QEIx4_4x_DEC,
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QEIx4_CW | QEIx4_S2 | QEIx4_AB | QEIx4_1x_INC | QEIx4_DIR,
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// act state S2 in CCW direction
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QEIx4_CCW | QEIx4_S1 | QEIx4_2x_DEC,
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QEIx4_CCW | QEIx4_S2 | QEIx4_A,
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QEIx4_CW | QEIx4_S3 | QEIx4_B | QEIx4_4x_INC | QEIx4_DIR,
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QEIx4_CCW | QEIx4_S2 | QEIx4_AB,
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// act state S3 in CCW direction
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QEIx4_CW | QEIx4_S0 | QEIx4_2x_INC | QEIx4_DIR,
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QEIx4_CCW | QEIx4_S2 | QEIx4_A | QEIx4_4x_DEC,
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QEIx4_CCW | QEIx4_S3 | QEIx4_B,
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QEIx4_CCW | QEIx4_S3 | QEIx4_AB,
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// act state S0 in CW direction
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QEIx4_CW | QEIx4_S0,
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QEIx4_CW | QEIx4_S1 | QEIx4_A | QEIx4_4x_INC,
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QEIx4_CW | QEIx4_S0 | QEIx4_B,
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QEIx4_CCW | QEIx4_S3 | QEIx4_AB | QEIx4_1x_DEC | QEIx4_DIR,
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// act state S1 in CW direction
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QEIx4_CW | QEIx4_S1,
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QEIx4_CW | QEIx4_S1 | QEIx4_A,
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QEIx4_CCW | QEIx4_S0 | QEIx4_B | QEIx4_4x_DEC | QEIx4_DIR,
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QEIx4_CW | QEIx4_S2 | QEIx4_AB | QEIx4_1x_INC,
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// act state S2 in CW direction
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QEIx4_CCW | QEIx4_S1 | QEIx4_2x_DEC | QEIx4_DIR,
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QEIx4_CW | QEIx4_S2 | QEIx4_A,
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QEIx4_CW | QEIx4_S3 | QEIx4_B | QEIx4_4x_INC,
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QEIx4_CW | QEIx4_S2 | QEIx4_AB,
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// act state S3 in CW direction
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QEIx4_CW | QEIx4_S0 | QEIx4_2x_INC,
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QEIx4_CCW | QEIx4_S2 | QEIx4_A | QEIx4_4x_DEC | QEIx4_DIR,
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QEIx4_CW | QEIx4_S3 | QEIx4_B,
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QEIx4_CW | QEIx4_S3 | QEIx4_AB
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};
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// Helper for ISR call
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QEIx4* QEIx4::__instance[4] = { 0 };
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//#define DEB(x) printf (x)
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#define DEB(x)
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///////////////////////////////////////////////////////////////////////////////
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QEIx4::QEIx4()
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{
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for (uint8_t i=0; i<4; i++)
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if (__instance[i] == 0)
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{
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__instance[i] = this;
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DEB("::");
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break;
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}
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_pinA = -1;
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_pinB = -1;
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_pinI = -1;
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_state = 0;
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_limitMin = LONG_MIN;
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_limitMax = LONG_MAX;
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}
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///////////////////////////////////////////////////////////////////////////////
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QEIx4::~QEIx4()
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{
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for (uint8_t i=0; i<4; i++)
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if (__instance[i] == this)
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{
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__instance[i] = 0;
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}
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}
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///////////////////////////////////////////////////////////////////////////////
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void QEIx4::begin(int16_t pinA, int16_t pinB, int16_t pinI, uint8_t mode)
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{
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if (_pinA >= 0)
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detachInterrupt(digitalPinToInterrupt(_pinA));
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if (_pinB >= 0)
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detachInterrupt(digitalPinToInterrupt(_pinB));
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_pinA = pinA;
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_pinB = pinB;
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_pinI = pinI;
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_counter = 0;
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_bHasChanged = false;
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if (mode == 1)
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_eventMask = QEIx4_1x_MASK;
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else if (mode == 2)
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_eventMask = QEIx4_2x_MASK;
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else
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_eventMask = QEIx4_4x_MASK;
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pinMode(_pinA, INPUT_PULLUP);
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pinMode(_pinB, INPUT_PULLUP);
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pinMode(_pinI, INPUT_PULLUP);
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if (_pinA >= 0)
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attachInterrupt(digitalPinToInterrupt(_pinA), ISR, CHANGE);
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if (_pinB >= 0)
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attachInterrupt(digitalPinToInterrupt(_pinB), ISR, CHANGE);
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}
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///////////////////////////////////////////////////////////////////////////////
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long QEIx4::read()
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{
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ISR_noInterrupts();
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_bHasChanged = false;
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long ret = _counter;
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ISR_interrupts();
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return ret;
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}
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void QEIx4::loop()
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{
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ISR_noInterrupts();
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processStateMachine();
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ISR_interrupts();
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}
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///////////////////////////////////////////////////////////////////////////////
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void IRAM_ATTR QEIx4::processStateMachine()
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{
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DEB(".");
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_state &= QEIx4_MASK;
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if (digitalRead(_pinA)) _state |= QEIx4_A;
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if (digitalRead(_pinB)) _state |= QEIx4_B;
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_state = __stateLUT[_state]; // magic is done by lookup-table
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_state &= _eventMask;
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if (_state & QEIx4_IS_CHG) { // is any change?
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bool bCounterChange = false;
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if ((_state & QEIx4_IS_INC) && (_counter < _limitMax)) { // has moved foreward?
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_counter++;
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bCounterChange = true;
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DEB("+");
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}
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if ((_state & QEIx4_IS_DEC) && (_counter > _limitMin)) { // has moved backward?
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_counter--;
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bCounterChange = true;
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DEB("-");
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}
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if (_pinI >= 0 && _bIndexTrigger && bCounterChange && digitalRead(_pinI)) { // is index pin triggered?
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_bIndexTrigger = false;
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_counter = 0;
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DEB("I");
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}
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if (bCounterChange) { // has counter changed?
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_bHasChanged = true;
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}
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}
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}
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void IRAM_ATTR QEIx4::ISR()
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{
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for (uint8_t i=0; i<4; i++)
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if (__instance[i])
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{
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__instance[i]->processStateMachine();
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}
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}
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///////////////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////////////
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