added basic code

1 files changed, 206 insertions, 0 deletions

diff --git a/arduino/libraries/RotaryEncoder/RotaryEncoder.cpp b/arduino/libraries/RotaryEncoder/RotaryEncoder.cpp
new file mode 100755
index 0000000..64e612a
--- /dev/null
+++ b/arduino/libraries/RotaryEncoder/RotaryEncoder.cpp
@@ -0,0 +1,206 @@
+/**************************************************************************/
+/*!
+    @file     HardwareEncoder.cpp
+    @author   hathach (tinyusb.org)
+
+    @section LICENSE
+
+    Software License Agreement (BSD License)
+
+    Copyright (c) 2018, Adafruit Industries (adafruit.com)
+    All rights reserved.
+
+    Redistribution and use in source and binary forms, with or without
+    modification, are permitted provided that the following conditions are met:
+    1. Redistributions of source code must retain the above copyright
+    notice, this list of conditions and the following disclaimer.
+    2. Redistributions in binary form must reproduce the above copyright
+    notice, this list of conditions and the following disclaimer in the
+    documentation and/or other materials provided with the distribution.
+    3. Neither the name of the copyright holders nor the
+    names of its contributors may be used to endorse or promote products
+    derived from this software without specific prior written permission.
+
+    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
+    EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+    WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+    DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+    DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+    (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+    LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+    ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+    (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+    SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+/**************************************************************************/
+
+#include "RotaryEncoder.h"
+
+class HwRotaryEncoder RotaryEncoder;
+
+extern "C"
+{
+  void QDEC_IRQHandler(void);
+}
+
+/**
+ * Initialize Hardware Encoder
+ */
+void HwRotaryEncoder::begin(uint8_t pina, uint8_t pinb, int8_t pinled)
+{
+  // default sample period
+  NRF_QDEC->SAMPLEPER = QDEC_SAMPLEPER_SAMPLEPER_128us;
+
+  pinMode(pina, INPUT_PULLUP);
+  pinMode(pinb, INPUT_PULLUP);
+
+  NRF_QDEC->PSEL.A = g_ADigitalPinMap[pina];
+  NRF_QDEC->PSEL.B = g_ADigitalPinMap[pinb];
+
+  if ( pinled >= 0 )
+  {
+    pinMode(pinled, INPUT);
+
+    NRF_QDEC->PSEL.LED = g_ADigitalPinMap[pinled];
+  }
+
+  // Disable debounce by default
+  NRF_QDEC->DBFEN = 0;
+
+  // Reporter is disabled by default
+
+}
+
+void HwRotaryEncoder::start(void)
+{
+  // Enable IRQ
+  if ( NRF_QDEC->INTENSET )
+  {
+    NVIC_ClearPendingIRQ(QDEC_IRQn);
+    NVIC_EnableIRQ(QDEC_IRQn);
+  }
+
+  // Enable
+  NRF_QDEC->ENABLE = 1;
+
+  // Start
+  NRF_QDEC->TASKS_START = 1;
+}
+
+void HwRotaryEncoder::stop(void)
+{
+  if ( NRF_QDEC->INTENSET )
+  {
+    NVIC_DisableIRQ(QDEC_IRQn);
+  }
+
+  // Stop
+  NRF_QDEC->TASKS_STOP = 1;
+
+  // Disable
+  NRF_QDEC->ENABLE = 0;
+}
+
+
+/**
+ * * @param sample_period
+ * @param period value is QDEC_SAMPLEPER_SAMPLEPER_xxx in nrf52_bitfields.h
+ */
+void HwRotaryEncoder::setSampler(uint8_t period)
+{
+  NRF_QDEC->SAMPLEPER = period;
+}
+
+void HwRotaryEncoder::setDebounce(bool enable)
+{
+  NRF_QDEC->DBFEN = enable;
+}
+
+void HwRotaryEncoder::setReporter(int8_t sample_num)
+{
+  // Disable
+  if (sample_num < 0)
+  {
+    NRF_QDEC->INTENCLR = QDEC_INTENCLR_REPORTRDY_Msk;
+    NRF_QDEC->SHORTS  &= ~QDEC_SHORTS_REPORTRDY_READCLRACC_Msk;
+  }else
+  {
+    NRF_QDEC->REPORTPER = sample_num;
+    NRF_QDEC->INTENSET  = QDEC_INTENSET_REPORTRDY_Msk;
+
+    // shortcut
+    NRF_QDEC->SHORTS |= QDEC_SHORTS_REPORTRDY_READCLRACC_Msk;
+  }
+}
+
+void HwRotaryEncoder::setCallback(callback_t fp)
+{
+  _cb = fp;
+
+  if (fp)
+  {
+    NRF_QDEC->INTENSET = QDEC_INTENSET_SAMPLERDY_Msk;
+  }else
+  {
+    NRF_QDEC->INTENCLR = QDEC_INTENCLR_SAMPLERDY_Msk;
+  }
+}
+
+int32_t HwRotaryEncoder::read(void)
+{
+  // Trigger READ CLR ACC
+  NRF_QDEC->TASKS_RDCLRACC = 1;
+
+  // Nordic QDEC CW is negative, CCW is positive --> invert
+  int32_t val = -(NRF_QDEC->ACCREAD);
+
+  // Add to absolute value and buffered step
+  _abs += val;
+
+  int32_t diff = (_abs - _last) / 2;
+
+  if ( diff ) _last = _abs;
+  return diff;
+}
+
+int32_t HwRotaryEncoder::readDebug(void)
+{
+  return _abs;
+}
+
+int32_t HwRotaryEncoder::readAbs(void)
+{
+  // first update the abs value
+  read();
+
+  return _abs/2;
+}
+
+void HwRotaryEncoder::writeAbs(int32_t value)
+{
+  _abs = value;
+}
+
+void HwRotaryEncoder::clearAbs(void)
+{
+  _abs = 0;
+}
+
+void HwRotaryEncoder::_irq_handler(void)
+{
+  if ( (NRF_QDEC->INTENSET & QDEC_INTENSET_SAMPLERDY_Msk) && NRF_QDEC->EVENTS_SAMPLERDY )
+  {
+    NRF_QDEC->EVENTS_SAMPLERDY = 0;
+
+    if ( _cb )
+    {
+      int32_t step = read();
+      if ( step ) ada_callback_fromISR(NULL, _cb, step);
+    }
+  }
+}
+
+void QDEC_IRQHandler(void)
+{
+  RotaryEncoder._irq_handler();
+}