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/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2015 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <iostream>
#include <string>
#include <stdexcept>
#include "rotaryencoder.h"
using namespace upm;
using namespace std;
RotaryEncoder::RotaryEncoder(int pinA, int pinB)
{
if ( !(m_gpioA = mraa_gpio_init(pinA)) )
{
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_gpio_init(pinA) failed, invalid pin?");
return;
}
mraa_gpio_dir(m_gpioA, MRAA_GPIO_IN);
if ( !(m_gpioB = mraa_gpio_init(pinB)) )
{
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_gpio_init(pinB) failed, invalid pin?");
return;
}
mraa_gpio_dir(m_gpioB, MRAA_GPIO_IN);
m_position = 0;
// setup the ISR
// We would prefer to use MRAA_GPIO_EDGE_BOTH for better resolution,
// but that does not appear to be supported
mraa_gpio_isr(m_gpioA, MRAA_GPIO_EDGE_RISING,
&signalAISR, this);
}
RotaryEncoder::~RotaryEncoder()
{
mraa_gpio_isr_exit(m_gpioA);
mraa_gpio_close(m_gpioA);
mraa_gpio_close(m_gpioB);
}
void RotaryEncoder::initPosition(int count)
{
m_position = count;
}
int RotaryEncoder::position()
{
return m_position;
}
void RotaryEncoder::signalAISR(void *ctx)
{
upm::RotaryEncoder *This = (upm::RotaryEncoder *)ctx;
if (mraa_gpio_read(This->m_gpioA))
{
if (mraa_gpio_read(This->m_gpioB))
This->m_position++; // CW
else
This->m_position--; // CCW
}
}
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