From e6eaf7ac65ed158b1724a4ccd34437cc818db987 Mon Sep 17 00:00:00 2001
From: svollenweider <34137138+svollenweider@users.noreply.github.com>
Date: Thu, 24 Mar 2022 17:30:47 +0100
Subject: [PATCH 1/4] Update ArduinoIOExpander.cpp
---
src/utility/ioexpander/ArduinoIOExpander.cpp | 26 +++++++++++---------
1 file changed, 14 insertions(+), 12 deletions(-)
diff --git a/src/utility/ioexpander/ArduinoIOExpander.cpp b/src/utility/ioexpander/ArduinoIOExpander.cpp
index 3dc1be0..89af7b2 100644
--- a/src/utility/ioexpander/ArduinoIOExpander.cpp
+++ b/src/utility/ioexpander/ArduinoIOExpander.cpp
@@ -88,6 +88,19 @@ void ArduinoIOExpanderClass::initPins()
if (_tca.getAddress() == IO_ADD) {
PinStatus status = SWITCH_OFF;
+ set(IO_WRITE_CH_PIN_00, status);
+ set(IO_WRITE_CH_PIN_01, status);
+ set(IO_WRITE_CH_PIN_02, status);
+ set(IO_WRITE_CH_PIN_03, status);
+ set(IO_WRITE_CH_PIN_04, status);
+ set(IO_WRITE_CH_PIN_05, status);
+ set(IO_WRITE_CH_PIN_06, status);
+ set(IO_WRITE_CH_PIN_07, status);
+ set(IO_WRITE_CH_PIN_08, status);
+ set(IO_WRITE_CH_PIN_09, status);
+ set(IO_WRITE_CH_PIN_10, status);
+ set(IO_WRITE_CH_PIN_11, status);
+
pinMode(IO_WRITE_CH_PIN_00, OUTPUT);
pinMode(IO_WRITE_CH_PIN_01, OUTPUT);
pinMode(IO_WRITE_CH_PIN_02, OUTPUT);
@@ -113,18 +126,7 @@ void ArduinoIOExpanderClass::initPins()
pinMode(IO_READ_CH_PIN_10, INPUT);
pinMode(IO_READ_CH_PIN_11, INPUT);
- set(IO_WRITE_CH_PIN_00, status);
- set(IO_WRITE_CH_PIN_01, status);
- set(IO_WRITE_CH_PIN_02, status);
- set(IO_WRITE_CH_PIN_03, status);
- set(IO_WRITE_CH_PIN_04, status);
- set(IO_WRITE_CH_PIN_05, status);
- set(IO_WRITE_CH_PIN_06, status);
- set(IO_WRITE_CH_PIN_07, status);
- set(IO_WRITE_CH_PIN_08, status);
- set(IO_WRITE_CH_PIN_09, status);
- set(IO_WRITE_CH_PIN_10, status);
- set(IO_WRITE_CH_PIN_11, status);
+
} else {
pinMode(DIN_READ_CH_PIN_00, INPUT);
pinMode(DIN_READ_CH_PIN_01, INPUT);
From 1cdceadb73a4a6ba05c087c3dcea5bc3f3614c72 Mon Sep 17 00:00:00 2001
From: svollenweider <34137138+svollenweider@users.noreply.github.com>
Date: Mon, 23 May 2022 13:20:45 +0200
Subject: [PATCH 2/4] Update QEI.cpp
Added X1 Encoding
---
src/utility/QEI/QEI.cpp | 29 ++++++++++++++++++++++++++---
1 file changed, 26 insertions(+), 3 deletions(-)
diff --git a/src/utility/QEI/QEI.cpp b/src/utility/QEI/QEI.cpp
index 22f32e4..970b1f9 100644
--- a/src/utility/QEI/QEI.cpp
+++ b/src/utility/QEI/QEI.cpp
@@ -152,7 +152,9 @@ QEI::QEI(PinName channelA,
//X4 encoding uses interrupts on channel A,
//and on channel B.
channelA_.rise(mbed::callback(this, &QEI::encode));
- channelA_.fall(mbed::callback(this, &QEI::encode));
+ if(encoding != X1_ENCODING){
+ channelA_.fall(mbed::callback(this, &QEI::encode));
+ }
//If we're using X4 encoding, then attach interrupts to channel B too.
if (encoding == X4_ENCODING) {
@@ -191,6 +193,20 @@ int QEI::getRevolutions(void) {
}
+// +-------------+
+// | X1 Encoding |
+// +-------------+
+//
+// When observing states two patterns will appear:
+//
+// Counter clockwise rotation:
+//
+// 10 -> 10 -> 10 -> 10 -> ...
+//
+// Clockwise rotation:
+//
+// 11 -> 11 -> 11 -> ...
+//
// +-------------+
// | X2 Encoding |
// +-------------+
@@ -243,8 +259,15 @@ void QEI::encode(void) {
//2-bit state.
currState_ = (chanA << 1) | (chanB);
-
- if (encoding_ == X2_ENCODING) {
+
+ if(encoding_ == X1_ENCODING){
+ if(currState_ == 0x3){
+ pulses++;
+ }
+ if(currState_ == 0x2){
+ pulses--;
+ }
+ } else if (encoding_ == X2_ENCODING) {
//11->00->11->00 is counter clockwise rotation or "forward".
if ((prevState_ == 0x3 && currState_ == 0x0) ||
From 1f9f0a884bb6948cb37f9d7e0fc83065637bc209 Mon Sep 17 00:00:00 2001
From: svollenweider <34137138+svollenweider@users.noreply.github.com>
Date: Mon, 23 May 2022 13:22:40 +0200
Subject: [PATCH 3/4] Update QEI.cpp
Fixed Typo
---
src/utility/QEI/QEI.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/utility/QEI/QEI.cpp b/src/utility/QEI/QEI.cpp
index 970b1f9..db767db 100644
--- a/src/utility/QEI/QEI.cpp
+++ b/src/utility/QEI/QEI.cpp
@@ -262,10 +262,10 @@ void QEI::encode(void) {
if(encoding_ == X1_ENCODING){
if(currState_ == 0x3){
- pulses++;
+ pulses_++;
}
if(currState_ == 0x2){
- pulses--;
+ pulses_--;
}
} else if (encoding_ == X2_ENCODING) {
From 29642fe0d8256fcc8f33da9d687f8981a52b02d6 Mon Sep 17 00:00:00 2001
From: svollenweider <34137138+svollenweider@users.noreply.github.com>
Date: Mon, 23 May 2022 13:23:14 +0200
Subject: [PATCH 4/4] Update QEI.h
Added X1_Encoding in header File
---
src/utility/QEI/QEI.h | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/utility/QEI/QEI.h b/src/utility/QEI/QEI.h
index 5ab79d2..8e6fba0 100644
--- a/src/utility/QEI/QEI.h
+++ b/src/utility/QEI/QEI.h
@@ -148,7 +148,7 @@ class QEI {
public:
typedef enum Encoding {
-
+ X1_ENCODING,
X2_ENCODING,
X4_ENCODING