encCtrl.c

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#include <7040S.H>
#include "encCtrl.h"


void initEnc(void) {
  MTU1.TMDR.BYTE = 0xc4;        /* encoder mode 1 */
  MTU2.TMDR.BYTE = 0xc4;        /* encoder mode 1 */
  MTU.TSTR.BYTE |= 0x06;        /* start count up */

  PFC.PECR2.WORD |= 0x1100;     /* TIOC1A, TIOC2A */
  MTU1.TIOR.BYTE = 0x0a;        /* input capture */
  MTU2.TIOR.BYTE = 0x0a;        /* input capture */

  PFC.PEIOR.WORD &= ~0x0050;    /* use TIOC1A, TIOC2A port */

  PFC.PACRL2.WORD &= ~0xf000;   /* TCLKA, TCLKB */
  PFC.PACRL2.WORD |= 0x5000;
  PFC.PACRL1.WORD &= ~0x000f;   /* TCLKC, TCLKD */
  PFC.PACRL1.WORD |= 0x0005;

  MTU1.TCNT = 0;                /* counter=0 */
  MTU2.TCNT = 0;
  MTU1.TGRA = 0;                /* buffer=0 */
  MTU2.TGRA = 0;
}


static unsigned short getEncValue(const unsigned char id) {
  unsigned short cnt = -1;

  if (id == 0) {
    cnt = MTU1.TGRA;
  } else if (id == 1) {
    cnt = MTU2.TGRA;
  }
  return cnt;
}


void initEncInfo(const unsigned char id, encInfo_t *enc) {
  enc->prev = getEncValue(id);
  enc->id = id;
  enc->enc_direction = ENC_CW_TO_PLUSE;
  enc->diff = 0;
  enc->total = 0;
}


void updateEncDiff(encInfo_t *enc) {

  short now = getEncValue(enc->id);
  enc->diff = enc->enc_direction * (now - enc->prev);
  enc->total += enc->diff;
  enc->prev = now;
}


int getEncDiff(encInfo_t *enc) {
  return enc->diff;
}