Encoder support UNO R4 (untested)

tttapa · Sep 3, 2023 · e20e32f · e20e32f
1 parent 6f57a56
commit e20e32f
Show file tree

Hide file tree

Showing 2 changed files with 50 additions and 16 deletions.
diff --git a/src/Submodules/Encoder/AHEncoder.cpp b/src/Submodules/Encoder/AHEncoder.cpp
@@ -6,13 +6,9 @@
 
 BEGIN_CS_NAMESPACE
 
-#if defined(ARDUINO_UNOR4_MINIMA) || defined(ARDUINO_UNOR4_WIFI)
-#define NOT_AN_INTERRUPT 255
-pin_size_t digitalPinToInterrupt(pin_size_t pin) {
-    if (pin == 2 || pin == 3)
-        return ::digitalPinToInterrupt(pin);
-    return NOT_AN_INTERRUPT;
-}
+#ifndef CS_CUSTOM_INTERRUPT_TO_INDEX
+using interrupt_index_t = decltype(digitalPinToInterrupt(0));
+static interrupt_index_t interruptToIndex(interrupt_index_t i) { return i; }
 #endif
 
 AHEncoder::AHEncoder(uint8_t pinA, uint8_t pinB)
@@ -53,18 +49,18 @@ void swap(AHEncoder &a, AHEncoder &b) {
     if (a.interrupts_in_use > 0) {
         int int1 = digitalPinToInterrupt(a.pins[0]);
         if (int1 != NOT_AN_INTERRUPT)
-            AHEncoder::instance_table[int1] = &a;
+            AHEncoder::instance_table[interruptToIndex(int1)] = &a;
         int int2 = digitalPinToInterrupt(a.pins[1]);
         if (int2 != NOT_AN_INTERRUPT)
-            AHEncoder::instance_table[int2] = &a;
+            AHEncoder::instance_table[interruptToIndex(int2)] = &a;
     }
     if (b.interrupts_in_use > 0) {
         int int1 = digitalPinToInterrupt(b.pins[0]);
         if (int1 != NOT_AN_INTERRUPT)
-            AHEncoder::instance_table[int1] = &b;
+            AHEncoder::instance_table[interruptToIndex(int1)] = &b;
         int int2 = digitalPinToInterrupt(b.pins[1]);
         if (int2 != NOT_AN_INTERRUPT)
-            AHEncoder::instance_table[int2] = &b;
+            AHEncoder::instance_table[interruptToIndex(int2)] = &b;
     }
     interrupts();
 }
@@ -110,11 +106,11 @@ void AHEncoder::end() {
 
 void AHEncoder::attachInterruptCtx(int interrupt) {
     if (interrupt != NOT_AN_INTERRUPT) {
-        if (instance_table[interrupt] != nullptr) {
+        if (instance_table[interruptToIndex(interrupt)] != nullptr) {
             FATAL_ERROR(F("Multiple encoders on the same pin"), 0x7283);
             return;
         }
-        instance_table[interrupt] = this;
+        instance_table[interruptToIndex(interrupt)] = this;
         ++interrupts_in_use;
 #ifdef ARDUINO_ARCH_RP2040
         gpio_set_irq_enabled_with_callback(
@@ -124,7 +120,8 @@ void AHEncoder::attachInterruptCtx(int interrupt) {
                     arg->update();
             });
 #else
-        attachInterrupt(interrupt, get_isr(interrupt), CHANGE);
+        attachInterrupt(interrupt, get_isr(interruptToIndex(interrupt)),
+                        CHANGE);
 #endif
     }
 }
@@ -138,7 +135,7 @@ void AHEncoder::detachInterruptCtx(int interrupt) {
         detachInterrupt(interrupt);
 #endif
         --interrupts_in_use;
-        instance_table[interrupt] = nullptr;
+        instance_table[interruptToIndex(interrupt)] = nullptr;
     }
 }
 

diff --git a/src/Submodules/Encoder/NumInterrupts.hpp b/src/Submodules/Encoder/NumInterrupts.hpp
@@ -96,7 +96,44 @@ BEGIN_CS_NAMESPACE
 
 // Arduino UNO R4
 #elif defined(ARDUINO_UNOR4_MINIMA) || defined(ARDUINO_UNOR4_WIFI)
-#define CORE_NUM_INTERRUPT 2
+#define CORE_NUM_INTERRUPT 13
+
+#ifdef NOT_AN_INTERRUPT
+#error                                                                         \
+    "This version of the ArduinoCore-renesas is not supported. Please open an issue on GitHub: https://github.com/tttapa/Control-Surface/issues"
+#endif
+#define NOT_AN_INTERRUPT 255
+constexpr pin_size_t pin_to_interrupt_index[] {
+    0,                // GPIO 0  (P301)                          IRQ6
+    1,                // GPIO 1  (P302)                     IRQ5
+    2,                // GPIO 2  (P104)      IRQ1
+    3,                // GPIO 3  (P105) IRQ0
+    NOT_AN_INTERRUPT, // GPIO 4  (P106) -
+    NOT_AN_INTERRUPT, // GPIO 5  (P107) -
+    4,                // GPIO 6  (P111)                IRQ4
+    NOT_AN_INTERRUPT, // GPIO 7  (P112) -
+    5,                // GPIO 8  (P304)                                    IRQ9
+    NOT_AN_INTERRUPT, // GPIO 9  (P303) -
+    NOT_AN_INTERRUPT, // GPIO 10 (P103) -
+    6,                // GPIO 11 (P411)                IRQ4
+    7,                // GPIO 12 (P410)                     IRQ5
+    NOT_AN_INTERRUPT, // GPIO 13 (P102) -
+    NOT_AN_INTERRUPT, // GPIO 14 (P014) -
+    8,                // GPIO 15 (P000)                          IRQ6
+    9,                // GPIO 16 (P001)                               IRQ7
+    10,               // GPIO 17 (P002)           IRQ2
+    11,               // GPIO 18 (P101)      IRQ1
+    12,               // GPIO 19 (P100)           IRQ2
+};
+inline pin_size_t digitalPinToInterrupt(pin_size_t pin) {
+    if (pin_to_interrupt_index[pin] == NOT_AN_INTERRUPT)
+        return NOT_AN_INTERRUPT;
+    return ::digitalPinToInterrupt(pin);
+}
+inline pin_size_t interruptToIndex(pin_size_t interrupt) {
+    return pin_to_interrupt_index[interrupt];
+}
+#define CS_CUSTOM_INTERRUPT_TO_INDEX 1
 
 // Others
 #else