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//! This example shows how to use the PIO module in the RP235x to read a quadrature rotary encoder.
#![no_std]
#![no_main]
use defmt::info;
use embassy_executor::Spawner;
use embassy_rp::bind_interrupts;
use embassy_rp::peripherals::PIO0;
use embassy_rp::pio::{InterruptHandler, Pio};
use embassy_rp::pio_programs::rotary_encoder::{Direction, PioEncoder, PioEncoderProgram};
use {defmt_rtt as _, panic_probe as _};
bind_interrupts!(struct Irqs {
PIO0_IRQ_0 => InterruptHandler<PIO0>;
});
#[embassy_executor::task]
async fn encoder_0(mut encoder: PioEncoder<'static, PIO0, 0>) {
let mut count = 0;
loop {
info!("Count: {}", count);
count += match encoder.read().await {
Direction::Clockwise => 1,
Direction::CounterClockwise => -1,
};
}
}
#[embassy_executor::task]
async fn encoder_1(mut encoder: PioEncoder<'static, PIO0, 1>) {
let mut count = 0;
loop {
info!("Count: {}", count);
count += match encoder.read().await {
Direction::Clockwise => 1,
Direction::CounterClockwise => -1,
};
}
}
#[embassy_executor::main]
async fn main(spawner: Spawner) {
let p = embassy_rp::init(Default::default());
let Pio {
mut common, sm0, sm1, ..
} = Pio::new(p.PIO0, Irqs);
let prg = PioEncoderProgram::new(&mut common);
let encoder0 = PioEncoder::new(&mut common, sm0, p.PIN_4, p.PIN_5, &prg);
let encoder1 = PioEncoder::new(&mut common, sm1, p.PIN_6, p.PIN_7, &prg);
spawner.must_spawn(encoder_0(encoder0));
spawner.must_spawn(encoder_1(encoder1));
}
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