Raspberry Pi based encoder driver for Copper

This driver is for the Raspberry Pi based encoder driver for Copper.

Compatibility

Any encoder with a base clock + a direction trigger.

Usage

On Linux hardware, provide both GPIO inputs through resource bindings:

resources: [
    (
        id: "enc",
        provider: "cu_linux_resources::LinuxResources",
        config: {
            "gpio_in0_pin": 17,
            "gpio_in1_pin": 18,
        },
    ),
],
tasks: [
    (
        id: "src",
        type: "cu_rp_encoder::Encoder",
        resources: {
            clk_pin: "enc.gpio_in0",
            dat_pin: "enc.gpio_in1",
        },
    ),
]

In mock mode, pins can be supplied through task config:

    tasks: [
        (
            id: "src",
            type: "cu_rp_encoder::Encoder",
            params: {
                clk_pin: 17,
                dat_pin: 18,
            },
        ),
    ]

The clk_pin is the pin for the clock signal and the dat_pin is the pin for the direction signal.

When you connect this driver to the rest of the system you need to use the cu_rp_encoder::EncoderMsg message type.

    cnx: [
        (src: "src",  dst: "dst",   msg: "cu_rp_encoder::EncoderMsg"),
    ],

It has been tested with a Hall effect encoder like this one: