SNS - Keyence Configurable Update Edge

boards/stm32f767zi/src/bin/can_io_recv_test.rs

@@ -13,7 +13,6 @@ use embassy_stm32::can::{
 use embassy_stm32::peripherals::CAN1;
 use embassy_sync::blocking_mutex::raw::NoopRawMutex;
 use embassy_sync::blocking_mutex::Mutex;
-use embassy_time::Timer;
 use hyped_boards_stm32f767zi::io::Stm32f767ziCan;
 use hyped_can::HypedCan;
 use static_cell::StaticCell;

boards/stm32f767zi/src/tasks/read_keyence.rs

@@ -2,6 +2,7 @@ use crate::io::Stm32f767ziGpioInput;
 use embassy_stm32::gpio::Input;
 use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, watch::Sender};
 use embassy_time::{Duration, Timer};
+use hyped_core::types::DigitalSignal;
 use hyped_sensors::keyence::Keyence;
 
 /// Test task that just continually updates the stripe count from the Keyence sensor (or other GPIO pin input)
@@ -10,7 +11,7 @@ pub async fn read_keyence(
     gpio_pin: Input<'static>,
     sender: Sender<'static, CriticalSectionRawMutex, u32, 1>,
 ) -> ! {
-    let mut keyence = Keyence::new(Stm32f767ziGpioInput::new(gpio_pin));
+    let mut keyence = Keyence::new(Stm32f767ziGpioInput::new(gpio_pin), DigitalSignal::High);
 
     loop {
         keyence.update_stripe_count();

boards/stm32l476rg/src/tasks/read_keyence.rs

@@ -2,6 +2,7 @@ use crate::io::Stm32l476rgGpioInput;
 use embassy_stm32::gpio::Input;
 use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, watch::Sender};
 use embassy_time::{Duration, Timer};
+use hyped_core::types::DigitalSignal;
 use hyped_sensors::keyence::Keyence;
 
 /// Test task that just continually updates the stripe count from the Keyence sensor (or other GPIO pin input)
@@ -10,7 +11,7 @@ pub async fn read_keyence(
     gpio_pin: Input<'static>,
     sender: Sender<'static, CriticalSectionRawMutex, u32, 1>,
 ) -> ! {
-    let mut keyence = Keyence::new(Stm32l476rgGpioInput::new(gpio_pin));
+    let mut keyence = Keyence::new(Stm32l476rgGpioInput::new(gpio_pin), DigitalSignal::High);
 
     loop {
         keyence.update_stripe_count();

lib/sensors/src/keyence.rs

@@ -2,23 +2,26 @@ use hyped_core::types::DigitalSignal;
 use hyped_gpio::HypedGpioInputPin;
 
 /// Keyence represents a Keyence sensor which keeps track of the number of stripes that have passed
-/// by the sensor. The Keyence sensor is connected to a GPIO pin which reads a high signal when a
-/// stripe is detected and a low signal when no stripe is detected. The stripe count is updated
-/// whenever the signal changes from low to high (positive edge).
+/// by the sensor. The Keyence sensor is connected to a GPIO pin and the stripe count is updated based
+/// on the signal read from the sensor.
 pub struct Keyence<T: HypedGpioInputPin> {
     /// The number of stripes that have passed by the sensor.
     stripe_count: u32,
     /// The last signal that was read from the sensor.
     last_signal: DigitalSignal,
+    /// Which edge to update the stripe count on.
+    update_on: DigitalSignal,
     gpio: T,
 }
 
 impl<T: HypedGpioInputPin> Keyence<T> {
     /// Creates a new Keyence sensor with an initial stripe count of 0 and a last signal of low.
-    pub fn new(gpio: T) -> Keyence<T> {
+    /// The stripe count will be increase on the update_on signal edge.
+    pub fn new(gpio: T, update_on: DigitalSignal) -> Keyence<T> {
         Keyence {
             stripe_count: 0,
             last_signal: DigitalSignal::Low,
+            update_on,
             gpio,
         }
     }
@@ -28,10 +31,10 @@ impl<T: HypedGpioInputPin> Keyence<T> {
         self.stripe_count
     }
 
-    /// Increments the stripe count if the signal changes from low to high (positive edge).
+    /// Increments the stripe count if the signal changes to the update_on signal.
     pub fn update_stripe_count(&mut self) {
         let current_signal = DigitalSignal::from_bool(self.gpio.is_high());
-        if current_signal == DigitalSignal::High && self.last_signal == DigitalSignal::Low {
+        if current_signal == self.update_on && self.last_signal != self.update_on {
             self.stripe_count += 1;
         }
         self.last_signal = current_signal;
@@ -47,7 +50,7 @@ mod tests {
     #[test]
     fn test_keyence_new() {
         let gpio = MockGpioInput::new(Vec::from_slice(&[DigitalSignal::Low]).unwrap());
-        let keyence = Keyence::new(gpio);
+        let keyence = Keyence::new(gpio, DigitalSignal::High);
         assert_eq!(keyence.get_stripe_count(), 0);
     }
 
@@ -56,7 +59,7 @@ mod tests {
         let gpio = MockGpioInput::new(
             Vec::from_slice(&[DigitalSignal::Low, DigitalSignal::High]).unwrap(),
         );
-        let mut keyence = Keyence::new(gpio);
+        let mut keyence = Keyence::new(gpio, DigitalSignal::High);
 
         keyence.update_stripe_count();
         assert_eq!(keyence.get_stripe_count(), 0);
@@ -69,7 +72,7 @@ mod tests {
         let gpio = MockGpioInput::new(
             Vec::from_slice(&[DigitalSignal::High, DigitalSignal::Low]).unwrap(),
         );
-        let mut keyence = Keyence::new(gpio);
+        let mut keyence = Keyence::new(gpio, DigitalSignal::High);
 
         keyence.update_stripe_count();
         assert_eq!(keyence.get_stripe_count(), 1);
@@ -82,7 +85,7 @@ mod tests {
         let gpio = MockGpioInput::new(
             Vec::from_slice(&[DigitalSignal::High, DigitalSignal::High]).unwrap(),
         );
-        let mut keyence = Keyence::new(gpio);
+        let mut keyence = Keyence::new(gpio, DigitalSignal::High);
 
         keyence.update_stripe_count();
         assert_eq!(keyence.get_stripe_count(), 1);
@@ -94,7 +97,7 @@ mod tests {
     fn test_keyence_update_stripe_count_low_to_low() {
         let gpio =
             MockGpioInput::new(Vec::from_slice(&[DigitalSignal::Low, DigitalSignal::Low]).unwrap());
-        let mut keyence = Keyence::new(gpio);
+        let mut keyence = Keyence::new(gpio, DigitalSignal::High);
 
         keyence.update_stripe_count();
         assert_eq!(keyence.get_stripe_count(), 0);