mimxrt: Update the Qencoder section.

robert-hh · robert-hh · commit 97e2d46cd4c9 · 2021-09-30T16:28:22.000+02:00
diff --git a/docs/mimxrt/machine.QENCD.rst b/docs/mimxrt/machine.QENCD.rst
@@ -27,23 +27,21 @@ Example usage::
 Constructors
 ------------
 
-.. class:: Qencoder(id, input_a, input_b, \*, keyword_arguments)
+.. class:: Qencoder(input_a, input_b, \*, keyword_arguments)
 
     Construct and return a new Qencoder object using the following parameters:
 
-      - *id* is the id of the encoder. Suitable values are 1 and 2 for the i.MXRT102x
-        and 1 to 4 for i.MXRT105x. i.MXRT106x.
       - *input_a* and *input_b* are the Quadrature encoder inputs, which are usually
         :ref:`machine.Pin <machine.Pin>` objects, but a port may allow other values,
         like integers or strings, which designate a Pin in the machine.PIN class.
 
     Keyword arguments:
 
       - *index*\=value. A Pin specifier telling to which pin the index pulse is connected.
-        At an rising slop of the index pulse the position counter is set to the init value
+        At an rising slope of the index pulse the position counter is set to the init value
         and the revolution counter in increased by one.
       - *home*\=value. A Pin specifier telling to which pin the home pulse is connected.
-        At an rising slop of the home pulse the position counter taken as the new init
+        At an rising slope of the home pulse the position counter taken as the new init
         value.
       - *match*\=value. A Pin specifier telling to which pin the match output is connected.
         This output will have a high level as long as the position counter matches the
@@ -75,22 +73,24 @@ Methods
    Modify settings for the Qencoder object.  See the above constructor for details
    about the parameters.
 
-.. method:: Qencoder.deinit([mask])
+.. method:: Qencoder.deinit()
 
    Stops the Qencoder, disables interrupts and releases the resources used by the encoder.
 
-.. method:: Qencoder.value([value])
+.. method:: Qencoder.position([value])
 
    Get or set the current counters of the Qencoder as unsigned integers, with the position
    counter being a 32 bit item, and the revolution and difference counters being 16 bit
    items.
 
-   With no arguments a tuple with the Qencoder counters is returned, consisting of the
-   position counter, the revolution counter and the difference of the position counter since
-   the previous reading.
+   With no arguments the actual counter values are returned. If a cycles value is set,
+   the values are returned as a tuple consisting of the position counter, the
+   revolution counter and the difference of the position counter since
+   the previous reading. If a cycles values not set, the position is returned as an
+   48 bit unsigned integer of the total event count as **revolution \* 2\*\*32 + position**.
 
-   With a single *value* argument the position counter is set to that value and the revolution
-   counter and difference counter are cleared.
+   With a single *value* argument the position counter is set to that value. If a cycles value
+   is set, the revolution counter and difference counter are cleared.
 
 .. method:: Qencoder.compare([value])
 
@@ -160,12 +160,10 @@ Example usage::
 Constructors
 ------------
 
-.. class:: Counter(id, input, \*, keyword_arguments)
+.. class:: Counter(input, \*, keyword_arguments)
 
     Construct and return a new Counter object using the following parameters:
 
-      - *id* is the id of the counter. Suitable values are 1 and 2 for the i.MXRT102x
-        and 1 to 4 for i.MXRT105x. i.MXRT106x.
       - *input*  is the Counter input pin, which is usually a
         :ref:`machine.Pin <machine.Pin>` object, but a port may allow other values,
         like integers or strings, which designate a Pin in the machine.PIN class.
@@ -198,11 +196,11 @@ Methods
    Modify settings for the Counter object.  See the above constructor for details
    about the parameters.
 
-.. method:: Counter.deinit([mask])
+.. method:: Counter.deinit()
 
    Stops the Counter, disables interrupts and releases the resources used by the encoder.
 
-.. method:: Counter.value([value])
+.. method:: Counter.count([value])
 
    Get or set the current counter value of the Counter. The value is returned as a unsigned 48 bit
    integer.
