micropython · IhorNehrutsa · Dec 9, 2021
diff --git a/docs/library/machine.Counter.rst b/docs/library/machine.Counter.rst
@@ -0,0 +1,68 @@
+.. currentmodule:: machine
+.. _machine.Counter:
+
+class Counter-- Pulse Counter
+=============================
+
+This class provides access to hardware-supported pulse counting.
+
+It is currently provided for ports:
+
+  * :ref:`ESP32 <esp32_machine.Counter>`
+  * :ref:`MIMXRT <mimxrt_machine.Counter>`
+
+Minimal example usage::
+
+    from machine import Pin, Counter
+
+    counter = Counter(0, src=Pin(0, mode=Pin.IN))  # create Counter object and start to count input pulses
+    counter.init(filter_ns=1000)                   # switch source filtering on
+    value = counter.value(0)                       # get current Counter value, set counter to 0
+    counter.deinit()                               # turn off the Counter
+
+    print(counter)                                 # show the Counter object properties
+
+Constructor
+-----------
+
+.. class:: Counter(id, src=None, \*, direction=Counter.UP, filter_ns=0)
+
+      - *id*. Values of *id* depend on a particular port and its hardware.
+        Values 0, 1, etc. are commonly used to select hardware block #0, #1, etc.
+
+      - *src*. The Counter pulses 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.
+        It may be omitted on ports that have a predefined pin for *id*-specified hardware block.
+
+      - *direction* specifies the direction to count. Values for this include the constants
+        ``Counter.UP`` (default value) and ``Counter.DOWN``. Ports may support additional values or
+        objects, such as a :ref:`machine.Pin <machine.Pin>` object to control the direction externally.
+
+      - *filter_ns* specifies a minimum period of time in nanoseconds that the source signal needs to
+        be stable for a pulse to be counted. Implementations should use the longest filter supported
+        by the hardware that is less than or equal to this value. The default is 0 – no filter.
+
+Methods
+-------
+
+.. method:: Counter.init(*, src, ...)
+
+   Modify the settings of the Counter object. See the **Constructor** for details about the parameters.
+
+.. method:: Counter.deinit()
+
+   Stops the Counter, disables interrupts and releases hardware resources used by the counter.
+   A Soft Reset involve deinitializing all Encoder objects.
+
+.. method:: Counter.value([value])
+
+   Get, and optionally set, the counter value as a signed integer. Implementations should aim to do the get and set atomically.
+
+Constants
+---------
+
+.. data:: Counter.UP
+          Counter.DOWN
+
+   Select the counter direction.
diff --git a/docs/library/machine.Encoder.rst b/docs/library/machine.Encoder.rst
@@ -0,0 +1,60 @@
+.. currentmodule:: machine
+.. _machine.Encoder:
+
+class Encoder -- Quadrature Incremental Encoder
+===============================================
+
+This class provides a hardware-supported Quadrature Incremental Encoder service.
+
+If your port does not support hardware encoder use `Quadrature incremental encoder based on machine.Pin interrupts <https://github.com/IhorNehrutsa/MicroPython-quadrature-incremental-encoder>`_.
+See also Pin-interrupt-based encoders (and problems) from Peter Hinch `Incremental encoders <https://github.com/peterhinch/micropython-samples/blob/master/encoders/ENCODERS.md>`_.
+There is also `Dave Hylands an STM specific hardware-Timer-based solution <https://github.com/dhylands/upy-examples/blob/master/encoder.py>`_.
+
+It is currently provided for ports:
+
+    * :ref:`ESP32 <esp32_machine.Encoder>`
+    * :ref:`MIMXRT <mimxrt_machine.Encoder>`
+
+Minimal example usage::
+
+    from machine import Pin, Encoder
+
+    enc = Encoder(id, phase_a=Pin(0), phase_b=Pin(1))  # create Quadrature Encoder object and start to encode input pulses
+    enc.init(filter_ns=1000)                           # switch source filtering on
+    value = enc.value(0)                               # get current Encoder value, set Encoder to 0
+    enc.deinit()                                       # turn off the Encoder
+
+    print(enc)                                         # show the Encoder object properties
+
+Constructor
+-----------
+
+.. class:: Encoder(id, phase_a=None, phase_b=None, \*, filter_ns=0)
+
+      - *id*. Values of *id* depend on a particular port and its hardware.
+        Values 0, 1, etc. are commonly used to select hardware block #0, #1, etc.
+
+      - *phase_a* and *phase_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.
+        They may be omitted on ports that have predefined pins for *id*-specified hardware block.
+
+      - *filter_ns* specifies a minimum period of time in nanoseconds that the source signal needs to
+        be stable for a pulse to be counted. Implementations should use the longest filter supported
+        by the hardware that is less than or equal to this value. The default is 0 – no filter.
+
+Methods
+-------
+
+.. method:: Encoder.init(*, phase_a, ...)
+
+   Modify the settings of the Encoder object. See the **Constructor** for details about the parameters.
+
+.. method:: Encoder.deinit()
+
+   Stops the Encoder, disables interrupts and releases hardware resources used by the encoder.
+   A Soft Reset involve deinitializing all Encoder objects.
+
+.. method:: Encoder.value([value])
+
+   Get, and optionally set, the counter value as a signed integer. Implementations should aim to do the get and set atomically.
diff --git a/docs/library/machine.rst b/docs/library/machine.rst
@@ -267,6 +267,8 @@ Classes
    machine.I2S.rst
    machine.RTC.rst
    machine.Timer.rst
+   machine.Counter.rst
+   machine.Encoder.rst
    machine.WDT.rst
    machine.SD.rst
    machine.SDCard.rst