From 0062b279bd09a0b7fac68b70bf95b6d79bae0cfd Mon Sep 17 00:00:00 2001
From: jiander-snap <janderson@snaptron.com>
Date: Tue, 22 Jul 2025 06:56:45 -0600
Subject: [PATCH 1/8] Add method to change encoder encoding type. (#29)

* Add method to change encoder encoding type.

* Restore encoding default.
---
 src/EncoderClass.cpp    |  9 +++++++++
 src/EncoderClass.h      | 10 ++++++++++
 src/utility/QEI/QEI.cpp | 32 +++++++++++++++++++-------------
 src/utility/QEI/QEI.h   |  7 +++++++
 4 files changed, 45 insertions(+), 13 deletions(-)

diff --git a/src/EncoderClass.cpp b/src/EncoderClass.cpp
index 3fe546f..7308f07 100644
--- a/src/EncoderClass.cpp
+++ b/src/EncoderClass.cpp
@@ -63,5 +63,14 @@ int EncoderClass::getRevolutions(int channel) {
     }
 }
 
+void EncoderClass::setEncoding(int channel, QEI::Encoding encoding) {
+    switch (channel) {
+        case 0:
+            return _enc0.setEncoding(encoding);
+        case 1:
+            return _enc1.setEncoding(encoding);
+    }
+}
+
 EncoderClass MachineControl_Encoders;
 /**** END OF FILE ****/
\ No newline at end of file
diff --git a/src/EncoderClass.h b/src/EncoderClass.h
index ecb18d1..3f76085 100644
--- a/src/EncoderClass.h
+++ b/src/EncoderClass.h
@@ -94,6 +94,16 @@ class EncoderClass {
      */
     int getRevolutions(int channel);
 
+    /**
+     * @brief Set the encoding type for the specified encoder channel.
+     * 
+     * This method changes the encoding type from the default X2_ENCODING.
+     * 
+     * @param channel The encoder channel (0 or 1) to be changed.
+     * @param encoding The encoding type.
+     */
+    void setEncoding(int channel, QEI::Encoding encoding);
+
 private:
     QEI _enc0;  // QEI object for encoder 0
     QEI _enc1;  // QEI object for encoder 1
diff --git a/src/utility/QEI/QEI.cpp b/src/utility/QEI/QEI.cpp
index db767db..7ef3f57 100644
--- a/src/utility/QEI/QEI.cpp
+++ b/src/utility/QEI/QEI.cpp
@@ -148,19 +148,7 @@ QEI::QEI(PinName channelA,
     currState_ = (chanA << 1) | (chanB);
     prevState_ = currState_;
 
-    //X2 encoding uses interrupts on only channel A.
-    //X4 encoding uses interrupts on      channel A,
-    //and on channel B.
-    channelA_.rise(mbed::callback(this, &QEI::encode));
-    if(encoding != X1_ENCODING){
-        channelA_.fall(mbed::callback(this, &QEI::encode));
-    }
-
-    //If we're using X4 encoding, then attach interrupts to channel B too.
-    if (encoding == X4_ENCODING) {
-        channelB_.rise(mbed::callback(this, &QEI::encode));
-        channelB_.fall(mbed::callback(this, &QEI::encode));
-    }
+    setEncoding(encoding);
     //Index is optional.
     if (index !=  NC) {
         index_.rise(mbed::callback(this, &QEI::index));
@@ -193,6 +181,24 @@ int QEI::getRevolutions(void) {
 
 }
 
+void QEI::setEncoding(Encoding encoding) {
+    //X2 encoding uses interrupts on only channel A.
+    //X4 encoding uses interrupts on      channel A,
+    //and on channel B.
+    channelA_.rise(mbed::callback(this, &QEI::encode));
+    if(encoding != X1_ENCODING){
+        channelA_.fall(mbed::callback(this, &QEI::encode));
+    } else {
+        channelA_.fall(0);
+    }
+
+    //If we're using X4 encoding, then attach interrupts to channel B too.
+    if (encoding == X4_ENCODING) {
+        channelB_.rise(mbed::callback(this, &QEI::encode));
+        channelB_.fall(mbed::callback(this, &QEI::encode));
+    }
+}
+
 // +-------------+
 // | X1 Encoding |
 // +-------------+
diff --git a/src/utility/QEI/QEI.h b/src/utility/QEI/QEI.h
index 8e6fba0..caa449d 100644
--- a/src/utility/QEI/QEI.h
+++ b/src/utility/QEI/QEI.h
@@ -208,6 +208,13 @@ class QEI {
      */
     int getRevolutions(void);
 
+    /**
+     * Set the ecoding type of the encoder.
+     * 
+     * Changes the type of encoding used by the encoder from the default X2_ENCODING.
+     */
+    void setEncoding(Encoding encoding);
+
 private:
 
     /**

From 4ae895c814cfc783d89c317fb8386973679ed79b Mon Sep 17 00:00:00 2001
From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com>
Date: Wed, 6 Aug 2025 17:20:46 +0000
Subject: [PATCH 2/8] Bump actions/download-artifact from 4 to 5

Bumps [actions/download-artifact](https://github.com/actions/download-artifact) from 4 to 5.
- [Release notes](https://github.com/actions/download-artifact/releases)
- [Commits](https://github.com/actions/download-artifact/compare/v4...v5)

---
updated-dependencies:
- dependency-name: actions/download-artifact
  dependency-version: '5'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
---
 .github/workflows/sync-labels.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/sync-labels.yml b/.github/workflows/sync-labels.yml
index 53a9f54..72ec06b 100644
--- a/.github/workflows/sync-labels.yml
+++ b/.github/workflows/sync-labels.yml
@@ -108,7 +108,7 @@ jobs:
         uses: actions/checkout@v4
 
       - name: Download configuration files artifact
-        uses: actions/download-artifact@v4
+        uses: actions/download-artifact@v5
         with:
           name: ${{ env.CONFIGURATIONS_ARTIFACT }}
           path: ${{ env.CONFIGURATIONS_FOLDER }}

From d53d823584210b91a498324921960d5c9004502e Mon Sep 17 00:00:00 2001
From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com>
Date: Tue, 12 Aug 2025 01:09:22 +0000
Subject: [PATCH 3/8] Bump actions/checkout from 4 to 5

Bumps [actions/checkout](https://github.com/actions/checkout) from 4 to 5.
- [Release notes](https://github.com/actions/checkout/releases)
- [Changelog](https://github.com/actions/checkout/blob/main/CHANGELOG.md)
- [Commits](https://github.com/actions/checkout/compare/v4...v5)

---
updated-dependencies:
- dependency-name: actions/checkout
  dependency-version: '5'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
---
 .github/workflows/check-arduino.yml    | 2 +-
 .github/workflows/compile-examples.yml | 2 +-
 .github/workflows/spell-check.yml      | 2 +-
 .github/workflows/sync-labels.yml      | 4 ++--
 4 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/check-arduino.yml b/.github/workflows/check-arduino.yml
index e818685..e13b990 100644
--- a/.github/workflows/check-arduino.yml
+++ b/.github/workflows/check-arduino.yml
@@ -16,7 +16,7 @@ jobs:
 
     steps:
       - name: Checkout repository
-        uses: actions/checkout@v4
+        uses: actions/checkout@v5
 
       - name: Arduino Lint
         uses: arduino/arduino-lint-action@v2
diff --git a/.github/workflows/compile-examples.yml b/.github/workflows/compile-examples.yml
index b03232d..bcbd662 100644
--- a/.github/workflows/compile-examples.yml
+++ b/.github/workflows/compile-examples.yml
@@ -34,7 +34,7 @@ jobs:
 
     steps:
       - name: Checkout repository
-        uses: actions/checkout@v4
+        uses: actions/checkout@v5
 
       - name: Compile example sketches
         uses: arduino/compile-sketches@v1
diff --git a/.github/workflows/spell-check.yml b/.github/workflows/spell-check.yml
index ef7d894..19f5d38 100644
--- a/.github/workflows/spell-check.yml
+++ b/.github/workflows/spell-check.yml
@@ -16,7 +16,7 @@ jobs:
 
     steps:
       - name: Checkout repository
-        uses: actions/checkout@v4
+        uses: actions/checkout@v5
 
       - name: Spell check
         uses: codespell-project/actions-codespell@master
diff --git a/.github/workflows/sync-labels.yml b/.github/workflows/sync-labels.yml
index 72ec06b..62c898a 100644
--- a/.github/workflows/sync-labels.yml
+++ b/.github/workflows/sync-labels.yml
@@ -27,7 +27,7 @@ jobs:
 
     steps:
       - name: Checkout repository
-        uses: actions/checkout@v4
+        uses: actions/checkout@v5
 
       - name: Download JSON schema for labels configuration file
         id: download-schema
@@ -105,7 +105,7 @@ jobs:
           echo "::set-output name=flag::--dry-run"
 
       - name: Checkout repository
-        uses: actions/checkout@v4
+        uses: actions/checkout@v5
 
       - name: Download configuration files artifact
         uses: actions/download-artifact@v5

From 52edbcff5a56f6164081bbaeb9961f630306b561 Mon Sep 17 00:00:00 2001
From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com>
Date: Mon, 27 Oct 2025 17:23:04 +0000
Subject: [PATCH 4/8] Bump actions/upload-artifact from 4 to 5

Bumps [actions/upload-artifact](https://github.com/actions/upload-artifact) from 4 to 5.
- [Release notes](https://github.com/actions/upload-artifact/releases)
- [Commits](https://github.com/actions/upload-artifact/compare/v4...v5)

---
updated-dependencies:
- dependency-name: actions/upload-artifact
  dependency-version: '5'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
---
 .github/workflows/compile-examples.yml | 2 +-
 .github/workflows/sync-labels.yml      | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/compile-examples.yml b/.github/workflows/compile-examples.yml
index bcbd662..deceb19 100644
--- a/.github/workflows/compile-examples.yml
+++ b/.github/workflows/compile-examples.yml
@@ -54,7 +54,7 @@ jobs:
           github-token: ${{ secrets.GITHUB_TOKEN }}
 
       - name: Save memory usage change report as artifact
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v5
         with:
           if-no-files-found: error
           path: ${{ env.SKETCHES_REPORTS_PATH }}
diff --git a/.github/workflows/sync-labels.yml b/.github/workflows/sync-labels.yml
index 62c898a..23a751a 100644
--- a/.github/workflows/sync-labels.yml
+++ b/.github/workflows/sync-labels.yml
@@ -70,7 +70,7 @@ jobs:
           file-url: https://raw.githubusercontent.com/arduino/tooling-project-assets/main/workflow-templates/assets/sync-labels/${{ matrix.filename }}
 
       - name: Pass configuration files to next job via workflow artifact
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v5
         with:
           path: |
             *.yaml

From e3996b88789855b62e376c6b2e3833ec05e9f61a Mon Sep 17 00:00:00 2001
From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com>
Date: Mon, 27 Oct 2025 17:37:05 +0000
Subject: [PATCH 5/8] Bump actions/download-artifact from 5 to 6

Bumps [actions/download-artifact](https://github.com/actions/download-artifact) from 5 to 6.
- [Release notes](https://github.com/actions/download-artifact/releases)
- [Commits](https://github.com/actions/download-artifact/compare/v5...v6)

---
updated-dependencies:
- dependency-name: actions/download-artifact
  dependency-version: '6'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
---
 .github/workflows/sync-labels.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/sync-labels.yml b/.github/workflows/sync-labels.yml
index 62c898a..96b9914 100644
--- a/.github/workflows/sync-labels.yml
+++ b/.github/workflows/sync-labels.yml
@@ -108,7 +108,7 @@ jobs:
         uses: actions/checkout@v5
 
       - name: Download configuration files artifact
-        uses: actions/download-artifact@v5
+        uses: actions/download-artifact@v6
         with:
           name: ${{ env.CONFIGURATIONS_ARTIFACT }}
           path: ${{ env.CONFIGURATIONS_FOLDER }}

From e962b4c007a1847d38cb6b5afb4eed63e9b973ff Mon Sep 17 00:00:00 2001
From: svollenweider <34137138+svollenweider@users.noreply.github.com>
Date: Thu, 20 Nov 2025 18:23:18 +0100
Subject: [PATCH 6/8] Add `config` parameter to RS485 initialization  (#27)

* Update RS485CommClass.cpp

Added RS485Config

* Update RS485CommClass.h

* Update RS485_fullduplex.ino

* Update RS485_halfduplex.ino

* Removed = in cpp
---
 examples/RS485_fullduplex/RS485_fullduplex.ino | 4 ++--
 examples/RS485_halfduplex/RS485_halfduplex.ino | 4 ++--
 src/RS485CommClass.cpp                         | 6 +++---
 src/RS485CommClass.h                           | 3 ++-
 4 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/examples/RS485_fullduplex/RS485_fullduplex.ino b/examples/RS485_fullduplex/RS485_fullduplex.ino
index 71a9dd4..ff4dbe6 100644
--- a/examples/RS485_fullduplex/RS485_fullduplex.ino
+++ b/examples/RS485_fullduplex/RS485_fullduplex.ino
@@ -38,7 +38,7 @@ void setup() {
     // - Half Duplex
     // - No A/B and Y/Z 120 Ohm termination enabled
     // Enable the RS485/RS232 system
-    MachineControl_RS485Comm.begin(115200, 0, 500); // Specify baudrate, and preamble and postamble times for RS485 communication
+    MachineControl_RS485Comm.begin(115200, SERIAL_8N1, 0, 500); // Specify baudrate, serial_config and preamble and postamble times for RS485 communication
 
     // Enable Full Duplex mode
     // This will also enable A/B and Y/Z 120 Ohm termination resistors
@@ -70,4 +70,4 @@ void loop() {
 
         sendNow = millis() + sendInterval;
     }
-}
\ No newline at end of file
+}
diff --git a/examples/RS485_halfduplex/RS485_halfduplex.ino b/examples/RS485_halfduplex/RS485_halfduplex.ino
index 6bb6a36..9da354a 100644
--- a/examples/RS485_halfduplex/RS485_halfduplex.ino
+++ b/examples/RS485_halfduplex/RS485_halfduplex.ino
@@ -37,7 +37,7 @@ void setup() {
     // - Half Duplex
     // - No A/B and Y/Z 120 Ohm termination enabled
     // Enable the RS485/RS232 system
-    MachineControl_RS485Comm.begin(115200, 0, 500); // Specify baudrate, and preamble and postamble times for RS485 communication
+    MachineControl_RS485Comm.begin(115200, SERIAL_8N1, 0, 500); // Specify baudrate, serial config and preamble and postamble times for RS485 communication
 
     // Start in receive mode
     MachineControl_RS485Comm.receive();
@@ -65,4 +65,4 @@ void loop() {
 
         sendNow = millis() + sendInterval;
     }
-}
\ No newline at end of file
+}
diff --git a/src/RS485CommClass.cpp b/src/RS485CommClass.cpp
index 4cd4b75..c7afa6d 100644
--- a/src/RS485CommClass.cpp
+++ b/src/RS485CommClass.cpp
@@ -17,7 +17,7 @@ RS485CommClass::RS485CommClass(arduino::UART& uart_itf, PinName rs_tx_pin, PinNa
 RS485CommClass::~RS485CommClass() 
 { }
 
-void RS485CommClass::begin(unsigned long baudrate, int predelay, int postdelay) {
+void RS485CommClass::begin(unsigned long baudrate, uint16_t config, int predelay, int postdelay) {
     /* Pinout configuration */
     pinMode(PinNameToIndex(MC_RS485_TX_PIN), OUTPUT);
     pinMode(PinNameToIndex(MC_RS485_RX_PIN), OUTPUT);
@@ -45,7 +45,7 @@ void RS485CommClass::begin(unsigned long baudrate, int predelay, int postdelay)
     _enable();
 
     /* Call begin() base class to initialize RS485 communication */
-    RS485Class::begin(baudrate, predelay, postdelay);
+    RS485Class::begin(baudrate, config, predelay, postdelay);
 
 	return;
 }
@@ -92,4 +92,4 @@ void RS485CommClass::_disable() {
 
 arduino::UART 	_UART4_	{MC_RS485_TX_PIN, MC_RS485_RX_PIN, NC, NC};
 RS485CommClass MachineControl_RS485Comm(_UART4_);
-/**** END OF FILE ****/
\ No newline at end of file
+/**** END OF FILE ****/
diff --git a/src/RS485CommClass.h b/src/RS485CommClass.h
index b518533..a87d91e 100644
--- a/src/RS485CommClass.h
+++ b/src/RS485CommClass.h
@@ -54,10 +54,11 @@ class RS485CommClass : public RS485Class {
          * This method initializes the RS485 communication protocol with the specified baud rate and pre/post delays.
          *
          * @param baudrate The desired baud rate for the RS485 communication.
+         * @param config The desired Serial config (bits, parity and stopbits), see HardwareSerial.h
          * @param predelay The delay before sending data in the RS485 communication (default: RS485_DEFAULT_PRE_DELAY).
          * @param postdelay The delay after sending data in the RS485 communication (default: RS485_DEFAULT_POST_DELAY).
          */
-        void begin(unsigned long baudrate = 115200, int predelay = RS485_DEFAULT_PRE_DELAY, int postdelay = RS485_DEFAULT_POST_DELAY);
+        void begin(unsigned long baudrate = 115200, uint16_t config = SERIAL_8N1, int predelay = RS485_DEFAULT_PRE_DELAY, int postdelay = RS485_DEFAULT_POST_DELAY);
 
         /**
          * @brief Close the RS485 communication protocol.

From 54daa464fe1d6c2a82e2f9b48c99ff6b0d819dd1 Mon Sep 17 00:00:00 2001
From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com>
Date: Thu, 20 Nov 2025 18:24:26 +0100
Subject: [PATCH 7/8] Bump actions/checkout from 5 to 6 (#34)

Bumps [actions/checkout](https://github.com/actions/checkout) from 5 to 6.
- [Release notes](https://github.com/actions/checkout/releases)
- [Changelog](https://github.com/actions/checkout/blob/main/CHANGELOG.md)
- [Commits](https://github.com/actions/checkout/compare/v5...v6)

---
updated-dependencies:
- dependency-name: actions/checkout
  dependency-version: '6'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
---
 .github/workflows/check-arduino.yml    | 2 +-
 .github/workflows/compile-examples.yml | 2 +-
 .github/workflows/spell-check.yml      | 2 +-
 .github/workflows/sync-labels.yml      | 4 ++--
 4 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/check-arduino.yml b/.github/workflows/check-arduino.yml
index e13b990..97b2bf2 100644
--- a/.github/workflows/check-arduino.yml
+++ b/.github/workflows/check-arduino.yml
@@ -16,7 +16,7 @@ jobs:
 
     steps:
       - name: Checkout repository
-        uses: actions/checkout@v5
+        uses: actions/checkout@v6
 
       - name: Arduino Lint
         uses: arduino/arduino-lint-action@v2
diff --git a/.github/workflows/compile-examples.yml b/.github/workflows/compile-examples.yml
index deceb19..755d8cd 100644
--- a/.github/workflows/compile-examples.yml
+++ b/.github/workflows/compile-examples.yml
@@ -34,7 +34,7 @@ jobs:
 
     steps:
       - name: Checkout repository
-        uses: actions/checkout@v5
+        uses: actions/checkout@v6
 
       - name: Compile example sketches
         uses: arduino/compile-sketches@v1
diff --git a/.github/workflows/spell-check.yml b/.github/workflows/spell-check.yml
index 19f5d38..8fc4b8c 100644
--- a/.github/workflows/spell-check.yml
+++ b/.github/workflows/spell-check.yml
@@ -16,7 +16,7 @@ jobs:
 
     steps:
       - name: Checkout repository
-        uses: actions/checkout@v5
+        uses: actions/checkout@v6
 
       - name: Spell check
         uses: codespell-project/actions-codespell@master
diff --git a/.github/workflows/sync-labels.yml b/.github/workflows/sync-labels.yml
index cb55211..d49c1cb 100644
--- a/.github/workflows/sync-labels.yml
+++ b/.github/workflows/sync-labels.yml
@@ -27,7 +27,7 @@ jobs:
 
     steps:
       - name: Checkout repository
-        uses: actions/checkout@v5
+        uses: actions/checkout@v6
 
       - name: Download JSON schema for labels configuration file
         id: download-schema
@@ -105,7 +105,7 @@ jobs:
           echo "::set-output name=flag::--dry-run"
 
       - name: Checkout repository
-        uses: actions/checkout@v5
+        uses: actions/checkout@v6
 
       - name: Download configuration files artifact
         uses: actions/download-artifact@v6

From 55173d6cbdf55d8ba576126837f8cb2819b63725 Mon Sep 17 00:00:00 2001
From: Leonardo Cavagnis <45899760+leonardocavagnis@users.noreply.github.com>
Date: Thu, 20 Nov 2025 18:25:00 +0100
Subject: [PATCH 8/8] Bump version to 1.0.4

---
 library.properties | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/library.properties b/library.properties
index b523049..850305f 100644
--- a/library.properties
+++ b/library.properties
@@ -1,5 +1,5 @@
 name=Arduino_PortentaMachineControl
-version=1.0.3
+version=1.0.4
 author=Arduino
 maintainer=Arduino <info@arduino.cc>
 sentence=Arduino Library for Portenta Machine Control (PMC)