2 * Copyright 2018 Jack Humbert <jack.humb@gmail.com>
4 * This program is free software: you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation, either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with this program. If not, see <http://www.gnu.org/licenses/>.
24 #ifndef ENCODER_RESOLUTION
25 #define ENCODER_RESOLUTION 4
28 #if !defined(ENCODERS_PAD_A) || !defined(ENCODERS_PAD_B)
29 #error "No encoder pads defined by ENCODERS_PAD_A and ENCODERS_PAD_B"
33 #define NUMBER_OF_ENCODERS (sizeof(encoders_pad_a)/sizeof(pin_t))
34 static pin_t encoders_pad_a[] = ENCODERS_PAD_A;
35 static pin_t encoders_pad_b[] = ENCODERS_PAD_B;
37 static int8_t encoder_LUT[] = { 0, -1, 1, 0, 1, 0, 0, -1, -1, 0, 0, 1, 0, 1, -1, 0 };
39 static uint8_t encoder_state[NUMBER_OF_ENCODERS] = {0};
42 // slave half encoders come over as second set of encoders
43 static int8_t encoder_value[NUMBER_OF_ENCODERS * 2] = {0};
45 static int8_t encoder_value[NUMBER_OF_ENCODERS] = {0};
48 __attribute__ ((weak))
49 void encoder_update_user(int8_t index, bool clockwise) { }
51 __attribute__ ((weak))
52 void encoder_update_kb(int8_t index, bool clockwise) {
53 encoder_update_user(index, clockwise);
56 void encoder_init(void) {
57 for (int i = 0; i < NUMBER_OF_ENCODERS; i++) {
58 setPinInputHigh(encoders_pad_a[i]);
59 setPinInputHigh(encoders_pad_b[i]);
61 encoder_state[i] = (readPin(encoders_pad_a[i]) << 0) | (readPin(encoders_pad_b[i]) << 1);
65 void encoder_read(void) {
66 for (int i = 0; i < NUMBER_OF_ENCODERS; i++) {
67 encoder_state[i] <<= 2;
68 encoder_state[i] |= (readPin(encoders_pad_a[i]) << 0) | (readPin(encoders_pad_b[i]) << 1);
69 encoder_value[i] += encoder_LUT[encoder_state[i] & 0xF];
70 if (encoder_value[i] >= ENCODER_RESOLUTION) {
71 encoder_update_kb(i, false);
73 if (encoder_value[i] <= -ENCODER_RESOLUTION) { // direction is arbitrary here, but this clockwise
74 encoder_update_kb(i, true);
76 encoder_value[i] %= ENCODER_RESOLUTION;
81 void encoder_state_raw(uint8_t* slave_state) {
82 memcpy(slave_state, encoder_state, sizeof(encoder_state));
85 void encoder_update_raw(uint8_t* slave_state) {
86 for (int i = 0; i < NUMBER_OF_ENCODERS; i++) {
87 encoder_value[NUMBER_OF_ENCODERS + i] += encoder_LUT[slave_state[i] & 0xF];
88 if (encoder_value[NUMBER_OF_ENCODERS + i] >= ENCODER_RESOLUTION) {
89 encoder_update_kb(NUMBER_OF_ENCODERS + i, false);
91 if (encoder_value[NUMBER_OF_ENCODERS + i] <= -ENCODER_RESOLUTION) { // direction is arbitrary here, but this clockwise
92 encoder_update_kb(NUMBER_OF_ENCODERS + i, true);
94 encoder_value[NUMBER_OF_ENCODERS + i] %= ENCODER_RESOLUTION;