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Make encoder setup easier to change

main
Valentin Ochs 2021-07-16 21:21:54 +02:00
parent 2f78a78ed8
commit e121ecd896
1 changed files with 44 additions and 30 deletions
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74
encoder.c
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@ -10,23 +10,25 @@ static volatile int pos;
static void check(void);
#define PIN1 GPIO4
#define PIN1_IRQ NVIC_EXTI4_IRQ
#define PIN2 GPIO5
#define PIN2_IRQ NVIC_EXTI9_5_IRQ
#define PIN_OPEN GPIO1
#define PIN_OPEN_IRQ NVIC_EXTI1_IRQ
#define PIN_CLOSE GPIO2
#define PIN_CLOSE_IRQ NVIC_EXTI2_IRQ
#define PIN_PORT GPIOC
#define PIN_RCC RCC_GPIOC
void encoder_setup(void) {
rcc_periph_clock_enable(RCC_GPIOA);
rcc_periph_clock_enable(PIN_RCC);
gpio_mode_setup(GPIOA, GPIO_MODE_INPUT, GPIO_PUPD_NONE, PIN1 | PIN2);
gpio_mode_setup(PIN_PORT, GPIO_MODE_INPUT, GPIO_PUPD_NONE, PIN_OPEN | PIN_CLOSE);
/* Set up exti on A0 & A1 */
exti_select_source(PIN1 | PIN2, GPIOA);
exti_set_trigger(PIN1 | PIN2, EXTI_TRIGGER_BOTH);
exti_enable_request(PIN1 | PIN2);
exti_select_source(PIN_OPEN | PIN_CLOSE, PIN_PORT);
exti_set_trigger(PIN_OPEN | PIN_CLOSE, EXTI_TRIGGER_BOTH);
exti_enable_request(PIN_OPEN | PIN_CLOSE);
nvic_enable_irq(PIN1_IRQ);
nvic_enable_irq(PIN2_IRQ);
nvic_enable_irq(PIN_OPEN_IRQ);
nvic_enable_irq(PIN_CLOSE_IRQ);
}
int encoder_get() {
@ -36,27 +38,39 @@ int encoder_get() {
static int prev = 0;
void check(void) {
int pp = pos;
int now = GPIO_IDR(GPIOA);
now = (!!(now & PIN1))<<0 | (!!(now & PIN2)) << 1;
int now = GPIO_IDR(PIN_PORT);
now = (!!(now & PIN_OPEN))<<0 | (!!(now & PIN_CLOSE)) << 1;
switch (prev << 2 | now) {
case 0 * 4 + 2:
case 1 * 4 + 0:
case 2 * 4 + 3:
case 3 * 4 + 1:
pos++;
break;
case 0 * 4 + 1:
case 1 * 4 + 3:
case 2 * 4 + 0:
case 3 * 4 + 2:
#define NEITHER 0
#define JUST_OPEN 1
#define JUST_CLOSE 2
#define BOTH 3
#define WAS(x) ((x)<<2)
#define IS(x) (x)
switch (WAS(prev) + IS(now)) {
case WAS(NEITHER) + IS(JUST_CLOSE):
case WAS(JUST_OPEN) + IS(NEITHER):
case WAS(JUST_CLOSE) + IS(BOTH):
case WAS(BOTH) + IS(JUST_OPEN):
pos--;
break;
case WAS(NEITHER) + IS(JUST_OPEN):
case WAS(JUST_OPEN) + IS(BOTH):
case WAS(BOTH) + IS(JUST_CLOSE):
case WAS(JUST_CLOSE) + IS(NEITHER):
pos++;
break;
default:
prev = now;
return;
}
#undef NEITHER
#undef JUST_OPEN
#undef JUST_CLOSE
#undef BOTH
#undef WAS
#undef IS
prev = now;
if (pos < MIN_POS)
pos = MIN_POS;
@ -64,11 +78,11 @@ void check(void) {
pos = MAX_POS;
}
void exti4_isr(void) {
exti_reset_request(EXTI4);
void exti1_isr(void) {
exti_reset_request(EXTI1);
check();
}
void exti9_5_isr(void) {
exti_reset_request(EXTI5);
void exti2_isr(void) {
exti_reset_request(EXTI2);
check();
}