Rename firmware folder

2026-09-28 09:47:57 +03:00 · 2017-01-08 22:09:39 +10:00
parent ecfb31463a
commit 3d64506fba
20 changed files with 15 additions and 9 deletions
@@ -0,0 +1,74 @@
+#include "Encoder.h"
+
+// SDVX Controller - PD0-3
+#define ENCODER_COUNT 2
+
+#define ENCODER_PORT PORTD
+#define ENCODER_PIN  PIND
+#define ENCODER_DDR  DDRD
+
+#define GET_ENCODER_0() (ENCODER_PIN & 0b11)
+#define GET_ENCODER_1() ((ENCODER_PIN >> 2) & 0b11)
+
+typedef struct {
+    int8_t position;
+    uint8_t state;
+} encoder_t;
+
+static volatile encoder_t encoders[ENCODER_COUNT] = {};
+
+void encoder_init(void) {
+    // inputs
+    ENCODER_DDR &= ~0x0F;
+    // pullups
+    ENCODER_PORT |= 0x0F;
+    
+    encoders[0].state = GET_ENCODER_0();
+    encoders[1].state = GET_ENCODER_1();
+    
+    // Edge interrupts on all INT pins
+    EICRA = _BV(ISC30) | _BV(ISC20) | _BV(ISC10) | _BV(ISC00);
+    // Enable the interrupts
+    EIMSK = _BV(INT3) | _BV(INT2) | _BV(INT1) | _BV(INT0);
+    // Clear interrupt flags
+    EIFR  = _BV(INTF3) | _BV(INTF2) | _BV(INTF1) | _BV(INTF0);
+}
+
+int8_t encoder_get(uint8_t num) {
+    return encoders[num].position;
+}
+
+void encoder_set(uint8_t num, int8_t val) {
+    encoders[num].position = val;
+}
+
+// Adapted from the wonderful Encoder.h by PJRC
+void update(uint8_t num, uint8_t newState) {
+    int8_t position = encoders[num].position;
+    uint8_t state = encoders[num].state | (newState << 2);
+    encoders[num].state = newState;
+    switch (state) {
+        case 1: case 7: case 8: case 14:
+            if(position < 127)
+                encoders[num].position++;
+            return;
+        case 2: case 4: case 11: case 13:
+            if(position > -128)
+                encoders[num].position--;
+            return;
+        case 3: case 12:
+            if(position < 125)
+                encoders[num].position += 2;
+            return;
+        case 6: case 9:
+            if(position > -126)
+                encoders[num].position -= 2;
+            return;
+    }
+    
+}
+    
+ISR(INT0_vect) { update(0, GET_ENCODER_0()); }
+ISR(INT1_vect) { update(0, GET_ENCODER_0()); }
+ISR(INT2_vect) { update(1, GET_ENCODER_1()); }
+ISR(INT3_vect) { update(1, GET_ENCODER_1()); }