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108 lines
3.3 KiB
108 lines
3.3 KiB
/* interrupt routine for Rotary Encoders
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idea from: https://github.com/marcmerlin/IoTuz/blob/95f53be6569c68f7fbef491bb36082870f82d629/IoTuz.cpp
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*/
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#include "rotary.h"
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#include "freertos/task.h"
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//using namespace std;
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Rotary* Rotary::instance = NULL;
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Rotary::Rotary() {
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instance = this;
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}
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bool Rotary::begin(uint8_t pinA, uint8_t pinB, uint8_t pinButton) {
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this->pinA = pinA;
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this->pinB = pinB;
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this->pinButton = pinButton;
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pinMode(pinA, INPUT_PULLUP);
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pinMode(pinB, INPUT_PULLUP);
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pinMode(pinButton, INPUT_PULLDOWN);
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xTaskCreate(
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&cTaskWrapper, /* Task function. */
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"encoderTask", /* String with name of task. */
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2048, /* Stack size in words. */
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this, /* Parameter passed as input of the task */
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tskIDLE_PRIORITY+2, /* Priority of the task. */
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&taskHandle); /* Task handle. */
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attachInterrupt(digitalPinToInterrupt(pinA), doEncoder, CHANGE);
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attachInterrupt(digitalPinToInterrupt(pinB), doEncoder, CHANGE);
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attachInterrupt(digitalPinToInterrupt(pinButton), doEncoder, CHANGE);
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return true;
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}
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void Rotary::cTaskWrapper(void* parameters) {
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static_cast<Rotary*>(parameters)->task(NULL);
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}
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void Rotary::task(void *pvParameters) {
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xTaskToNotify = xTaskGetCurrentTaskHandle();
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uint32_t ulNotificationValue;
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while(true) {
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ulNotificationValue = ulTaskNotifyTake( pdTRUE, portMAX_DELAY );
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delay(2); // wait until bounce settled
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if (digitalRead(pinButton) == HIGH) {
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buttonPressed = true;
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if (callback) callback(value, 0, 1);
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continue;
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} else {
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if (buttonPressed) {
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buttonPressed = false;
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if (callback) callback(value, 0, -1);
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continue;
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}
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}
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static uint8_t old_AB = 0;
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// grey code
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// http://hades.mech.northwestern.edu/index.php/Rotary_Encoder
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// also read up on 'Understanding Quadrature Encoded Signals'
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// https://www.pjrc.com/teensy/td_libs_Encoder.html
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// another interesting lib: https://github.com/0xPIT/encoder/blob/arduino/ClickEncoder.cpp
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static int8_t enc_states[] = {0,-1,1,0,1,0,0,-1,-1,0,0,1,0,1,-1,0};
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old_AB <<= 2;
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old_AB |= ((digitalRead(pinB))?(1<<1):0) | ((digitalRead(pinA))?(1<<0):0);
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encoderPos += ( enc_states[( old_AB & 0x0f )]);
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ulNotificationValue = ulTaskNotifyTake( pdTRUE, 0 ); // clear pending notifications
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debouncePulses++;
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if (debouncePulses > 3) { // update every 4 pulses
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debouncePulses = 0;
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if (encoderPos > encoderPosOld+1) {
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value++; // if the value has at least changed for 2
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if (callback) callback(value, 1, (int)buttonPressed);
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} else if (encoderPos < encoderPosOld-1) {
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value--;
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if (callback) callback(value, -1, (int)buttonPressed);
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}
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// otherwise skip
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encoderPosOld = encoderPos;
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}
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}
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vTaskDelete(NULL);
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}
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bool Rotary::registerCallback(std::function<void(int, int, int)> callback) {
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this->callback = callback;
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return true;
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}
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// Interrupt on changing state
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void Rotary::doEncoder() {
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BaseType_t xHigherPriorityTaskWoken = pdFALSE;
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configASSERT( instance->xTaskToNotify != NULL );
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vTaskNotifyGiveFromISR( instance->xTaskToNotify, &xHigherPriorityTaskWoken );
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portYIELD_FROM_ISR(); //portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
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}
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