1018

inc/Encoder.h

@@ -0,0 +1,51 @@
+//
+// Created by villuton on 06.02.25.
+//
+#ifndef ENCODER_H
+#define ENCODER_H
+
+#include <stdbool.h>
+#include <stdint-gcc.h>
+
+typedef enum {
+    ENC_NON = 0,
+    ENC_FWD = 0b1<<0,
+    ENC_BACK=0b1<<1,
+    ENC_KEY=0b1<<2,
+    ENC_FWD_KEY = ENC_FWD|ENC_KEY,
+    ENC_BACK_KEY = ENC_BACK|ENC_KEY,
+    ENC_NOT_DEF=0b1<<3,
+}eEncoderEvent;
+
+#define ENCODER_WITHOUT_KEY 0b1<<0
+#define ENCODER_PIN_REWERT 0b1<<1
+
+typedef bool (*pinGetProvider)(void *pinEnv);
+
+typedef struct {
+    void *pinA;
+    void *pinB;
+    void *pinKey;
+
+    pinGetProvider pinGet;
+
+
+    bool undefState;
+    int countValue;
+    uint8_t encoderState;
+    uint8_t newValue;
+    uint8_t fullState;
+
+    uint16_t flags;
+}tEncoder;
+
+void Encoder_Init(tEncoder *env,
+                  void *pinA,
+                  void *pinB,
+                  void *pinKey,
+                  pinGetProvider pinGet,
+                  uint16_t flags);
+eEncoderEvent Encoder_Check(tEncoder *env);
+int Encoder_GetCounter(tEncoder *env);
+
+#endif //ENCODER_H

modular.json

@@ -0,0 +1,12 @@
+{
+  "dep": [
+  ],
+  "cmake": {
+    "inc_dirs": [
+      "inc"
+    ],
+    "srcs": [
+      "src/**.c"
+    ]
+  }
+}

src/Encoder.c

@@ -0,0 +1,93 @@
+//
+// Created by villuton on 06.02.25.
+//
+#include "Encoder.h"
+
+#define EncoderPinGet(PIN) env->pinGet(PIN)
+
+void Encoder_Init(tEncoder *env,
+                  void *pinA,
+                  void *pinB,
+                  void *pinKey,
+                  pinGetProvider pinGet,
+                  uint16_t flags){
+    env->pinA = pinA;
+    env->pinB = pinB;
+    env->pinKey = pinKey;
+    env->pinGet = pinGet;
+    env->flags = flags;
+}
+
+/*
+        | y2	y1	x2	x1	Вперёд	Назад	Состояние
+------------------------------------------------------------------
+0	|0	0	0	0	0	0	Стоп
+1	|0	0	0	1	0	1	Назад
+2	|0	0	1	0	1	0	Вперёд
+3	|0	0	1	1	0	0	Не определено
+4	|0	1	0	0	1	0	Вперед
+5	|0	1	0	1	0	0	Стоп
+6	|0	1	1	0	0	1/0	Назад*
+7	|0	1	1	1	0	1	Назад
+8	|1	0	0	0	0	1	Назад
+9	|1	0	0	1	1/0	0	Вперёд*
+A	|1	0	1	0	0	0	Стоп
+B	|1	0	1	1	1	0	Вперёд
+C	|1	1	0	0	0	0	Не определено
+D	|1	1	0	1	1	0	Вперёд
+E	|1	1	1	0	0	1	Назад
+F	|1	1	1	1	0	0	Стоп
+------------------------------------------------------------------
+ */
+eEncoderEvent Encoder_Check(tEncoder *env){
+    uint8_t result = ENC_NON;
+
+    static uint8_t oldResult = ENC_NON;
+
+    env->newValue = ((EncoderPinGet(env->pinA)&0b1)<<0b1)|(EncoderPinGet(env->pinB)&0b1);
+    env->fullState = env->newValue | env->encoderState << 2;
+    switch(env->fullState)
+    {
+        case 0x2: case 0x4: case 0xB: case 0xD: //case 0x9:
+            if(env->undefState){
+                env->undefState = false;
+            } else{
+                    env->countValue ++;
+                    result = ENC_FWD;
+
+            }
+            break;
+        case 0x1: case 0x7: case 0x8: case 0xE://case 0x6:
+            if(env->undefState){
+                env->undefState = false;
+            } else{
+
+                    env->countValue--;
+                    result = ENC_BACK;
+            }
+            break;
+        case 0x3:case 0xC:case 0xF:case 0x5:case 0xA:
+            env->undefState = true;
+        default:
+            break;
+    }
+    env->encoderState = env->newValue;
+
+    if((oldResult|result)==(ENC_BACK|ENC_FWD)){
+        oldResult = result;
+        result = ENC_NON;
+    }
+
+    if(result != ENC_NON) {
+        if (env->flags & ENCODER_WITHOUT_KEY) {
+            return result;
+        } else {
+            return EncoderPinGet(env->pinKey) ? (result | ENC_KEY) : result;
+        }
+    }
+
+    return result;
+}
+int Encoder_GetCounter(tEncoder *env){
+    return env->countValue;
+}