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author | Nick Brassel <[email protected]> | 2024-02-18 21:17:15 +1100 |
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committer | GitHub <[email protected]> | 2024-02-18 21:17:15 +1100 |
commit | 9d9cdaaa2d035787b0b50c26f2975695fdbc16f4 (patch) | |
tree | 1a9f5d16ffc0e3bd27bc14791c25405a79ccd069 /drivers/encoder | |
parent | 2eb9ff8efd1df2c98724481c71c8ab8a5b62e31e (diff) | |
download | qmk_firmware-9d9cdaaa2d035787b0b50c26f2975695fdbc16f4.tar.gz qmk_firmware-9d9cdaaa2d035787b0b50c26f2975695fdbc16f4.zip |
Add encoder abstraction. (#21548)
Diffstat (limited to 'drivers/encoder')
-rw-r--r-- | drivers/encoder/encoder_quadrature.c | 213 |
1 files changed, 213 insertions, 0 deletions
diff --git a/drivers/encoder/encoder_quadrature.c b/drivers/encoder/encoder_quadrature.c new file mode 100644 index 0000000000..cd589bf1e2 --- /dev/null +++ b/drivers/encoder/encoder_quadrature.c @@ -0,0 +1,213 @@ +// Copyright 2018 Jack Humbert <[email protected]> +// Copyright 2018-2023 Nick Brassel (@tzarc) +// SPDX-License-Identifier: GPL-2.0-or-later + +#include <stdint.h> +#include "encoder.h" +#include "gpio.h" +#include "keyboard.h" +#include "action.h" +#include "keycodes.h" +#include "wait.h" + +#ifdef SPLIT_KEYBOARD +# include "split_util.h" +#endif + +// for memcpy +#include <string.h> + +#if !defined(ENCODER_RESOLUTIONS) && !defined(ENCODER_RESOLUTION) +# define ENCODER_RESOLUTION 4 +#endif + +#undef ENCODER_DEFAULT_PIN_API_IMPL +#if defined(ENCODERS_PAD_A) && defined(ENCODERS_PAD_B) +// Inform the quadrature driver that it needs to implement pin init/read functions +# define ENCODER_DEFAULT_PIN_API_IMPL +#endif + +extern volatile bool isLeftHand; + +__attribute__((weak)) void encoder_quadrature_init_pin(uint8_t index, bool pad_b); +__attribute__((weak)) uint8_t encoder_quadrature_read_pin(uint8_t index, bool pad_b); + +#ifdef ENCODER_DEFAULT_PIN_API_IMPL + +static pin_t encoders_pad_a[NUM_ENCODERS_MAX_PER_SIDE] = ENCODERS_PAD_A; +static pin_t encoders_pad_b[NUM_ENCODERS_MAX_PER_SIDE] = ENCODERS_PAD_B; + +__attribute__((weak)) void encoder_wait_pullup_charge(void) { + wait_us(100); +} + +__attribute__((weak)) void encoder_quadrature_init_pin(uint8_t index, bool pad_b) { + pin_t pin = pad_b ? encoders_pad_b[index] : encoders_pad_a[index]; + if (pin != NO_PIN) { + gpio_set_pin_input_high(pin); + } +} + +__attribute__((weak)) uint8_t encoder_quadrature_read_pin(uint8_t index, bool pad_b) { + pin_t pin = pad_b ? encoders_pad_b[index] : encoders_pad_a[index]; + if (pin != NO_PIN) { + return gpio_read_pin(pin) ? 1 : 0; + } + return 0; +} + +#endif // ENCODER_DEFAULT_PIN_API_IMPL + +#ifdef ENCODER_RESOLUTIONS +static uint8_t encoder_resolutions[NUM_ENCODERS] = ENCODER_RESOLUTIONS; +#endif + +#ifndef ENCODER_DIRECTION_FLIP +# define ENCODER_CLOCKWISE true +# define ENCODER_COUNTER_CLOCKWISE false +#else +# define ENCODER_CLOCKWISE false +# define ENCODER_COUNTER_CLOCKWISE true +#endif +static int8_t encoder_LUT[] = {0, -1, 1, 0, 1, 0, 0, -1, -1, 0, 0, 1, 0, 1, -1, 0}; + +static uint8_t encoder_state[NUM_ENCODERS] = {0}; +static int8_t encoder_pulses[NUM_ENCODERS] = {0}; + +// encoder counts +static uint8_t thisCount; +#ifdef SPLIT_KEYBOARD +// encoder offsets for each hand +static uint8_t thisHand, thatHand; +// encoder counts for each hand +static uint8_t thatCount; +#endif + +__attribute__((weak)) void encoder_quadrature_post_init_kb(void) { + extern void encoder_quadrature_handle_read(uint8_t index, uint8_t pin_a_state, uint8_t pin_b_state); + // Unused normally, but can be used for things like setting up pin-change interrupts in keyboard code. + // During the interrupt, read the pins then call `encoder_handle_read()` with the pin states and it'll queue up an encoder event if needed. +} + +void encoder_quadrature_post_init(void) { +#ifdef ENCODER_DEFAULT_PIN_API_IMPL + for (uint8_t i = 0; i < thisCount; i++) { + encoder_quadrature_init_pin(i, false); + encoder_quadrature_init_pin(i, true); + } + encoder_wait_pullup_charge(); + for (uint8_t i = 0; i < thisCount; i++) { + encoder_state[i] = (encoder_quadrature_read_pin(i, false) << 0) | (encoder_quadrature_read_pin(i, true) << 1); + } +#else + memset(encoder_state, 0, sizeof(encoder_state)); +#endif + + encoder_quadrature_post_init_kb(); +} + +void encoder_driver_init(void) { +#ifdef SPLIT_KEYBOARD + thisHand = isLeftHand ? 0 : NUM_ENCODERS_LEFT; + thatHand = NUM_ENCODERS_LEFT - thisHand; + thisCount = isLeftHand ? NUM_ENCODERS_LEFT : NUM_ENCODERS_RIGHT; + thatCount = isLeftHand ? NUM_ENCODERS_RIGHT : NUM_ENCODERS_LEFT; +#else // SPLIT_KEYBOARD + thisCount = NUM_ENCODERS; +#endif + +#ifdef ENCODER_TESTS + // Annoying that we have to clear out values during initialisation here, but + // because all the arrays are static locals, rerunning tests in the same + // executable doesn't reset any of these. Kinda crappy having test-only code + // here, but it's the simplest solution. + memset(encoder_state, 0, sizeof(encoder_state)); + memset(encoder_pulses, 0, sizeof(encoder_pulses)); + const pin_t encoders_pad_a_left[] = ENCODERS_PAD_A; + const pin_t encoders_pad_b_left[] = ENCODERS_PAD_B; + for (uint8_t i = 0; i < thisCount; i++) { + encoders_pad_a[i] = encoders_pad_a_left[i]; + encoders_pad_b[i] = encoders_pad_b_left[i]; + } +#endif + +#if defined(SPLIT_KEYBOARD) && defined(ENCODERS_PAD_A_RIGHT) && defined(ENCODERS_PAD_B_RIGHT) + // Re-initialise the pads if it's the right-hand side + if (!isLeftHand) { + const pin_t encoders_pad_a_right[] = ENCODERS_PAD_A_RIGHT; + const pin_t encoders_pad_b_right[] = ENCODERS_PAD_B_RIGHT; + for (uint8_t i = 0; i < thisCount; i++) { + encoders_pad_a[i] = encoders_pad_a_right[i]; + encoders_pad_b[i] = encoders_pad_b_right[i]; + } + } +#endif // defined(SPLIT_KEYBOARD) && defined(ENCODERS_PAD_A_RIGHT) && defined(ENCODERS_PAD_B_RIGHT) + + // Encoder resolutions is defined differently in config.h, so concatenate +#if defined(SPLIT_KEYBOARD) && defined(ENCODER_RESOLUTIONS) +# if defined(ENCODER_RESOLUTIONS_RIGHT) + static const uint8_t encoder_resolutions_right[NUM_ENCODERS_RIGHT] = ENCODER_RESOLUTIONS_RIGHT; +# else // defined(ENCODER_RESOLUTIONS_RIGHT) + static const uint8_t encoder_resolutions_right[NUM_ENCODERS_RIGHT] = ENCODER_RESOLUTIONS; +# endif // defined(ENCODER_RESOLUTIONS_RIGHT) + for (uint8_t i = 0; i < NUM_ENCODERS_RIGHT; i++) { + encoder_resolutions[NUM_ENCODERS_LEFT + i] = encoder_resolutions_right[i]; + } +#endif // defined(SPLIT_KEYBOARD) && defined(ENCODER_RESOLUTIONS) + + encoder_quadrature_post_init(); +} + +static void encoder_handle_state_change(uint8_t index, uint8_t state) { + uint8_t i = index; + +#ifdef SPLIT_KEYBOARD + index += thisHand; +#endif + +#ifdef ENCODER_RESOLUTIONS + const uint8_t resolution = encoder_resolutions[index]; +#else + const uint8_t resolution = ENCODER_RESOLUTION; +#endif + + encoder_pulses[i] += encoder_LUT[state & 0xF]; + +#ifdef ENCODER_DEFAULT_POS + if ((encoder_pulses[i] >= resolution) || (encoder_pulses[i] <= -resolution) || ((state & 0x3) == ENCODER_DEFAULT_POS)) { + if (encoder_pulses[i] >= 1) { +#else + if (encoder_pulses[i] >= resolution) { +#endif + + encoder_queue_event(index, ENCODER_COUNTER_CLOCKWISE); + } + +#ifdef ENCODER_DEFAULT_POS + if (encoder_pulses[i] <= -1) { +#else + if (encoder_pulses[i] <= -resolution) { // direction is arbitrary here, but this clockwise +#endif + encoder_queue_event(index, ENCODER_CLOCKWISE); + } + encoder_pulses[i] %= resolution; +#ifdef ENCODER_DEFAULT_POS + encoder_pulses[i] = 0; + } +#endif +} + +void encoder_quadrature_handle_read(uint8_t index, uint8_t pin_a_state, uint8_t pin_b_state) { + uint8_t state = pin_a_state | (pin_b_state << 1); + if ((encoder_state[index] & 0x3) != state) { + encoder_state[index] <<= 2; + encoder_state[index] |= state; + encoder_handle_state_change(index, encoder_state[index]); + } +} + +__attribute__((weak)) void encoder_driver_task(void) { + for (uint8_t i = 0; i < thisCount; i++) { + encoder_quadrature_handle_read(i, encoder_quadrature_read_pin(i, false), encoder_quadrature_read_pin(i, true)); + } +} |