Add encoder abstraction. (#21548)
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Nick Brassel
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50 changed files with 863 additions and 653 deletions
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drivers/encoder/encoder_quadrature.c
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drivers/encoder/encoder_quadrature.c
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// Copyright 2018 Jack Humbert <jack.humb@gmail.com>
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// Copyright 2018-2023 Nick Brassel (@tzarc)
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// SPDX-License-Identifier: GPL-2.0-or-later
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#include <stdint.h>
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#include "encoder.h"
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#include "gpio.h"
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#include "keyboard.h"
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#include "action.h"
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#include "keycodes.h"
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#include "wait.h"
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#ifdef SPLIT_KEYBOARD
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# include "split_util.h"
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#endif
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// for memcpy
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#include <string.h>
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#if !defined(ENCODER_RESOLUTIONS) && !defined(ENCODER_RESOLUTION)
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# define ENCODER_RESOLUTION 4
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#endif
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#undef ENCODER_DEFAULT_PIN_API_IMPL
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#if defined(ENCODERS_PAD_A) && defined(ENCODERS_PAD_B)
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// Inform the quadrature driver that it needs to implement pin init/read functions
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# define ENCODER_DEFAULT_PIN_API_IMPL
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#endif
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extern volatile bool isLeftHand;
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__attribute__((weak)) void encoder_quadrature_init_pin(uint8_t index, bool pad_b);
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__attribute__((weak)) uint8_t encoder_quadrature_read_pin(uint8_t index, bool pad_b);
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#ifdef ENCODER_DEFAULT_PIN_API_IMPL
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static pin_t encoders_pad_a[NUM_ENCODERS_MAX_PER_SIDE] = ENCODERS_PAD_A;
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static pin_t encoders_pad_b[NUM_ENCODERS_MAX_PER_SIDE] = ENCODERS_PAD_B;
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__attribute__((weak)) void encoder_wait_pullup_charge(void) {
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wait_us(100);
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}
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__attribute__((weak)) void encoder_quadrature_init_pin(uint8_t index, bool pad_b) {
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pin_t pin = pad_b ? encoders_pad_b[index] : encoders_pad_a[index];
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if (pin != NO_PIN) {
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gpio_set_pin_input_high(pin);
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}
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}
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__attribute__((weak)) uint8_t encoder_quadrature_read_pin(uint8_t index, bool pad_b) {
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pin_t pin = pad_b ? encoders_pad_b[index] : encoders_pad_a[index];
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if (pin != NO_PIN) {
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return gpio_read_pin(pin) ? 1 : 0;
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}
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return 0;
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}
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#endif // ENCODER_DEFAULT_PIN_API_IMPL
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#ifdef ENCODER_RESOLUTIONS
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static uint8_t encoder_resolutions[NUM_ENCODERS] = ENCODER_RESOLUTIONS;
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#endif
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#ifndef ENCODER_DIRECTION_FLIP
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# define ENCODER_CLOCKWISE true
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# define ENCODER_COUNTER_CLOCKWISE false
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#else
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# define ENCODER_CLOCKWISE false
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# define ENCODER_COUNTER_CLOCKWISE true
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#endif
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static int8_t encoder_LUT[] = {0, -1, 1, 0, 1, 0, 0, -1, -1, 0, 0, 1, 0, 1, -1, 0};
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static uint8_t encoder_state[NUM_ENCODERS] = {0};
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static int8_t encoder_pulses[NUM_ENCODERS] = {0};
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// encoder counts
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static uint8_t thisCount;
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#ifdef SPLIT_KEYBOARD
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// encoder offsets for each hand
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static uint8_t thisHand, thatHand;
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// encoder counts for each hand
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static uint8_t thatCount;
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#endif
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__attribute__((weak)) void encoder_quadrature_post_init_kb(void) {
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extern void encoder_quadrature_handle_read(uint8_t index, uint8_t pin_a_state, uint8_t pin_b_state);
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// Unused normally, but can be used for things like setting up pin-change interrupts in keyboard code.
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// 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.
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}
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void encoder_quadrature_post_init(void) {
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#ifdef ENCODER_DEFAULT_PIN_API_IMPL
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for (uint8_t i = 0; i < thisCount; i++) {
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encoder_quadrature_init_pin(i, false);
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encoder_quadrature_init_pin(i, true);
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}
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encoder_wait_pullup_charge();
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for (uint8_t i = 0; i < thisCount; i++) {
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encoder_state[i] = (encoder_quadrature_read_pin(i, false) << 0) | (encoder_quadrature_read_pin(i, true) << 1);
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}
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#else
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memset(encoder_state, 0, sizeof(encoder_state));
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#endif
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encoder_quadrature_post_init_kb();
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}
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void encoder_driver_init(void) {
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#ifdef SPLIT_KEYBOARD
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thisHand = isLeftHand ? 0 : NUM_ENCODERS_LEFT;
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thatHand = NUM_ENCODERS_LEFT - thisHand;
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thisCount = isLeftHand ? NUM_ENCODERS_LEFT : NUM_ENCODERS_RIGHT;
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thatCount = isLeftHand ? NUM_ENCODERS_RIGHT : NUM_ENCODERS_LEFT;
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#else // SPLIT_KEYBOARD
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thisCount = NUM_ENCODERS;
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#endif
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#ifdef ENCODER_TESTS
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// Annoying that we have to clear out values during initialisation here, but
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// because all the arrays are static locals, rerunning tests in the same
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// executable doesn't reset any of these. Kinda crappy having test-only code
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// here, but it's the simplest solution.
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memset(encoder_state, 0, sizeof(encoder_state));
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memset(encoder_pulses, 0, sizeof(encoder_pulses));
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const pin_t encoders_pad_a_left[] = ENCODERS_PAD_A;
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const pin_t encoders_pad_b_left[] = ENCODERS_PAD_B;
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for (uint8_t i = 0; i < thisCount; i++) {
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encoders_pad_a[i] = encoders_pad_a_left[i];
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encoders_pad_b[i] = encoders_pad_b_left[i];
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}
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#endif
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#if defined(SPLIT_KEYBOARD) && defined(ENCODERS_PAD_A_RIGHT) && defined(ENCODERS_PAD_B_RIGHT)
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// Re-initialise the pads if it's the right-hand side
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if (!isLeftHand) {
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const pin_t encoders_pad_a_right[] = ENCODERS_PAD_A_RIGHT;
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const pin_t encoders_pad_b_right[] = ENCODERS_PAD_B_RIGHT;
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for (uint8_t i = 0; i < thisCount; i++) {
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encoders_pad_a[i] = encoders_pad_a_right[i];
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encoders_pad_b[i] = encoders_pad_b_right[i];
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}
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}
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#endif // defined(SPLIT_KEYBOARD) && defined(ENCODERS_PAD_A_RIGHT) && defined(ENCODERS_PAD_B_RIGHT)
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// Encoder resolutions is defined differently in config.h, so concatenate
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#if defined(SPLIT_KEYBOARD) && defined(ENCODER_RESOLUTIONS)
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# if defined(ENCODER_RESOLUTIONS_RIGHT)
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static const uint8_t encoder_resolutions_right[NUM_ENCODERS_RIGHT] = ENCODER_RESOLUTIONS_RIGHT;
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# else // defined(ENCODER_RESOLUTIONS_RIGHT)
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static const uint8_t encoder_resolutions_right[NUM_ENCODERS_RIGHT] = ENCODER_RESOLUTIONS;
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# endif // defined(ENCODER_RESOLUTIONS_RIGHT)
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for (uint8_t i = 0; i < NUM_ENCODERS_RIGHT; i++) {
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encoder_resolutions[NUM_ENCODERS_LEFT + i] = encoder_resolutions_right[i];
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}
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#endif // defined(SPLIT_KEYBOARD) && defined(ENCODER_RESOLUTIONS)
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encoder_quadrature_post_init();
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}
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static void encoder_handle_state_change(uint8_t index, uint8_t state) {
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uint8_t i = index;
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#ifdef SPLIT_KEYBOARD
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index += thisHand;
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#endif
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#ifdef ENCODER_RESOLUTIONS
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const uint8_t resolution = encoder_resolutions[index];
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#else
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const uint8_t resolution = ENCODER_RESOLUTION;
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#endif
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encoder_pulses[i] += encoder_LUT[state & 0xF];
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#ifdef ENCODER_DEFAULT_POS
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if ((encoder_pulses[i] >= resolution) || (encoder_pulses[i] <= -resolution) || ((state & 0x3) == ENCODER_DEFAULT_POS)) {
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if (encoder_pulses[i] >= 1) {
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#else
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if (encoder_pulses[i] >= resolution) {
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#endif
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encoder_queue_event(index, ENCODER_COUNTER_CLOCKWISE);
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}
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#ifdef ENCODER_DEFAULT_POS
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if (encoder_pulses[i] <= -1) {
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#else
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if (encoder_pulses[i] <= -resolution) { // direction is arbitrary here, but this clockwise
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#endif
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encoder_queue_event(index, ENCODER_CLOCKWISE);
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}
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encoder_pulses[i] %= resolution;
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#ifdef ENCODER_DEFAULT_POS
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encoder_pulses[i] = 0;
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}
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#endif
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}
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void encoder_quadrature_handle_read(uint8_t index, uint8_t pin_a_state, uint8_t pin_b_state) {
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uint8_t state = pin_a_state | (pin_b_state << 1);
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if ((encoder_state[index] & 0x3) != state) {
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encoder_state[index] <<= 2;
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encoder_state[index] |= state;
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encoder_handle_state_change(index, encoder_state[index]);
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}
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}
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__attribute__((weak)) void encoder_driver_task(void) {
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for (uint8_t i = 0; i < thisCount; i++) {
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encoder_quadrature_handle_read(i, encoder_quadrature_read_pin(i, false), encoder_quadrature_read_pin(i, true));
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}
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}
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