133 lines
2.1 KiB
C++
133 lines
2.1 KiB
C++
// #include "rotary_encoder_driver.h"
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// #include <avr/interrupt.h>
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// static RotaryEncoderDriver* driver = nullptr;
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// RotaryEncoderDriver::RotaryEncoderDriver()
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// : count(0)
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// , delta(0)
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// , speed_ready(false)
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// , hist_idx(0)
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// , eA(2)
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// , eB(5)
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// {
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// for (uint8_t i = 0; i < HIST_LEN; i++)
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// {
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// history[i] = 0;
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// }
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// }
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// void RotaryEncoderDriver::begin()
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// {
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// driver = this;
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// eA.init();
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// eB.init();
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// EICRA |= (1<<ISC01) | (1<<ISC00);
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// EIMSK |= (1<<INT0);
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// timer.init(SAMPLE_PERIOD_US);
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// }
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// void RotaryEncoderDriver::update()
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// {
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// count += eB.is_hi() ? 1 : -1;
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// }
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// int32_t RotaryEncoderDriver::position()
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// {
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// uint8_t oldSREG = SREG;
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// cli();
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// int32_t local_count = count;
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// SREG = oldSREG;
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// return local_count;
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// }
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// void RotaryEncoderDriver::update_delta()
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// {
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// int32_t oldest = history[hist_idx];
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// history[hist_idx] = count;
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// hist_idx = (hist_idx + 1) % HIST_LEN;
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// delta = (int16_t)(count - oldest); // breyting yfir HIST_LEN * Ts (16 ms) glugga
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// speed_ready = true;
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// }
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// float RotaryEncoderDriver::count_per_sec()
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// {
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// uint8_t oldSREG = SREG;
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// cli();
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// int16_t local_delta = delta;
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// SREG = oldSREG;
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// return local_delta / (HIST_LEN * SAMPLE_PERIOD_US * 1e-6f);
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// }
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// float RotaryEncoderDriver::rpm()
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// {
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// return count_per_sec() * 60.0f / COUNTS_PER_REV;
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// }
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// bool RotaryEncoderDriver::new_speed_available()
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// {
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// uint8_t oldSREG = SREG;
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// cli();
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// bool ready = speed_ready;
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// if (ready)
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// {
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// speed_ready = false;
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// }
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// SREG = oldSREG;
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// return ready;
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// }
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// void RotaryEncoderDriver::reset_speed_measurement()
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// {
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// uint8_t oldSREG = SREG;
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// cli();
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// delta = 0;
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// speed_ready = false;
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// for (uint8_t i = 0; i < HIST_LEN; i++)
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// {
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// history[i] = count;
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// }
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// hist_idx = 0;
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// SREG = oldSREG;
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// }
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// ISR(INT0_vect)
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// {
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// driver->update();
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// }
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// ISR(TIMER1_COMPA_vect)
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// {
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// driver->update_delta();
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// }
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