You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
147 lines
5.0 KiB
147 lines
5.0 KiB
/* Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com>
|
|
* Copyright 2020 Ploopy Corporation
|
|
* Copyright 2022 Leorize <leorize+oss@disroot.org>
|
|
*
|
|
* This program is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 2 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
#include "opt_encoder.h"
|
|
#include "util.h"
|
|
#include <stdbool.h>
|
|
#include <stdint.h>
|
|
|
|
/* An alternative implementation for interpreting the encoder status:
|
|
*
|
|
* From graphing the phototransistor voltages, the peak and baseline appears to
|
|
* be rather stable. Therefore there is no need to average them out, and instead
|
|
* just simply store the min and max voltages of each phototransistor.
|
|
*
|
|
* This algorithm then distinguish between high and low states by employing an
|
|
* approach similar to a Schmitt trigger: a low and high threshold is defined
|
|
* for each phototransistor based on their min and max voltages.
|
|
*
|
|
* Currently, the thresholds are:
|
|
*
|
|
* * High threshold: The upper quarter of the voltage range.
|
|
* * Low threshold: The lower quarter of the voltage range.
|
|
*
|
|
* these thresholds are defined for each phototransistor.
|
|
*
|
|
* For a state to cross from high -> low, it must fall below the low threshold.
|
|
* Similarly, to cross from low -> high, the voltage must be higher than the
|
|
* high threshold.
|
|
*
|
|
* Having two distinct thresholds filters out the bulk of noise from the
|
|
* phototransistors.
|
|
*
|
|
* For converting the resulting high and low signals into rotation, a simple
|
|
* quadrature decoder is used.
|
|
*/
|
|
|
|
/* The minimum value returned by the ADC */
|
|
#define ENCODER_MIN 0
|
|
/* The maximum value returned by the ADC */
|
|
#define ENCODER_MAX 1023
|
|
|
|
/* Utilities for composing the encoder state */
|
|
#define MAKE_STATE(HI_A, HI_B) (((uint8_t)((HI_A) & 0x1) << 1) | ((uint8_t)((HI_B) & 0x1)))
|
|
#define STATE_A(st) ((st & 0x2) >> 1)
|
|
#define STATE_B(st) (st & 0x1)
|
|
#define LOLO MAKE_STATE(0, 0)
|
|
#define HILO MAKE_STATE(1, 0)
|
|
#define LOHI MAKE_STATE(0, 1)
|
|
|
|
typedef enum {
|
|
CALIBRATION, /* Recalibrate encoder state by waiting for a 01 -> 00 or 10 -> 00 transistion */
|
|
DECODE /* Translate changes in the encoder state into movement */
|
|
} encoder_state_t;
|
|
|
|
static encoder_state_t mode;
|
|
|
|
static uint8_t lastState;
|
|
|
|
static uint16_t lowA;
|
|
static uint16_t highA;
|
|
static uint16_t lowB;
|
|
static uint16_t highB;
|
|
|
|
#define MOVE_UP 1
|
|
#define MOVE_DOWN -1
|
|
#define MOVE_NONE 0
|
|
#define MOVE_ERR 0x7F
|
|
static const uint8_t movement[] = {
|
|
// 00 -> 00, 01, 10, 11
|
|
MOVE_NONE, MOVE_DOWN, MOVE_UP, MOVE_ERR,
|
|
// 01 -> 00, 01, 10, 11
|
|
MOVE_UP, MOVE_NONE, MOVE_ERR, MOVE_DOWN,
|
|
// 10 -> 00, 01, 10, 11
|
|
MOVE_DOWN, MOVE_ERR, MOVE_NONE, MOVE_UP,
|
|
// 11 -> 00, 01, 10, 11
|
|
MOVE_ERR, MOVE_UP, MOVE_DOWN, MOVE_NONE
|
|
};
|
|
|
|
void opt_encoder_init(void) {
|
|
mode = CALIBRATION;
|
|
lastState = 0;
|
|
|
|
lowA = ENCODER_MAX;
|
|
lowB = ENCODER_MAX;
|
|
highA = ENCODER_MIN;
|
|
highB = ENCODER_MIN;
|
|
}
|
|
|
|
int8_t opt_encoder_handler(uint16_t encA, uint16_t encB) {
|
|
int8_t result = 0;
|
|
|
|
highA = MAX(encA, highA);
|
|
lowA = MIN(encA, lowA);
|
|
highB = MAX(encB, highB);
|
|
lowB = MIN(encB, lowB);
|
|
|
|
/* Only compute the thresholds after a large enough range is established */
|
|
if (highA - lowA > SCROLL_THRESH_RANGE_LIM && highB - lowB > SCROLL_THRESH_RANGE_LIM) {
|
|
const int16_t lowThresholdA = (highA + lowA) / 4;
|
|
const int16_t highThresholdA = (highA + lowA) - lowThresholdA;
|
|
const int16_t lowThresholdB = (highB + lowB) / 4;
|
|
const int16_t highThresholdB = (highB + lowB) - lowThresholdB;
|
|
|
|
uint8_t state = MAKE_STATE(
|
|
STATE_A(lastState) ? encA > lowThresholdA : encA > highThresholdA,
|
|
STATE_B(lastState) ? encB > lowThresholdB : encB > highThresholdB
|
|
);
|
|
|
|
switch (mode) {
|
|
case CALIBRATION:
|
|
if ((lastState == HILO && state == LOLO)
|
|
|| (lastState == LOHI && state == LOLO))
|
|
mode = DECODE;
|
|
else
|
|
mode = CALIBRATION;
|
|
break;
|
|
|
|
case DECODE:
|
|
result = movement[lastState * 4 + state];
|
|
/* If we detect a state change that should not be possible,
|
|
* then the wheel might have moved too fast and we need to
|
|
* recalibrate the encoder position. */
|
|
mode = result == MOVE_ERR ? CALIBRATION : mode;
|
|
result = result == MOVE_ERR ? MOVE_NONE : result;
|
|
|
|
break;
|
|
}
|
|
|
|
lastState = state;
|
|
}
|
|
|
|
return result;
|
|
}
|