diff options
| author | Pete Johanson <peter@peterjohanson.com> | 2020-07-21 13:16:15 -0400 |
|---|---|---|
| committer | Pete Johanson <peter@peterjohanson.com> | 2020-07-21 13:16:15 -0400 |
| commit | 7da9a1039f453d549318737d85603a7a8c87b1d9 (patch) | |
| tree | 644451be2cb3e4c2c2af0cf801d35c756e11b75c /app/drivers | |
| parent | b6b982fcef50938fcd271d41452a6c3e86a0c5c9 (diff) | |
Working encoder detection.
Diffstat (limited to 'app/drivers')
| -rw-r--r-- | app/drivers/zephyr/ec11.c | 15 |
1 files changed, 12 insertions, 3 deletions
diff --git a/app/drivers/zephyr/ec11.c b/app/drivers/zephyr/ec11.c index 3e09cd6..74c8f9b 100644 --- a/app/drivers/zephyr/ec11.c +++ b/app/drivers/zephyr/ec11.c @@ -18,6 +18,13 @@ LOG_MODULE_REGISTER(EC11, CONFIG_SENSOR_LOG_LEVEL); +static int ec11_get_ab_state(struct device *dev) +{ + struct ec11_data *drv_data = dev->driver_data; + const struct ec11_config *drv_cfg = dev->config_info; + + return (gpio_pin_get(drv_data->a, drv_cfg->a_pin) << 1) | gpio_pin_get(drv_data->b, drv_cfg->b_pin); +} static int ec11_sample_fetch(struct device *dev, enum sensor_channel chan) { @@ -28,15 +35,15 @@ static int ec11_sample_fetch(struct device *dev, enum sensor_channel chan) __ASSERT_NO_MSG(chan == SENSOR_CHAN_ALL || chan == SENSOR_CHAN_ROTATION); - val = (gpio_pin_get(drv_data->a, drv_cfg->a_pin) << 1) | gpio_pin_get(drv_data->b, drv_cfg->b_pin); + val = ec11_get_ab_state(dev); LOG_DBG("prev: %d, new: %d", drv_data->ab_state, val); switch(val | (drv_data->ab_state << 2)) { - case 0b0001: case 0b0111: case 0b1110: case 0b1000: + case 0b0010: case 0b0100: case 0b1101: case 0b1011: delta = 1; break; - case 0b0010: case 0b0100: case 0b1101: case 0b1011: + case 0b0001: case 0b0111: case 0b1110: case 0b1000: delta = -1; break; default: @@ -106,6 +113,8 @@ int ec11_init(struct device *dev) } #endif + drv_data->ab_state = ec11_get_ab_state(dev); + return 0; } |