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#include "rotaryencoder.h"
#include <cstdint>
#include <cstdio>
#include <cstdlib>
#include <vector>
#include <QDebug>
#include <QElapsedTimer>
#include <wiringPi.h>
// got from https://gist.github.com/ast/a19813fce9d34c7240091db11b8190dd
// https://gist.github.com/ast
// Inspired by Paul Stoffregen's excellent Arduino library Encoder:
// https://github.com/PaulStoffregen/Encoder
constexpr int gpioA = 17;
constexpr int gpioB = 27;
// constexpr int gpioA = 0;
// constexpr int gpioB = 2;
// constexpr int gpioA = 11;
// constexpr int gpioB = 13;
const std::vector<int> encoderTable = {
0, 1, -1, 0, -1, 0, 0, 1, 1, 0, 0, -1, 0, -1, 1, 0
};
volatile int32_t positionSteps;
volatile uint8_t state;
void pin_isr(void) {
uint8_t p1val = digitalRead(gpioA);
uint8_t p2val = digitalRead(gpioB);
uint8_t s = state & 3;
if (p1val) s |= 4;
if (p2val) s |= 8;
state = (s >> 2);
switch (s) {
case 1: case 7: case 8: case 14:
positionSteps = positionSteps + 1;
return;
case 2: case 4: case 11: case 13:
positionSteps = positionSteps - 1;
return;
case 3: case 12:
positionSteps = positionSteps + 2;
return;
case 6: case 9:
positionSteps = positionSteps - 2;
return;
}
}
RotaryEncoder::RotaryEncoder()
{
if (!m_self) {
m_self = this;
} else {
qWarning() << "normally there should be only one instance of RotaryEncoder";
}
QElapsedTimer t;
t.start();
if (wiringPiSetupGpio()) {
perror("wiringPiSetupGpio");
exit(EXIT_FAILURE);
}
qDebug() << "msecs to setup wiringPi:" << t.elapsed();
if ( wiringPiISR (gpioA, INT_EDGE_BOTH, &pin_isr) < 0 ) {
perror("wiringPiISR");
exit(EXIT_FAILURE);
}
qDebug() << "msecs to register interruption A:" << t.elapsed();
if ( wiringPiISR (gpioB, INT_EDGE_BOTH, &pin_isr) < 0 ) {
perror("wiringPiISR");
exit(EXIT_FAILURE);
}
qDebug() << "msecs to register interruption B:" << t.elapsed();
// pinMode (gpioA, INPUT) ;
// pinMode (gpioB, INPUT) ;
// pullUpDnControl(gpioA, PUD_UP);
// pullUpDnControl(gpioB, PUD_UP);
qDebug() << "encoder is ok";
// // Show position every second
// while ( 1 ) {
// constexpr double stepsPerMm = 200;
// const double positionMm = ::positionSteps / stepsPerMm;
// qDebug() << ::positionSteps
// << '-'
// << QString::number(positionMm, 'f', 3)
// << "(mm)";
// // printf( "%ld\n", ::position);
// usleep( 100 * 1000 ); // wait 1 second
// }
}
RotaryEncoder::~RotaryEncoder()
{
if (m_self == this) {
m_self = nullptr;
}
}
RotaryEncoder *RotaryEncoder::instance()
{
return m_self;
}
int32_t RotaryEncoder::position() const
{
return ::positionSteps;
}
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