#include "sns_rotary.h"
uint8_t rotaryEncoder_Position = 0;
uint8_t rotaryEncoder_Position_old = 0;
uint8_t rotaryEncoder_Button_Position = 0;
uint8_t rotaryEncoder_Button_Position_old = 0;
void sns_rotary_pcint_callback(uint8_t id, uint8_t status)
{
uint8_t rot_data = 0;
static uint8_t rot_lastdir = 0, rot_laststate = 0;
//Take care of button push
if (gpio_get_state(ROTARY_BTN) != rotaryEncoder_Button_Position){ //The buttonstate has changed!
rotaryEncoder_Button_Position = gpio_get_state(ROTARY_BTN);
}
//Take care of rotary encoder movement
if(gpio_get_state(ROTARY_CH1)){
rot_data |= 0x01;
}
if(gpio_get_state(ROTARY_CH2)){
rot_data |= 0x02;
}
if( rot_data==0 || rot_data==3 ){ // Are both signals high or low?
if( rot_data==0 && rot_laststate!=rot_data ){ // Are both signals low? In that case we are finished with one turn and should print out the direction it went.
if( rot_lastdir&0x01 ){
#ifndef ROTARY_CHx_INVERT_DIRECTION
rotaryEncoder_Position--; // Moving clockwise
#else
rotaryEncoder_Position++; // Moving counter clockwise
#endif
}else{
#ifndef ROTARY_CHx_INVERT_DIRECTION
rotaryEncoder_Position++; // Moving counter clockwise
#else
rotaryEncoder_Position--; // Moving clockwise
#endif
}
}
rot_laststate = rot_data;
} else { // No, only one of the signals are high. We can use this to find out what direction we are moving.
rot_lastdir = rot_data;
}
}
void sns_rotary_Init(void)
{
/*
* Initialize rotaryencoders and buttons
*/
rotaryEncoder_Position = 0; // Set initial value to 0
rotaryEncoder_Position_old = 0; // Set initial value to 0
gpio_set_in(ROTARY_CH1); // Set to input
gpio_set_pin(ROTARY_CH1); // Enable pull-up
gpio_set_in(ROTARY_CH2); // Set to input
gpio_set_pin(ROTARY_CH2); // Enable pull-up
gpio_set_in(ROTARY_BTN); // Set to input
gpio_set_pin(ROTARY_BTN); // Enable pull-up
// Enable IO-pin interrupt
Pcint_SetCallbackPin(sns_rotary_PCINT_CH1, ROTARY_CH1, &sns_rotary_pcint_callback);
Pcint_SetCallbackPin(sns_rotary_PCINT_CH2, ROTARY_CH2, &sns_rotary_pcint_callback);
Pcint_SetCallbackPin(sns_rotary_PCINT_BTN, ROTARY_BTN, &sns_rotary_pcint_callback);
}
void sns_rotary_Process(void)
{
if (rotaryEncoder_Position != rotaryEncoder_Position_old)
{
StdCan_Msg_t txMsg;
StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_SNS);
StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
txMsg.Header.ModuleType = CAN_MODULE_TYPE_SNS_ROTARY;
txMsg.Header.ModuleId = sns_rotary_ID;
txMsg.Header.Command = CAN_MODULE_CMD_PHYSICAL_ROTARY_SWITCH;
txMsg.Length = 4;
txMsg.Data[0] = 0x01;
if ((rotaryEncoder_Position > rotaryEncoder_Position_old || (rotaryEncoder_Position_old==0xff && rotaryEncoder_Position==0x00)) && !(rotaryEncoder_Position_old==0x00 && rotaryEncoder_Position==0xff))
txMsg.Data[1] = 0x00; //Clockwice
else
txMsg.Data[1] = 0x01; //Counter Clockwice
txMsg.Data[2] = 0x01;
txMsg.Data[3] = rotaryEncoder_Position;
StdCan_Put(&txMsg);
rotaryEncoder_Position_old = rotaryEncoder_Position;
}
if (rotaryEncoder_Button_Position != rotaryEncoder_Button_Position_old)
{
rotaryEncoder_Button_Position_old = rotaryEncoder_Button_Position;
StdCan_Msg_t txMsg;
StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_SNS);
StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
txMsg.Header.ModuleType = CAN_MODULE_TYPE_SNS_ROTARY;
txMsg.Header.ModuleId = sns_rotary_ID;
txMsg.Header.Command = CAN_MODULE_CMD_PHYSICAL_BUTTON;
txMsg.Length = 2;
txMsg.Data[0] = 0x01;
#ifndef ROTARY_BTN_INVERT_OUTPUT
if (rotaryEncoder_Button_Position_old)
txMsg.Data[1] = 0x00;
else
txMsg.Data[1] = 0x01;
StdCan_Put(&txMsg);
#else
if (rotaryEncoder_Button_Position_old)
txMsg.Data[1] = 0x01;
else
txMsg.Data[1] = 0x00;
StdCan_Put(&txMsg);
#endif
}
}
void sns_rotary_HandleMessage(StdCan_Msg_t *rxMsg)
{
}
void sns_rotary_List(uint8_t ModuleSequenceNumber)
{
StdCan_Msg_t txMsg;
StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_SNS); ///TODO: Change this to the actual class type
StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
txMsg.Header.ModuleType = CAN_MODULE_TYPE_SNS_ROTARY; ///TODO: Change this to the actual module type
txMsg.Header.ModuleId = sns_rotary_ID;
txMsg.Header.Command = CAN_MODULE_CMD_GLOBAL_LIST;
txMsg.Length = 6;
txMsg.Data[0] = NODE_HW_ID_BYTE0;
txMsg.Data[1] = NODE_HW_ID_BYTE1;
txMsg.Data[2] = NODE_HW_ID_BYTE2;
txMsg.Data[3] = NODE_HW_ID_BYTE3;
txMsg.Data[4] = NUMBER_OF_MODULES;
txMsg.Data[5] = ModuleSequenceNumber;
while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
}