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Author SHA1 Message Date
Alexey Zholtikov
e60224662e wip: 2025-06-14 10:56:21 +03:00
Alexey Zholtikov
fab461f771 wip: 2025-06-14 10:51:45 +03:00
1 changed files with 6 additions and 15 deletions
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zh_encoder.c
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@@ -17,22 +17,13 @@
#define ZH_ENCODER_DIRECTION_CW 0x10 #define ZH_ENCODER_DIRECTION_CW 0x10
#define ZH_ENCODER_DIRECTION_CCW 0x20 #define ZH_ENCODER_DIRECTION_CCW 0x20
// Create the half-step state table (emits a code at 00 and 11)
#define R_START 0x0
#define H_CCW_BEGIN 0x1
#define H_CW_BEGIN 0x2
#define H_START_M 0x3
#define H_CW_BEGIN_M 0x4
#define H_CCW_BEGIN_M 0x5
static const uint8_t _encoder_matrix[7][4] = { static const uint8_t _encoder_matrix[7][4] = {
// 00 01 10 11 // BA {0x03, 0x02, 0x01, 0x00},
{H_START_M, H_CW_BEGIN, H_CCW_BEGIN, R_START}, // R_START (00) {0x23, 0x00, 0x01, 0x00},
{H_START_M | DIR_CCW, R_START, H_CCW_BEGIN, R_START}, // H_CCW_BEGIN {0x13, 0x02, 0x00, 0x00},
{H_START_M | DIR_CW, H_CW_BEGIN, R_START, R_START}, // H_CW_BEGIN {0x03, 0x05, 0x04, 0x00},
{H_START_M, H_CCW_BEGIN_M, H_CW_BEGIN_M, R_START}, // H_START_M (11) {0x03, 0x03, 0x04, 0x00},
{H_START_M, H_START_M, H_CW_BEGIN_M, R_START | DIR_CW}, // H_CW_BEGIN_M {0x03, 0x05, 0x03, 0x00},
{H_START_M, H_CCW_BEGIN_M, H_START_M, R_START | DIR_CCW}, // H_CCW_BEGIN_M
}; };
static QueueHandle_t _queue_handle = NULL; static QueueHandle_t _queue_handle = NULL;