Encoder.h

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/* Encoder Library, for measuring quadrature encoded signals
 * http://www.pjrc.com/teensy/td_libs_Encoder.html
 * Copyright (c) 2011,2013 PJRC.COM, LLC - Paul Stoffregen <paul@pjrc.com>
 *
 * April-September 2020 - Pieter P:
 *      make encoders moveable and add begin method for deterministic
 *      initialization, large cleanup
 * Version 1.2 - fix -2 bug in C-only code
 * Version 1.1 - expand to support boards with up to 60 interrupts
 * Version 1.0 - initial release
 * 
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 * 
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 * 
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#pragma once 
 
#include <AH/Arduino-Wrapper.h>
#include <Settings/NamespaceSettings.hpp>
 
#include "utility/direct_pin_read.h"
#include "utility/move.h"
#include "utility/interrupt_pins.h"
 
BEGIN_CS_NAMESPACE
 
#define ENCODER_ARGLIST_SIZE CORE_NUM_INTERRUPT
 
struct Encoder_internal_state_t {
    volatile IO_REG_TYPE *pin1_register;
    volatile IO_REG_TYPE *pin2_register;
    IO_REG_TYPE pin1_bitmask;
    IO_REG_TYPE pin2_bitmask;
    uint8_t state;
    int32_t position;
};
 
class Encoder {
  public:
    Encoder(uint8_t pin1, uint8_t pin2);
 
    Encoder(const Encoder &) = delete;
    Encoder &operator=(const Encoder &) = delete;
 
    Encoder(Encoder &&other);
    Encoder &operator=(Encoder &&other);
 
    ~Encoder();
 
    void begin();
    void end();
 
  public:
    int32_t read();
    int32_t readAndReset();
    void write(int32_t p);
 
  private:
    void attachInterruptCtx(int interrupt);
    void detachInterruptCtx(int interrupt);
 
  private:
    Encoder_internal_state_t encoder;
    uint8_t pin1, pin2;
    uint8_t interrupts_in_use = 0;
 
 
  public:
    static void update(Encoder_internal_state_t *arg);
    static Encoder_internal_state_t *interruptArgs[ENCODER_ARGLIST_SIZE];
};
 
END_CS_NAMESPACE
 
#include "Encoder.ipp"