AHEncoder.hpp

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#pragma once
 
#include "AtomicPosition.hpp"
#include "DirectPinRead.hpp"
#include "NumInterrupts.hpp"
#include <AH/Containers/Array.hpp>
#include <AH/Hardware/Arduino-Hardware-Types.hpp>
 
BEGIN_CS_NAMESPACE
using AH::interrupt_t;
 
// Use IRAM_ATTR for ISRs to prevent ESP8266 resets
#if defined(ESP8266) || defined(ESP32)
#define CS_ENCODER_ISR_ATTR IRAM_ATTR
#else
#define CS_ENCODER_ISR_ATTR
#endif
 
#define CS_ENCODER_ARGLIST_SIZE CORE_NUM_INTERRUPT
 
class AHEncoder {
  public:
    AHEncoder(ArduinoPin_t pinA, ArduinoPin_t pinB);
 
    AHEncoder(const AHEncoder &) = delete;
    AHEncoder &operator=(const AHEncoder &) = delete;
    friend void swap(AHEncoder &a, AHEncoder &b);
 
    AHEncoder(AHEncoder &&other);
    AHEncoder &operator=(AHEncoder &&other);
 
    ~AHEncoder();
 
    void begin();
    void end();
 
  public:
    int32_t read();
    int32_t readAndReset(int32_t newpos = 0);
    void write(int32_t p);
 
  private:
    using isr_func_t = void (*)(); 
    template <interrupt_t NumISR = CS_ENCODER_ARGLIST_SIZE>
    static isr_func_t get_isr(interrupt_t interrupt);
    void attachInterruptCtx(interrupt_t interrupt);
    void detachInterruptCtx(interrupt_t interrupt);
 
  private:
    AH::Array<ArduinoPin_t, 2> pins;
    uint8_t interrupts_in_use = 0;
    uint8_t state = 0;
    AH::Array<DirectPinRead, 2> direct_pins;
    AtomicPosition<int32_t> position {0};
 
  private:
    CS_ENCODER_ISR_ATTR void update();
    static AHEncoder *instance_table[CS_ENCODER_ARGLIST_SIZE];
};
 
END_CS_NAMESPACE
 
#include "AHEncoder.ipp"