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#3875 proposed fix for dead spot when reversing #3967

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#3875 proposed fix for dead spot when reversing #3967

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14 changes: 8 additions & 6 deletions ports/atmel-samd/common-hal/rotaryio/IncrementalEncoder.c
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Original file line number Diff line number Diff line change
Expand Up @@ -161,11 +161,13 @@ void incrementalencoder_interrupt_handler(uint8_t channel) {
}

self->quarter_count += quarter_incr;
if (self->quarter_count >= 4) {
self->position += 1;
self->quarter_count = 0;
} else if (self->quarter_count <= -4) {
self->position -= 1;
self->quarter_count = 0;
if (self->last_state == 2 && self->quarter_count != 0)
if (self->quarter_count > 0) {
self->position += 1;
self->quarter_count = 0;
} else {
self->position -= 1;
self->quarter_count = 0;
}
}
}
25 changes: 17 additions & 8 deletions ports/nrf/common-hal/rotaryio/IncrementalEncoder.c
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,14 @@ static void _intr_handler(nrfx_gpiote_pin_t pin, nrf_gpiote_polarity_t action) {
rotaryio_incrementalencoder_obj_t *self = _objs[pin];
if (!self) return;

// reads a state 0 .. 3 *in order*.
// pins a and b (in truth table) are in Gray code order
// a | b | a<<1 | a^b | a<<1 + a^b (decimal Gray code)
// --+---+------+-----+-----------
// 0 | 0 | 0 | 0 | 0
// 0 | 1 | 0 | 1 | 1
// 1 | 1 | 2 | 0 | 2
// 1 | 0 | 2 | 1 | 3
// new_state is a decimal Gray code 0 .. 3 *in order*.
uint8_t new_state = nrf_gpio_pin_read(self->pin_a);
new_state = (new_state << 1) + (new_state ^ nrf_gpio_pin_read(self->pin_b));

Expand All @@ -51,15 +58,17 @@ static void _intr_handler(nrfx_gpiote_pin_t pin, nrf_gpiote_polarity_t action) {

// logic from the atmel-samd port: provides some damping and scales movement
// down by 4:1.
if (self->quarter >= 4) {
self->position++;
self->quarter = 0;
} else if (self->quarter <= -4) {
self->position--;
self->quarter = 0;
if (new_state == 2 && self->quarter != 0) {
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if a different encoder (with detent logic levels of pin_a=0 and pin_b=0) needs to be supported, this line of code would effectively need to check new_state == detent_decimal_gray_code where detent_decimal_gray_code = 0. not a hard coded '2'

for now this PR is not accommodating configuration of a detent_decimal_gray_code 😊

if (self->quarter > 0) {
self->position++;
self->quarter = 0;
}
else {
self->position--;
self->quarter = 0;
}
}
}

void common_hal_rotaryio_incrementalencoder_construct(rotaryio_incrementalencoder_obj_t* self,
const mcu_pin_obj_t* pin_a, const mcu_pin_obj_t* pin_b) {

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