inc_encoder.h

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/*
 * SPDX-FileCopyrightText: 2025 TU Dresden
 * SPDX-License-Identifier: LGPL-2.1-only
 */
 
#pragma once
 
#include <stdint.h>
 
#include "periph/gpio.h"
#include "irq.h"
#include "periph/qdec.h"
#include "ztimer.h"
#include "ztimer/periodic.h"
#include "kernel_defines.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct {
#if IS_USED(MODULE_INC_ENCODER_HARDWARE) || DOXYGEN
    qdec_t qdec_dev;  
#elif IS_USED(MODULE_INC_ENCODER_SOFTWARE) || DOXYGEN
    gpio_t interrupt; 
    gpio_t direction; 
#endif
} inc_encoder_params_t;
 
typedef struct {
    inc_encoder_params_t params;          
#if IS_USED(MODULE_INC_ENCODER_SOFTWARE) || DOXYGEN
    uint32_t             delta_t;         
    int32_t              pulse_counter;   
    uint32_t             last_read_time;  
    bool                 cw;              
    bool                 stale;           
#elif IS_USED(MODULE_INC_ENCODER_HARDWARE) || DOXYGEN
    int32_t              extended_count;  
    int32_t              prev_count;      
    int32_t              leftover_count;  
    int32_t              last_rpm;        
    ztimer_periodic_t    rpm_timer;       
#endif
} inc_encoder_t;
 
int inc_encoder_init(inc_encoder_t *dev, const inc_encoder_params_t *params);
 
int inc_encoder_read_rpm(inc_encoder_t *dev, int32_t *rpm);
 
int inc_encoder_read_reset_milli_revs(inc_encoder_t *dev, int32_t *rev_counter);
 
#ifdef __cplusplus
}
#endif