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Fixed encoder direction

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This commit is contained in:
Julian Appel
2026-04-19 00:41:36 +02:00
parent 24b349de26
commit ac3b2aa90f
2 changed files with 15 additions and 4 deletions
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src/hal/encoder.cpp
+9 -3
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@@ -8,7 +8,9 @@
// Bei jedem Flankenwechsel (CHANGE) auf A oder B wird der neue Zustand
// bestimmt und mit dem vorherigen verglichen.
//
// Lookup-Tabelle [prev<<2 | curr] → +1 (CW), -1 (CCW), 0 (ungültig/Prellen)
// Lookup-Tabelle [prev<<2 | curr] → Roh-Vorzeichen, 0 (ungültig/Prellen)
// Die physische CW/CCW-Bedeutung wird nach dem Akkumulator per
// ENCODER_DIRECTION_SIGN an die VersaPad-PCB-Verdrahtung angepasst.
static const int8_t k_lut[16] = {
// curr: 00 01 10 11
0, +1, -1, 0, // prev = 00
@@ -28,6 +30,10 @@ static encoder_cb_t s_cb = nullptr;
static const uint8_t k_pin_a[ENCODER_COUNT] = { PIN_ENC0_A, PIN_ENC1_A, PIN_ENC2_A, PIN_ENC3_A };
static const uint8_t k_pin_b[ENCODER_COUNT] = { PIN_ENC0_B, PIN_ENC1_B, PIN_ENC2_B, PIN_ENC3_B };
// The PCB wiring makes the quadrature sign opposite to the user-facing knob
// direction. Keep the lookup table conventional and invert once at the HAL edge.
static constexpr int8_t ENCODER_DIRECTION_SIGN = -1;
// Generischer Handler — wird von den 8 ISR-Wrappern unten aufgerufen.
static void handle_encoder(uint8_t enc)
{
@@ -45,10 +51,10 @@ static void handle_encoder(uint8_t enc)
// 4 Halb-Schritte = 1 vollständige Raste
if (s_accum[enc] >= 4) {
s_accum[enc] = 0;
if (s_cb) s_cb(enc, +1);
if (s_cb) s_cb(enc, +1 * ENCODER_DIRECTION_SIGN);
} else if (s_accum[enc] <= -4) {
s_accum[enc] = 0;
if (s_cb) s_cb(enc, -1);
if (s_cb) s_cb(enc, -1 * ENCODER_DIRECTION_SIGN);
}
}