summaryrefslogtreecommitdiff
diff options
context:
space:
mode:
-rw-r--r--arcin/main.cpp103
1 files changed, 68 insertions, 35 deletions
diff --git a/arcin/main.cpp b/arcin/main.cpp
index 8f6abc3..7fc3902 100644
--- a/arcin/main.cpp
+++ b/arcin/main.cpp
@@ -153,6 +153,42 @@ HID_arcin usb_hid(usb, report_desc_p);
USB_strings usb_strings(usb, config.label);
+class Axis {
+ public:
+ virtual uint32_t get() = 0;
+};
+
+class QEAxis : public Axis {
+ private:
+ TIM_t& tim;
+
+ public:
+ QEAxis(TIM_t& t) : tim(t) {}
+
+ void enable(bool invert, int8_t sens) {
+ if(!invert) {
+ tim.CCER = 1 << 1;
+ }
+
+ tim.CCMR1 = (1 << 8) | (1 << 0);
+ tim.SMCR = 3;
+ tim.CR1 = 1;
+
+ if(sens < 0) {
+ tim.ARR = 256 * -sens - 1;
+ } else {
+ tim.ARR = 256 - 1;
+ }
+ }
+
+ virtual uint32_t get() final {
+ return tim.CNT;
+ }
+};
+
+QEAxis axis_qe1(TIM2);
+QEAxis axis_qe2(TIM3);
+
int main() {
rcc_init();
@@ -190,47 +226,44 @@ int main() {
led2.set_mode(Pin::Output);
led2.on();
- RCC.enable(RCC.TIM2);
- RCC.enable(RCC.TIM3);
-
- if(!(config.flags & (1 << 1))) {
- TIM2.CCER = 1 << 1;
- }
-
- TIM2.CCMR1 = (1 << 8) | (1 << 0);
- TIM2.SMCR = 3;
- TIM2.CR1 = 1;
+ Axis* axis_1;
- if(config.qe1_sens < 0) {
- TIM2.ARR = 256 * -config.qe1_sens - 1;
+ if(0) {
+ // TODO: Analog mode.
+
+ //axis_1 = &ana_1;
} else {
- TIM2.ARR = 256 - 1;
- }
-
- if(!(config.flags & (1 << 2))) {
- TIM3.CCER = 1 << 1;
+ RCC.enable(RCC.TIM2);
+
+ axis_qe1.enable(config.flags & (1 << 1), config.qe1_sens);
+
+ qe1a.set_af(1);
+ qe1b.set_af(1);
+ qe1a.set_mode(Pin::AF);
+ qe1b.set_mode(Pin::AF);
+
+ axis_1 = &axis_qe1;
}
- TIM3.CCMR1 = (1 << 8) | (1 << 0);
- TIM3.SMCR = 3;
- TIM3.CR1 = 1;
+ Axis* axis_2;
- if(config.qe2_sens < 0) {
- TIM3.ARR = 256 * -config.qe2_sens - 1;
+ if(0) {
+ // TODO: Analog mode.
+
+ //axis_2 = &ana_2;
} else {
- TIM3.ARR = 256 - 1;
+ RCC.enable(RCC.TIM3);
+
+ axis_qe2.enable(config.flags & (1 << 2), config.qe2_sens);
+
+ qe2a.set_af(1);
+ qe2b.set_af(1);
+ qe2a.set_mode(Pin::AF);
+ qe2b.set_mode(Pin::AF);
+
+ axis_2 = &axis_qe2;
}
- qe1a.set_af(1);
- qe1b.set_af(1);
- qe1a.set_mode(Pin::AF);
- qe1b.set_mode(Pin::AF);
-
- qe2a.set_af(2);
- qe2b.set_af(2);
- qe2a.set_mode(Pin::AF);
- qe2b.set_mode(Pin::AF);
-
uint8_t last_x = 0;
uint8_t last_y = 0;
@@ -257,8 +290,8 @@ int main() {
}
if(usb.ep_ready(1)) {
- uint32_t qe1_count = TIM2.CNT;
- uint32_t qe2_count = TIM3.CNT;
+ uint32_t qe1_count = axis_1->get();
+ uint32_t qe2_count = axis_2->get();
int8_t rx = qe1_count - last_x;
int8_t ry = qe2_count - last_y;