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Only use section attribute in .cpp
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Lines changed: 352 additions & 169 deletions

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‎Encoder.cpp‎

Lines changed: 291 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,10 +1,300 @@
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#include "Encoder.h"
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4-
// Yes, all the code is in the header file, to provide the user
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// Most the code is in the header file, to provide the user
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// configure options with #define (before they include it), and
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// to facilitate some crafty optimizations!
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Encoder_internal_state_t * Encoder::interruptArgs[];
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void ENCODER_ISR_ATTR Encoder::update(Encoder_internal_state_t *arg) ENCODER_ISR_ATTR {
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#if defined(__AVR__)
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// The compiler believes this is just 1 line of code, so
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// it will inline this function into each interrupt
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// handler. That's a tiny bit faster, but grows the code.
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// Especially when used with ENCODER_OPTIMIZE_INTERRUPTS,
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// the inline nature allows the ISR prologue and epilogue
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// to only save/restore necessary registers, for very nice
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// speed increase.
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asm volatile (
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"ld r30, X+" "\n\t"
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"ld r31, X+" "\n\t"
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"ld r24, Z" "\n\t" // r24 = pin1 input
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"ld r30, X+" "\n\t"
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"ld r31, X+" "\n\t"
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"ld r25, Z" "\n\t" // r25 = pin2 input
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"ld r30, X+" "\n\t" // r30 = pin1 mask
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"ld r31, X+" "\n\t" // r31 = pin2 mask
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"ld r22, X" "\n\t" // r22 = state
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"andi r22, 3" "\n\t"
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"and r24, r30" "\n\t"
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"breq L%=1" "\n\t" // if (pin1)
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"ori r22, 4" "\n\t" // state |= 4
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"L%=1:" "and r25, r31" "\n\t"
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"breq L%=2" "\n\t" // if (pin2)
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"ori r22, 8" "\n\t" // state |= 8
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"L%=2:" "ldi r30, lo8(pm(L%=table))" "\n\t"
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"ldi r31, hi8(pm(L%=table))" "\n\t"
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"add r30, r22" "\n\t"
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"adc r31, __zero_reg__" "\n\t"
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"asr r22" "\n\t"
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"asr r22" "\n\t"
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"st X+, r22" "\n\t" // store new state
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"ld r22, X+" "\n\t"
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"ld r23, X+" "\n\t"
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"ld r24, X+" "\n\t"
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"ld r25, X+" "\n\t"
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"ijmp" "\n\t" // jumps to update_finishup()
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// TODO move this table to another static function,
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// so it doesn't get needlessly duplicated. Easier
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// said than done, due to linker issues and inlining
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"L%=table:" "\n\t"
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"rjmp L%=end" "\n\t" // 0
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"rjmp L%=plus1" "\n\t" // 1
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"rjmp L%=minus1" "\n\t" // 2
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"rjmp L%=plus2" "\n\t" // 3
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"rjmp L%=minus1" "\n\t" // 4
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"rjmp L%=end" "\n\t" // 5
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"rjmp L%=minus2" "\n\t" // 6
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"rjmp L%=plus1" "\n\t" // 7
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"rjmp L%=plus1" "\n\t" // 8
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"rjmp L%=minus2" "\n\t" // 9
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"rjmp L%=end" "\n\t" // 10
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"rjmp L%=minus1" "\n\t" // 11
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"rjmp L%=plus2" "\n\t" // 12
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"rjmp L%=minus1" "\n\t" // 13
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"rjmp L%=plus1" "\n\t" // 14
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"rjmp L%=end" "\n\t" // 15
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"L%=minus2:" "\n\t"
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"subi r22, 2" "\n\t"
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"sbci r23, 0" "\n\t"
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"sbci r24, 0" "\n\t"
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"sbci r25, 0" "\n\t"
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"rjmp L%=store" "\n\t"
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"L%=minus1:" "\n\t"
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"subi r22, 1" "\n\t"
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"sbci r23, 0" "\n\t"
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"sbci r24, 0" "\n\t"
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"sbci r25, 0" "\n\t"
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"rjmp L%=store" "\n\t"
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"L%=plus2:" "\n\t"
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"subi r22, 254" "\n\t"
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"rjmp L%=z" "\n\t"
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"L%=plus1:" "\n\t"
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"subi r22, 255" "\n\t"
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"L%=z:" "sbci r23, 255" "\n\t"
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"sbci r24, 255" "\n\t"
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"sbci r25, 255" "\n\t"
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"L%=store:" "\n\t"
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"st -X, r25" "\n\t"
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"st -X, r24" "\n\t"
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"st -X, r23" "\n\t"
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"st -X, r22" "\n\t"
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"L%=end:" "\n"
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: : "x" (arg) : "r22", "r23", "r24", "r25", "r30", "r31");
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#else
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uint8_t p1val = DIRECT_PIN_READ(arg->pin1_register, arg->pin1_bitmask);
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uint8_t p2val = DIRECT_PIN_READ(arg->pin2_register, arg->pin2_bitmask);
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uint8_t state = arg->state & 3;
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if (p1val) state |= 4;
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if (p2val) state |= 8;
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arg->state = (state >> 2);
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switch (state) {
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case 1: case 7: case 8: case 14:
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arg->position++;
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return;
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case 2: case 4: case 11: case 13:
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arg->position--;
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return;
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case 3: case 12:
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arg->position += 2;
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return;
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case 6: case 9:
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arg->position -= 2;
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return;
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}
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#endif
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}
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#if defined(ENCODER_USE_INTERRUPTS) && !defined(ENCODER_OPTIMIZE_INTERRUPTS)
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#ifdef CORE_INT0_PIN
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void Encoder::isr0(void) ENCODER_ISR_ATTR { update(interruptArgs[0]); }
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#endif
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#ifdef CORE_INT1_PIN
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void Encoder::isr1(void) ENCODER_ISR_ATTR { update(interruptArgs[1]); }
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#endif
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#ifdef CORE_INT2_PIN
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void Encoder::isr2(void) ENCODER_ISR_ATTR { update(interruptArgs[2]); }
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#endif
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#ifdef CORE_INT3_PIN
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void Encoder::isr3(void) ENCODER_ISR_ATTR { update(interruptArgs[3]); }
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#endif
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#ifdef CORE_INT4_PIN
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void Encoder::isr4(void) ENCODER_ISR_ATTR { update(interruptArgs[4]); }
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#endif
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#ifdef CORE_INT5_PIN
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void Encoder::isr5(void) ENCODER_ISR_ATTR { update(interruptArgs[5]); }
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#endif
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#ifdef CORE_INT6_PIN
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void Encoder::isr6(void) ENCODER_ISR_ATTR { update(interruptArgs[6]); }
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#endif
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#ifdef CORE_INT7_PIN
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void Encoder::isr7(void) ENCODER_ISR_ATTR { update(interruptArgs[7]); }
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#endif
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#ifdef CORE_INT8_PIN
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void Encoder::isr8(void) ENCODER_ISR_ATTR { update(interruptArgs[8]); }
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#endif
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#ifdef CORE_INT9_PIN
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void Encoder::isr9(void) ENCODER_ISR_ATTR { update(interruptArgs[9]); }
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#endif
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#ifdef CORE_INT10_PIN
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void Encoder::isr10(void) ENCODER_ISR_ATTR { update(interruptArgs[10]); }
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#endif
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#ifdef CORE_INT11_PIN
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void Encoder::isr11(void) ENCODER_ISR_ATTR { update(interruptArgs[11]); }
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#endif
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#ifdef CORE_INT12_PIN
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void Encoder::isr12(void) ENCODER_ISR_ATTR { update(interruptArgs[12]); }
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#endif
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#ifdef CORE_INT13_PIN
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void Encoder::isr13(void) ENCODER_ISR_ATTR { update(interruptArgs[13]); }
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#endif
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#ifdef CORE_INT14_PIN
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void Encoder::isr14(void) ENCODER_ISR_ATTR { update(interruptArgs[14]); }
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#endif
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#ifdef CORE_INT15_PIN
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void Encoder::isr15(void) ENCODER_ISR_ATTR { update(interruptArgs[15]); }
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#endif
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#ifdef CORE_INT16_PIN
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void Encoder::isr16(void) ENCODER_ISR_ATTR { update(interruptArgs[16]); }
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#endif
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#ifdef CORE_INT17_PIN
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void Encoder::isr17(void) ENCODER_ISR_ATTR { update(interruptArgs[17]); }
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#endif
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#ifdef CORE_INT18_PIN
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void Encoder::isr18(void) ENCODER_ISR_ATTR { update(interruptArgs[18]); }
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#endif
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#ifdef CORE_INT19_PIN
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void Encoder::isr19(void) ENCODER_ISR_ATTR { update(interruptArgs[19]); }
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#endif
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#ifdef CORE_INT20_PIN
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void Encoder::isr20(void) ENCODER_ISR_ATTR { update(interruptArgs[20]); }
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#endif
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#ifdef CORE_INT21_PIN
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void Encoder::isr21(void) ENCODER_ISR_ATTR { update(interruptArgs[21]); }
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#endif
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#ifdef CORE_INT22_PIN
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void Encoder::isr22(void) ENCODER_ISR_ATTR { update(interruptArgs[22]); }
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#endif
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#ifdef CORE_INT23_PIN
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void Encoder::isr23(void) ENCODER_ISR_ATTR { update(interruptArgs[23]); }
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#endif
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#ifdef CORE_INT24_PIN
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void Encoder::isr24(void) ENCODER_ISR_ATTR { update(interruptArgs[24]); }
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#endif
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#ifdef CORE_INT25_PIN
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void Encoder::isr25(void) ENCODER_ISR_ATTR { update(interruptArgs[25]); }
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#endif
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#ifdef CORE_INT26_PIN
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void Encoder::isr26(void) ENCODER_ISR_ATTR { update(interruptArgs[26]); }
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#endif
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#ifdef CORE_INT27_PIN
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void Encoder::isr27(void) ENCODER_ISR_ATTR { update(interruptArgs[27]); }
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#endif
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#ifdef CORE_INT28_PIN
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void Encoder::isr28(void) ENCODER_ISR_ATTR { update(interruptArgs[28]); }
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#endif
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#ifdef CORE_INT29_PIN
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void Encoder::isr29(void) ENCODER_ISR_ATTR { update(interruptArgs[29]); }
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#endif
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#ifdef CORE_INT30_PIN
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void Encoder::isr30(void) ENCODER_ISR_ATTR { update(interruptArgs[30]); }
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#endif
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#ifdef CORE_INT31_PIN
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void Encoder::isr31(void) ENCODER_ISR_ATTR { update(interruptArgs[31]); }
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#endif
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#ifdef CORE_INT32_PIN
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void Encoder::isr32(void) ENCODER_ISR_ATTR { update(interruptArgs[32]); }
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#endif
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#ifdef CORE_INT33_PIN
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void Encoder::isr33(void) ENCODER_ISR_ATTR { update(interruptArgs[33]); }
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#endif
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#ifdef CORE_INT34_PIN
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void Encoder::isr34(void) ENCODER_ISR_ATTR { update(interruptArgs[34]); }
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#endif
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#ifdef CORE_INT35_PIN
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void Encoder::isr35(void) ENCODER_ISR_ATTR { update(interruptArgs[35]); }
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#endif
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#ifdef CORE_INT36_PIN
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void Encoder::isr36(void) ENCODER_ISR_ATTR { update(interruptArgs[36]); }
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#endif
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#ifdef CORE_INT37_PIN
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void Encoder::isr37(void) ENCODER_ISR_ATTR { update(interruptArgs[37]); }
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#endif
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#ifdef CORE_INT38_PIN
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void Encoder::isr38(void) ENCODER_ISR_ATTR { update(interruptArgs[38]); }
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#endif
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#ifdef CORE_INT39_PIN
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void Encoder::isr39(void) ENCODER_ISR_ATTR { update(interruptArgs[39]); }
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#endif
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#ifdef CORE_INT40_PIN
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void Encoder::isr40(void) ENCODER_ISR_ATTR { update(interruptArgs[40]); }
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#endif
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#ifdef CORE_INT41_PIN
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void Encoder::isr41(void) ENCODER_ISR_ATTR { update(interruptArgs[41]); }
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#endif
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#ifdef CORE_INT42_PIN
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void Encoder::isr42(void) ENCODER_ISR_ATTR { update(interruptArgs[42]); }
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#endif
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#ifdef CORE_INT43_PIN
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void Encoder::isr43(void) ENCODER_ISR_ATTR { update(interruptArgs[43]); }
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#endif
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#ifdef CORE_INT44_PIN
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void Encoder::isr44(void) ENCODER_ISR_ATTR { update(interruptArgs[44]); }
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#endif
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#ifdef CORE_INT45_PIN
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void Encoder::isr45(void) ENCODER_ISR_ATTR { update(interruptArgs[45]); }
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#endif
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#ifdef CORE_INT46_PIN
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void Encoder::isr46(void) ENCODER_ISR_ATTR { update(interruptArgs[46]); }
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#endif
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#ifdef CORE_INT47_PIN
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void Encoder::isr47(void) ENCODER_ISR_ATTR { update(interruptArgs[47]); }
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#endif
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#ifdef CORE_INT48_PIN
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void Encoder::isr48(void) ENCODER_ISR_ATTR { update(interruptArgs[48]); }
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#endif
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#ifdef CORE_INT49_PIN
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void Encoder::isr49(void) ENCODER_ISR_ATTR { update(interruptArgs[49]); }
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#endif
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#ifdef CORE_INT50_PIN
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void Encoder::isr50(void) ENCODER_ISR_ATTR { update(interruptArgs[50]); }
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#endif
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#ifdef CORE_INT51_PIN
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void Encoder::isr51(void) ENCODER_ISR_ATTR { update(interruptArgs[51]); }
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#endif
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#ifdef CORE_INT52_PIN
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void Encoder::isr52(void) ENCODER_ISR_ATTR { update(interruptArgs[52]); }
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#endif
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#ifdef CORE_INT53_PIN
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void Encoder::isr53(void) ENCODER_ISR_ATTR { update(interruptArgs[53]); }
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#endif
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#ifdef CORE_INT54_PIN
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void Encoder::isr54(void) ENCODER_ISR_ATTR { update(interruptArgs[54]); }
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#endif
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#ifdef CORE_INT55_PIN
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void Encoder::isr55(void) ENCODER_ISR_ATTR { update(interruptArgs[55]); }
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#endif
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#ifdef CORE_INT56_PIN
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void Encoder::isr56(void) ENCODER_ISR_ATTR { update(interruptArgs[56]); }
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#endif
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#ifdef CORE_INT57_PIN
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void Encoder::isr57(void) ENCODER_ISR_ATTR { update(interruptArgs[57]); }
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#endif
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#ifdef CORE_INT58_PIN
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void Encoder::isr58(void) ENCODER_ISR_ATTR { update(interruptArgs[58]); }
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#endif
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#ifdef CORE_INT59_PIN
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void Encoder::isr59(void) ENCODER_ISR_ATTR { update(interruptArgs[59]); }
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#endif
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#endif

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