Refactor Axis and NKRO into their own files

roxy/axis.h

@@ -0,0 +1,170 @@
+#ifndef AXIS_H
+#define AXIS_H
+
+#include <gpio/gpio.h>
+#include <timer/timer.h>
+#include <adc/adc_f3.h>
+#include <os/time.h>
+
+class Axis {
+	public:
+		virtual uint32_t get() = 0;
+};
+
+class NullAxis : public Axis {
+	public:
+		virtual uint32_t get() final {
+			return 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) {
+				// Special cases
+				if(sens == -127) {
+					tim.ARR = (600 * 4) - 1;
+				} else if(sens == -126) {
+					tim.ARR = (400 * 4) - 1;
+				} else if(sens == -125) {
+					tim.ARR = (360 * 4) - 1;
+				} else {
+					tim.ARR = 256 * -sens - 1;
+				}
+			} else {
+				tim.ARR = 256 - 1;
+			}
+		}
+
+		virtual uint32_t get() final {
+			return tim.CNT;
+		}
+};
+
+// This class inspired heavily by mon's Pocket Voltex, which was adapted from Encoder.h by PRJC
+// https://github.com/mon/PocketVoltex
+class IntAxis : public Axis {
+	private:
+		Pin& a, b;
+		uint32_t count = 0;
+		uint32_t max = 255;
+		uint8_t state;
+
+		bool invert = false;
+
+	public:
+		IntAxis(Pin &_a, Pin &_b) : a(_a), b(_b) {}
+
+		void enable(bool _invert, int8_t sens) {
+			invert = _invert;
+
+			if(sens < 0) {
+				if(sens == -127) {
+					max = (600 * 4) - 1;
+				} else if(sens == -126) {
+					max = (400 * 4) - 1;
+				} else if(sens == -125) {
+					max = (360 * 4) - 1;
+				} else {
+					max = 256 * -sens - 1;
+				}
+			} else {
+				sens = 256 - 1;
+			}
+
+			state = a.get() | (b.get() << 1);
+		}
+
+		void updateEncoder() {
+			uint8_t newState = a.get() | (b.get() << 1);
+			int8_t delta;
+			uint8_t tempState = state | (newState << 2);
+			state = newState;
+			switch (tempState) {
+				case 1:
+				case 7:
+				case 8:
+				case 14:
+					delta = 1;
+					break;
+				case 2:
+				case 4:
+				case 11:
+				case 13:
+					delta = -1;
+					break;
+				case 3:
+				case 12:
+					delta = 2;
+					break;
+				case 6:
+				case 9:
+					delta = -2;
+					break;
+			}
+			if(((int16_t)count + delta) < 0) {
+				count += max;
+			}
+			count += delta;
+			if(count >= max) {
+				count -= max;
+			}
+
+		}
+
+		virtual uint32_t get() final {
+			return count;
+		}
+};
+
+class AnalogAxis : public Axis {
+	private:
+		ADC_t& adc;
+		uint32_t ch;
+
+	public:
+		AnalogAxis(ADC_t& a, uint32_t c) : adc(a), ch(c) {}
+
+		void enable() {
+			// Turn on ADC regulator.
+			adc.CR = 0 << 28;
+			adc.CR = 1 << 28;
+			Time::sleep(2);
+
+			// Calibrate ADC.
+			// TODO
+
+			// Configure continous capture on one channel.
+			adc.CFGR = (1 << 13) | (1 << 12) | (1 << 5); // CONT, OVRMOD, ALIGN
+			adc.SQR1 = (ch << 6);
+			adc.SMPR1 = (7 << (ch * 3)); // 72 MHz / 64 / 614 = apx. 1.8 kHz
+
+			// Enable ADC.
+			adc.CR |= 1 << 0; // ADEN
+			while(!(adc.ISR & (1 << 0))); // ADRDY
+			adc.ISR = (1 << 0); // ADRDY
+
+			// Start conversion.
+			adc.CR |= 1 << 2; // ADSTART
+		}
+
+		virtual uint32_t get() final {
+			return adc.DR >> 8;
+		}
+};
+
+#endif