Fix rotary encoder relative change function

stm-firmware/include/helper-macros/helper-macros.h

@@ -34,4 +34,6 @@
 #define MIN(a,b) (((a) < (b)) ? (a) : (b))
 #define MAX(a,b) (((a) > (b)) ? (a) : (b))
 
+#define ABS(a) ((a) < 0 ? (-1*(a)) : (a))
+
 #endif /* __HELPER_MACROS_H__ */

stm-firmware/include/reflow-controller/rotary-encoder.h

@@ -35,7 +35,7 @@ void rotary_encoder_setup(void);
 
 uint32_t rotary_encoder_get_abs_val(void);
 
-int32_t rotary_encoder_get_chage_val(void);
+int32_t rotary_encoder_get_change_val(void);
 
 void rotary_encoder_stop(void);
 

stm-firmware/rotary-encoder.c

@@ -21,6 +21,7 @@
 #include <reflow-controller/rotary-encoder.h>
 #include <stm-periph/clock-enable-manager.h>
 #include <stm-periph/stm32-gpio-macros.h>
+#include <helper-macros/helper-macros.h>
 
 static inline void rotary_encoder_setup_pins(void)
 {
@@ -51,7 +52,7 @@ uint32_t rotary_encoder_get_abs_val(void)
 	return (uint32_t)ROTARY_ENCODER_TIMER->CNT;
 }
 
-int32_t rotary_encoder_get_chage_val(void)
+int32_t rotary_encoder_get_change_val(void)
 {
 	static uint32_t last_val = 0;
 	uint32_t val;
@@ -61,10 +62,16 @@ int32_t rotary_encoder_get_chage_val(void)
 
 	diff = val - last_val;
 
-	if (diff > 0xEFFF) {
-		diff = 0xFFFF - diff;
+	if (val > last_val) {
+		if (diff > (0xFFFF/2))
+			diff = -(last_val + 0x10000-val);
+	} else {
+		if (ABS(diff) > (0xFFFF/2))
+			diff = 0x10000 - last_val + val;
 	}
 
+	last_val = val;
+
 	return diff;
 }
 

stm-firmware/shell.c

@@ -29,6 +29,7 @@
 #include <stm-periph/unique-id.h>
 #include <reflow-controller/calibration.h>
 #include <reflow-controller/temp-converter.h>
+#include <reflow-controller/rotary-encoder.h>
 
 #ifndef GIT_VER
 #define GIT_VER "VERSION NOT SET"
@@ -201,6 +202,22 @@ static shellmatta_retCode_t shell_cmd_cal(const shellmatta_handle_t   handle,
 	calibration_sequence_shell_cmd(handle);
 	return SHELLMATTA_OK;
 }
+
+static shellmatta_retCode_t shell_cmd_rot(const shellmatta_handle_t   handle,
+						  const char *arguments,
+						  uint32_t length)
+{
+	(void)arguments;
+	(void)length;
+	uint32_t rot_val;
+	int32_t delta;
+
+	rot_val = rotary_encoder_get_abs_val();
+	delta = rotary_encoder_get_change_val();
+	shellmatta_printf(handle, "Rotary encoder value: %u, delta: %d\r\n", rot_val, delta);
+
+	return SHELLMATTA_OK;
+}
 //typedef struct shellmatta_cmd
 //{
 //    char                    *cmd;       /**< command name                           */
@@ -211,7 +228,7 @@ static shellmatta_retCode_t shell_cmd_cal(const shellmatta_handle_t   handle,
 //    struct shellmatta_cmd   *next;      /**< pointer to next command or NULL        */
 //} shellmatta_cmd_t;
 
-static shellmatta_cmd_t cmd[7] = {
+static shellmatta_cmd_t cmd[8] = {
 	{
 		.cmd = "version",
 		.cmdAlias = "ver",
@@ -266,6 +283,14 @@ static shellmatta_cmd_t cmd[7] = {
 		.helpText = "Calibrate resistance measurement",
 		.usageText = "",
 		.cmdFct = shell_cmd_cal,
+		.next = &cmd[7],
+	},
+	{
+		.cmd = "rotary-encoder",
+		.cmdAlias = "rot",
+		.helpText = "Get current rotary encoder value",
+		.usageText = "",
+		.cmdFct = shell_cmd_rot,
 		.next = NULL,
 	}
 };