async analog read

AllYarnsAreBeautiful · Sep 29, 2023 · 443ac12 · 443ac12
1 parent fd6c7ad
commit 443ac12
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Showing 6 changed files with 128 additions and 84 deletions.
diff --git a/.gitmodules b/.gitmodules
@@ -10,3 +10,6 @@
         active = true
 	path = lib/avr-libc
 	url = https://github.com/avrdudes/avr-libc.git
+[submodule "lib/AnalogReadAsync"]
+	path = lib/AnalogReadAsync
+	url = https://github.com/boothinator/AnalogReadAsync
diff --git a/lib/AnalogReadAsync b/lib/AnalogReadAsync
diff --git a/src/ayab/encoders.cpp b/src/ayab/encoders.cpp
@@ -24,6 +24,7 @@
  */
 
 #include <Arduino.h>
+#include <analogReadAsync.h>
 
 #include "encoders.h"
 
@@ -75,6 +76,111 @@ void Encoders::isr() {
   m_oldState = currentState;
 }
 
+/*!
+ * \brief Callback from interrupt service subroutine.
+ *
+ * Hall value is used to detect whether carriage is in front of Left Hall sensor
+ */
+void Encoders::hallLeftCallback(uint16_t hallValue, void *data) {
+  (void) data; // unused
+
+  // Update direction
+  m_direction = digitalRead(ENC_PIN_B) ? Direction_t::Right : Direction_t::Left;
+
+  // Update carriage position
+  if ((Direction_t::Right == m_direction) && (m_position < END_RIGHT[static_cast<uint8_t>(m_machineType)])) {
+    m_position = m_position + 1;
+  }
+
+  if ((hallValue < FILTER_L_MIN[static_cast<uint8_t>(m_machineType)]) ||
+      (hallValue > FILTER_L_MAX[static_cast<uint8_t>(m_machineType)])) {
+    // In front of Left Hall Sensor
+    m_hallActive = Direction_t::Left;
+
+    Carriage detected_carriage = Carriage_t::NoCarriage;
+    uint8_t start_position = END_LEFT_PLUS_OFFSET[static_cast<uint8_t>(m_machineType)];
+
+    if (hallValue >= FILTER_L_MIN[static_cast<uint8_t>(m_machineType)]) {
+      detected_carriage = Carriage_t::Knit;
+    } else {
+      detected_carriage = Carriage_t::Lace;
+    }
+
+    if (m_machineType == Machine_t::Kh270) {
+      // KH270 uses Knit carriage only
+      m_carriage = Carriage_t::Knit;
+
+      // Belt shift is ignored for KH270
+
+      // The first magnet on the carriage looks like Lace, the second looks like Knit
+      if (detected_carriage == Carriage_t::Knit) {
+        m_position = start_position + MAGNET_DISTANCE_270;
+      } else {
+        m_position = start_position;
+      }
+    } else if ((m_carriage != Carriage_t::NoCarriage) && (m_carriage != detected_carriage) && (m_position > start_position)) {
+      // Garter carriage detected
+      m_carriage = Carriage_t::Garter;
+
+      // Belt shift and start position were set when the first magnet passed
+      // the sensor and we assumed we were working with a standard carriage.
+      return;
+    } else {
+      // Knit or Lace carriage detected, machine is not KH270
+      m_carriage = detected_carriage;
+
+      // Belt shift signal only decided in front of Hall sensor
+      m_beltShift = digitalRead(ENC_PIN_C) ? BeltShift::Regular : BeltShift::Shifted;
+
+      // Carriage is known to be in front of the Hall sensor so overwrite position
+      m_position = start_position;
+    }
+  }
+}
+
+/*!
+ * \brief Callback from interrupt service subroutine.
+ *
+ * Hall value is used to detect whether carriage is in front of Right Hall sensor
+ */
+void Encoders::hallRightCallback(uint16_t hallValue, void *data) {
+  (void) data; // unused
+
+  // Update direction
+  m_direction = digitalRead(ENC_PIN_B) ? Direction_t::Left : Direction_t::Right;
+
+  // Update carriage position
+  if ((Direction_t::Left == m_direction) && (m_position > END_LEFT[static_cast<uint8_t>(m_machineType)])) {
+    m_position = m_position - 1;
+  }
+
+  // Avoid 'comparison of unsigned expression < 0 is always false'
+  // by being explicit about that behaviour being expected.
+  bool hallValueSmall = false;
+  hallValueSmall = (hallValue < FILTER_R_MIN[static_cast<uint8_t>(m_machineType)]);
+
+  if (hallValueSmall || (hallValue > FILTER_R_MAX[static_cast<uint8_t>(m_machineType)])) {
+    // In front of Right Hall Sensor
+    m_hallActive = Direction_t::Right;
+
+    // The Garter carriage has a second set of magnets that are going to
+    // pass the sensor and will reset state incorrectly if allowed to
+    // continue.
+    if (hallValueSmall && (m_carriage != Carriage_t::Garter)) {
+      m_carriage = Carriage_t::Knit;
+    }
+
+    // Belt shift is ignored for KH270
+    if (m_machineType != Machine_t::Kh270) {
+      // Belt shift signal only decided in front of Hall sensor
+      m_beltShift = digitalRead(ENC_PIN_C) ? BeltShift::Shifted : BeltShift::Regular;
+    }
+
+    // Known position of the carriage -> overwrite position
+    m_position = END_RIGHT_MINUS_OFFSET[static_cast<uint8_t>(m_machineType)];
+  }
+}
+
 /*!
  * \brief Read Hall sensor on left and right.
  * \param pSensor Which sensor to read (left or right).
@@ -132,7 +238,7 @@ Machine_t Encoders::getMachineType() {
   return m_machineType;
 }
 
-// Private Methods
+// Private methods
 
 /*!
  * \brief Interrupt service subroutine.
@@ -142,14 +248,6 @@ Machine_t Encoders::getMachineType() {
  * Bounds on `m_machineType` not checked.
  */
 void Encoders::encA_rising() {
-  // Update direction
-  m_direction = digitalRead(ENC_PIN_B) ? Direction_t::Right : Direction_t::Left;
-
-  // Update carriage position
-  if ((Direction_t::Right == m_direction) && (m_position < END_RIGHT[static_cast<uint8_t>(m_machineType)])) {
-    m_position = m_position + 1;
-  }
-
   // The garter carriage has a second set of magnets that are going to
   // pass the sensor and will reset state incorrectly if allowed to
   // continue.
@@ -163,46 +261,7 @@ void Encoders::encA_rising() {
   }
 
   // Hall value is used to detect whether carriage is in front of Left Hall sensor
-  uint16_t hallValue = analogRead(EOL_PIN_L);
-
-  if ((hallValue < FILTER_L_MIN[static_cast<uint8_t>(m_machineType)]) ||
-      (hallValue > FILTER_L_MAX[static_cast<uint8_t>(m_machineType)])) {
-    // In front of Left Hall Sensor
-    m_hallActive = Direction_t::Left;
-
-    Carriage detected_carriage = Carriage_t::NoCarriage;
-    uint8_t start_position = END_LEFT_PLUS_OFFSET[static_cast<uint8_t>(m_machineType)];
-
-    if (hallValue >= FILTER_L_MIN[static_cast<uint8_t>(m_machineType)]) {
-      detected_carriage = Carriage_t::Knit;
-    } else {
-      detected_carriage = Carriage_t::Lace;
-    }
-
-    if (m_machineType == Machine_t::Kh270) {
-      m_carriage = Carriage_t::Knit;
-
-      // The first magnet on the carriage looks like Lace, the second looks like Knit
-      if (detected_carriage == Carriage_t::Knit) {
-        start_position = start_position + MAGNET_DISTANCE_270;
-      }
-    } else if ((m_carriage != Carriage_t::NoCarriage) && (m_carriage != detected_carriage) && (m_position > start_position)) {
-      m_carriage = Carriage_t::Garter;
-
-      // Belt shift and start position were set when the first magnet passed
-      // the sensor and we assumed we were working with a standard carriage.
-      return;
-    } else {
-      m_carriage = detected_carriage;
-
-      // Belt shift signal only decided in front of Hall sensor
-      // Belt shift is ignored for KH270
-      m_beltShift = digitalRead(ENC_PIN_C) ? BeltShift::Regular : BeltShift::Shifted;
-    }
-
-    // Known position of the carriage -> overwrite position
-    m_position = start_position;
-  }
+  analogReadAsync(EOL_PIN_L, GlobalEncoders::hallLeftCallback);
 }
 
 /*!
@@ -213,40 +272,6 @@ void Encoders::encA_rising() {
  * Bounds on `m_machineType` not checked.
  */
 void Encoders::encA_falling() {
-  // Update direction
-  m_direction = digitalRead(ENC_PIN_B) ? Direction_t::Left : Direction_t::Right;
-
-  // Update carriage position
-  if ((Direction_t::Left == m_direction) && (m_position > END_LEFT[static_cast<uint8_t>(m_machineType)])) {
-    m_position = m_position - 1;
-  }
-
   // Hall value is used to detect whether carriage is in front of Right Hall sensor
-  uint16_t hallValue = analogRead(EOL_PIN_R);
-
-  // Avoid 'comparison of unsigned expression < 0 is always false'
-  // by being explicit about that behaviour being expected.
-  bool hallValueSmall = false;
-  hallValueSmall = (hallValue < FILTER_R_MIN[static_cast<uint8_t>(m_machineType)]);
-
-  if (hallValueSmall || (hallValue > FILTER_R_MAX[static_cast<uint8_t>(m_machineType)])) {
-    // In front of Right Hall Sensor
-    m_hallActive = Direction_t::Right;
-
-    // The Garter carriage has a second set of magnets that are going to
-    // pass the sensor and will reset state incorrectly if allowed to
-    // continue.
-    if (hallValueSmall && (m_carriage != Carriage_t::Garter)) {
-      m_carriage = Carriage_t::Knit;
-    }
-
-    // Belt shift is ignored for KH270
-    if (m_machineType != Machine_t::Kh270) {
-      // Belt shift signal only decided in front of Hall sensor
-      m_beltShift = digitalRead(ENC_PIN_C) ? BeltShift::Shifted : BeltShift::Regular;
-    }
-
-    // Known position of the carriage -> overwrite position
-    m_position = END_RIGHT_MINUS_OFFSET[static_cast<uint8_t>(m_machineType)];
-  }
+  analogReadAsync(EOL_PIN_R, GlobalEncoders::hallRightCallback);
 }
diff --git a/src/ayab/encoders.h b/src/ayab/encoders.h
@@ -123,6 +123,8 @@ class EncodersInterface {
   virtual void init(Machine_t machineType) = 0;
   virtual void setUpInterrupt() = 0;
   virtual void isr() = 0;
+  virtual void hallLeftCallback(uint16_t hallValue, void *data) = 0;
+  virtual void hallRightCallback(uint16_t hallValue, void *data) = 0;
   virtual uint16_t getHallValue(Direction_t pSensor) = 0;
   virtual Machine_t getMachineType() = 0;
   virtual BeltShift_t getBeltShift() = 0;
@@ -151,6 +153,8 @@ class GlobalEncoders final {
 //#ifndef AYAB_TESTS
   static void isr();
 //#endif
+  static void hallLeftCallback(uint16_t hallValue, void *data);
+  static void hallRightCallback(uint16_t hallValue, void *data);
   static uint16_t getHallValue(Direction_t pSensor);
   static Machine_t getMachineType();
   static BeltShift_t getBeltShift();
@@ -167,6 +171,8 @@ class Encoders : public EncodersInterface {
   void init(Machine_t machineType) final;
   void setUpInterrupt() final;
   void isr() final;
+  void hallLeftCallback(uint16_t hallValue, void *data) final;
+  void hallRightCallback(uint16_t hallValue, void *data) final;
   uint16_t getHallValue(Direction_t pSensor) final;
   Machine_t getMachineType() final;
   BeltShift_t getBeltShift() final;

diff --git a/src/ayab/global_encoders.cpp b/src/ayab/global_encoders.cpp
@@ -40,6 +40,14 @@ void GlobalEncoders::isr() {
 }
 #endif // AYAB_TESTS
 
+void GlobalEncoders::hallLeftCallback(uint16_t hallValue, void *data) {
+  m_instance->hallLeftCallback(hallValue, data);
+}
+
+void GlobalEncoders::hallRightCallback(uint16_t hallValue, void *data) {
+  m_instance->hallRightCallback(hallValue, data);
+}
+
 uint16_t GlobalEncoders::getHallValue(Direction_t pSensor) {
   return m_instance->getHallValue(pSensor);
 }

diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
@@ -33,6 +33,7 @@ set(COMMON_INCLUDES
     )
 set(EXTERNAL_LIB_INCLUDES
     ${LIBRARY_DIRECTORY}/Adafruit_MCP23008
+    ${LIBRARY_DIRECTORY}/AnalogReadAsync
     #${LIBRARY_DIRECTORY}/avr-libc/include
     )
 set(COMMON_SOURCES