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Add support to read data from 3 encoders #29

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Add support to read data from 3 encoders #29

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8d8e864
Update device yaml file to support 3 encoders
nightswimmer Jul 14, 2025
4f61c97
Update firmware to support 3 encoders
nightswimmer Jul 21, 2025
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133 changes: 97 additions & 36 deletions Firmware/Behavior/app.c
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@ void hwbp_app_initialize(void)
uint8_t hwH = 2;
uint8_t hwL = 0;
uint8_t fwH = 3;
uint8_t fwL = 2;
uint8_t fwL = 3;
uint8_t ass = 0;

/* Start core */
Expand All @@ -62,7 +62,7 @@ void core_callback_catastrophic_error_detected(void)
{
uint8_t led[3] = {0, 0, 0};

timer_type0_stop(&TCF0); clr_DO0;
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Probably unintended change

timer_type0_stop(&TCF0); clr_DO0;
timer_type0_stop(&TCE0); clr_DO1;
timer_type0_stop(&TCD0); clr_DO2;
timer_type0_stop(&TCC0); clr_DO3;
Expand Down Expand Up @@ -180,7 +180,9 @@ void core_callback_reset_registers(void)
//app_regs.REG_PORT_DIOS_IN = 0;

//app_regs.REG_DATA[0] = 0;
app_regs.REG_DATA[1] = 0;
app_regs.REG_DATA_ENCODERS[REG_DATA_ENCODERS_INDEX_ENCODER0] = 0;
app_regs.REG_DATA_ENCODERS[REG_DATA_ENCODERS_INDEX_ENCODER1] = 0;
app_regs.REG_DATA_ENCODERS[REG_DATA_ENCODERS_INDEX_ENCODER2] = 0;

app_regs.REG_OUTPUT_PULSE_EN = B_PORT0_12V | B_PORT1_12V | B_PORT2_12V;

Expand Down Expand Up @@ -363,45 +365,98 @@ uint8_t t1ms = 0;

bool first_adc_channel;

int16_t previous_encoder_poke0;
int16_t previous_encoder_poke1;
int16_t previous_encoder_poke2;

int16_t encoder0_value;
int16_t encoder1_value;
int16_t encoder2_value;

void core_callback_t_before_exec(void)
{
if (t1ms++ & 1)
{
/* Read ADC */
core_func_mark_user_timestamp();
if (t1ms++ & 1)
{
/* Read ADC */
core_func_mark_user_timestamp();
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A fair amount changes seem to be due to different editor configuration. Ideally these would not be tracked in the PR

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@glopesdev glopesdev Jul 26, 2025 •
edited
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@bruno-f-cruz good point, probably the best would be to provide a .editorconfig file defining the common rules and then go from there.

@nightswimmer we can look at this together and reproduce the settings for the existing project to minimize the diff, then rebase.

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@bruno-f-cruz me and @nightswimmer were looking at this together and it looks like the spacing across firmware source code is very much random, even within the same file sometimes tabs are used, sometimes spaces, and it is not very clear which one is the dominant style.

If we are going to correct this, it might be better to just unify the entire source code into a single format (I suggest spaces) and possibly add ignore this formatting commit for git blame.

I will prepare a PR for review just with very basic editor config settings and we can decide.

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@bruno-f-cruz Actually, let's backtrack on this, it is too messy and ambiguous to understand at this point, probably best to raise an issue and decide a consistent strategy for editor config across all files before we start enforcing this consistently.

To summarize the situation: there is in fact already a .editorconfig file in the root of the repo, mandating that indentation is done using spaces, but it is unclear whether Microchip Studio even supports .editorconfig to begin with.

The current state of mixed spacing rules throughout the firmware source code is likely a reflection of different people editing the code with different settings over time.


/* Start conversation on ADCA Channel 0*/
first_adc_channel = true;
ADCA_CH0_MUXCTRL = 0 << 3;
ADCA_CH0_CTRL |= ADC_CH_START_bm;
/* Start conversation on ADCA Channel 0*/
first_adc_channel = true;
ADCA_CH0_MUXCTRL = 0 << 3;
ADCA_CH0_CTRL |= ADC_CH_START_bm;

/* Read encoder on Port 2 */
if (app_regs.REG_EN_ENCODERS & B_EN_ENCODER_PORT2)
{
int16_t timer_cnt = TCD1_CNT;
/* Read encoder on Port 0 */
if (app_regs.REG_EN_ENCODERS & B_EN_ENCODER_PORT0)
{
int16_t timer_cnt = TCD1_CNT;

if (app_regs.REG_CONF_ENCODERS == GM_POSITION)
{
if (timer_cnt > 32768)
{
app_regs.REG_DATA_ENCODERS[REG_DATA_ENCODERS_INDEX_ENCODER0] = 0xFFFF - timer_cnt;
encoder0_value = 0xFFFF - timer_cnt;
}
else
{
app_regs.REG_DATA_ENCODERS[REG_DATA_ENCODERS_INDEX_ENCODER0] = (32768 - timer_cnt) * -1;
}
}
else
{
app_regs.REG_DATA_ENCODERS[REG_DATA_ENCODERS_INDEX_ENCODER0] = previous_encoder_poke0 - timer_cnt;
previous_encoder_poke0 = timer_cnt;
}
}

/* Read encoder on Port 1 */
if (app_regs.REG_EN_ENCODERS & B_EN_ENCODER_PORT1)
{
int16_t timer_cnt = TCE1_CNT;

if (app_regs.REG_CONF_ENCODERS == GM_POSITION)
{
if (timer_cnt > 32768)
{
app_regs.REG_DATA_ENCODERS[REG_DATA_ENCODERS_INDEX_ENCODER1] = 0xFFFF - timer_cnt;
encoder1_value = 0xFFFF - timer_cnt;
}
else
{
app_regs.REG_DATA_ENCODERS[REG_DATA_ENCODERS_INDEX_ENCODER1] = (32768 - timer_cnt) * -1;
}
}
else
{
app_regs.REG_DATA_ENCODERS[REG_DATA_ENCODERS_INDEX_ENCODER1] = previous_encoder_poke1 - timer_cnt;
previous_encoder_poke1 = timer_cnt;
}
}

/* Read encoder on Port 2 */
if (app_regs.REG_EN_ENCODERS & B_EN_ENCODER_PORT2)
{
int16_t timer_cnt = TCF1_CNT;

if (app_regs.REG_CONF_ENCODERS == GM_POSITION)
{
if (timer_cnt > 32768)
{
app_regs.REG_DATA[1] = 0xFFFF - timer_cnt;
}
else
{
app_regs.REG_DATA[1] = (32768 - timer_cnt) * -1;
}
}
else
{
app_regs.REG_DATA[1] = previous_encoder_poke2 - timer_cnt;

previous_encoder_poke2 = timer_cnt;
}

}
}
if (app_regs.REG_CONF_ENCODERS == GM_POSITION)
{
if (timer_cnt > 32768)
{
app_regs.REG_DATA_ENCODERS[REG_DATA_ENCODERS_INDEX_ENCODER2] = 0xFFFF - timer_cnt;
encoder2_value = 0xFFFF - timer_cnt;
}
else
{
app_regs.REG_DATA_ENCODERS[REG_DATA_ENCODERS_INDEX_ENCODER2] = (32768 - timer_cnt) * -1;
}
}
else
{
app_regs.REG_DATA_ENCODERS[REG_DATA_ENCODERS_INDEX_ENCODER2] = previous_encoder_poke2 - timer_cnt;
previous_encoder_poke2 = timer_cnt;
}
}
}
}

void core_callback_t_after_exec(void){}
Expand Down Expand Up @@ -517,10 +572,16 @@ void core_callback_t_1ms(void)
if (int2_enable_counter)
if ((--int2_enable_counter) == 0)
PORTF_INTCTRL |= INT_LEVEL_LOW;

// If any of the encoders is enabled, send the data
if (app_regs.REG_EN_ENCODERS)
{
core_func_send_event(ADD_REG_DATA_ENCODERS, false);
}
}

/************************************************************************/
/* Callbacks: cloc control */
/* Callbacks: clock control */
/************************************************************************/
void core_callback_clock_to_repeater(void) {}
void core_callback_clock_to_generator(void) {}
Expand Down
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