Improve Rotary Encoder Logic

src/bin/main.rs

@@ -7,7 +7,7 @@ use embassy_executor::Spawner;
 use embassy_futures::select::{Either, select};
 use embassy_sync::blocking_mutex::raw::NoopRawMutex;
 use embassy_sync::channel::{Channel, Sender};
-use embassy_time::{Duration, Instant, Timer};
+use embassy_time::{Duration, Instant, Timer, WithTimeout};
 use esp_hal::clock::CpuClock;
 use esp_hal::gpio::{Input, InputConfig, Pull};
 use esp_hal::peripherals::GPIO;
@@ -116,7 +116,7 @@ async fn main(spawner: Spawner) {
         //     .unwrap();
         //
 
-        let cnt = 4;
+        let cnt = 12;
 
         led_strip
             .write((0..cnt).map(|it| {
@@ -136,43 +136,23 @@ async fn main(spawner: Spawner) {
     // for inspiration have a look at the examples at https://github.com/esp-rs/esp-hal/tree/esp-hal-v1.0.0-beta.0/examples/src/bin
 }
 
-pub struct Throttler<'a> {
-    input: Input<'a>,
-    throttle: Duration,
-    last_fire: Option<Instant>,
-}
-
-impl<'a> Throttler<'a> {
-    pub fn new(input: Input<'a>, throttle: Duration) -> Self {
-        Self {
-            input,
-            throttle,
-            last_fire: None,
-        }
-    }
-
-    pub async fn wait_for(&mut self) {
-        if let Some(allow_next_fire) = self
-            .last_fire
-            .and_then(|last_fire| last_fire.checked_add(self.throttle))
-        {
-            Timer::at(allow_next_fire).await;
-        }
-        self.input.wait_for_falling_edge().await;
-        self.last_fire = Some(Instant::now());
-    }
-}
-
 struct RotaryEncoderConfig<'a, 'b> {
     clk: Input<'a>,
     ot: Input<'b>,
 }
 
 #[derive(Clone, Copy, Debug)]
-enum RotaryState {
-    Clk,
-    Ot,
+struct RotaryState {
+    clk: bool,
+    ot: bool,
 }
+
+#[derive(Clone, Copy, Debug)]
+enum RotaryDirection {
+    Cw,
+    Ccw,
+}
+
 #[embassy_executor::task]
 async fn listen_rotary_encoder(
     mut config: RotaryEncoderConfig<'static, 'static>,
@@ -180,51 +160,79 @@ async fn listen_rotary_encoder(
 ) {
     info!("Waiting for rotary.");
 
-    let mut state: Option<RotaryState> = None;
+    let mut state = RotaryState {
+        clk: false,
+        ot: false,
+    };
 
-    let mut clk_input = Throttler::new(config.clk, Duration::from_millis(50));
-    let mut ot_input = Throttler::new(config.ot, Duration::from_millis(50));
+    let mut cw_count = 0;
+    let mut ccw_count = 0;
 
     loop {
         let clk = async {
-            clk_input.wait_for().await;
+            config.clk.wait_for_any_edge().await;
         };
 
         let ot = async {
-            ot_input.wait_for().await;
+            config.ot.wait_for_any_edge().await;
         };
 
-        let next_state = match select(clk, ot).await {
-            Either::First(_) => (RotaryState::Clk),
-            Either::Second(_) => (RotaryState::Ot),
+        select(clk, ot).await;
+
+        let new_state = RotaryState {
+            clk: config.clk.is_low(),
+            ot: config.ot.is_low(),
         };
 
-        //info!("State: {next_state:?}");
+        let direction = match ((state.clk, state.ot), (new_state.clk, new_state.ot)) {
+            ((false, false), (false, false)) => None,
+            ((false, true), (false, true)) => None,
+            ((true, false), (true, false)) => None,
+            ((true, true), (true, true)) => None,
 
-        match (state, next_state) {
-            (None, RotaryState::Ot) => {
-                if clk_input.input.is_high() {
-                    state = Some(RotaryState::Ot);
-                }
+            ((false, false), (true, false)) => Some(RotaryDirection::Cw),
+            ((true, false), (true, true)) => Some(RotaryDirection::Cw),
+            ((true, true), (false, true)) => Some(RotaryDirection::Cw),
+            ((false, true), (false, false)) => Some(RotaryDirection::Cw),
+
+            ((false, false), (false, true)) => Some(RotaryDirection::Ccw),
+            ((false, true), (true, true)) => Some(RotaryDirection::Ccw),
+            ((true, true), (true, false)) => Some(RotaryDirection::Ccw),
+            ((true, false), (false, false)) => Some(RotaryDirection::Ccw),
+
+            ((false, false), (true, true)) => None, //???
+            ((false, true), (true, false)) => None, //???
+            ((true, false), (false, true)) => None, //???
+            ((true, true), (false, false)) => None, //???
+        };
+
+        match direction {
+            Some(RotaryDirection::Cw) => {
+                cw_count += 1;
             }
-            (None, RotaryState::Clk) => {
-                if ot_input.input.is_high() {
-                    state = Some(RotaryState::Clk);
-                }
+            Some(RotaryDirection::Ccw) => {
+                ccw_count += 1;
             }
-            (Some(RotaryState::Clk), RotaryState::Ot) => {
-                info!("Clk -> Ot");
-                state = None;
+            None => {}
+        }
+
+        if (state.clk, state.ot) == (true, true) {
+            if (cw_count - 1) > ccw_count {
+                info!("CW");
+                info!("Direction {cw_count} {ccw_count}");
+                cw_count = 0;
+                ccw_count = 0;
                 channel.send(1).await;
             }
-            (Some(RotaryState::Ot), RotaryState::Clk) => {
-                info!("Ot -> Clk");
-                state = None;
+            if (ccw_count - 1) > cw_count {
+                info!("CCW");
+                info!("Direction {cw_count} {ccw_count}");
+                cw_count = 0;
+                ccw_count = 0;
                 channel.send(-1).await;
             }
-
-            (Some(RotaryState::Ot), RotaryState::Ot)
-            | (Some(RotaryState::Clk), RotaryState::Clk) => {}
         }
+
+        state = new_state;
     }
 }