From 780ba0ba0a3207a6ba3ce7e52bd220ff4fed2650 Mon Sep 17 00:00:00 2001
From: damage <damage@devloop.de>
Date: Wed, 1 Jan 2025 19:15:12 +0100
Subject: [PATCH] added rotator handler

---
 rotator/rotator.ino | 160 ++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 160 insertions(+)
 create mode 100644 rotator/rotator.ino

diff --git a/rotator/rotator.ino b/rotator/rotator.ino
new file mode 100644
index 0000000..2c7b414
--- /dev/null
+++ b/rotator/rotator.ino
@@ -0,0 +1,160 @@
+
+#define PIN_HEADING_CLK D7
+#define PIN_HEADING_DT D5
+#define PIN_HEADING_SW D6
+
+#define PIN_ALTITUDE_CLK D1
+#define PIN_ALTITUDE_DT D2
+#define PIN_ALTITUDE_SW D3
+
+#define PIN_LED D4
+
+#define VALUE_BUFFER 30
+
+#define HEADING_DT_TRIGGER 1
+#define HEADING_DT_HIGH 2
+#define HEADING_SW_TRIGGER 4
+
+#define ALTITUDE_DT_TRIGGER 8
+#define ALTITUDE_DT_HIGH 16
+#define ALTITUDE_SW_TRIGGER 32
+
+#define MIN_DT_INPUT_DELAY 1000    // 1ms
+#define MIN_SW_INPUT_DELAY 500000 // 500ms
+
+#define MIN_ALTITUDE 1
+#define MAX_ALTITUDE 60000
+
+#define MIN_HEADING 1
+#define MAX_HEADING 360
+
+uint8_t lastClk = HIGH;
+uint16_t heading = 360;
+uint16_t altitude = 0;
+
+// ringbuffer of trigger and direction values
+uint8_t valueBuffer[VALUE_BUFFER] = { 0 };
+uint8_t readerPos, writerPos = 0;
+
+long lastInput = 0;
+
+// prevent bouncing input
+bool useInput(long minInputDelay) {
+  long now = micros();
+  long diff = now - lastInput;
+
+  // < 0 because of long overruns
+  bool ret = diff < 0 || diff > minInputDelay;
+  if (ret) {
+    lastInput = now;
+  }
+
+  return ret;
+}
+
+void addValue(uint8_t value) {
+    valueBuffer[writerPos++] = value;
+    if (writerPos >= VALUE_BUFFER) {
+      writerPos = 0;
+    }  
+}
+
+void clkFalling(uint8_t PIN_DT, uint8_t DT_TRIGGER, uint8_t DT_HIGH) {
+  if (useInput(MIN_DT_INPUT_DELAY)) {
+    uint8_t dt = digitalRead(PIN_DT);
+    uint8_t value = DT_TRIGGER;
+    if (dt) {
+      value |= DT_HIGH;
+    } else {
+      // value is already "DT_LOW"
+    }
+
+    addValue(value);
+  }
+}
+
+void swFalling(uint8_t SW_TRIGGER) {
+  if (useInput(MIN_SW_INPUT_DELAY)) {
+    addValue(SW_TRIGGER);
+  }
+}
+
+void ICACHE_RAM_ATTR headingClkFalling();
+void headingClkFalling() {
+  clkFalling(PIN_HEADING_DT, HEADING_DT_TRIGGER, HEADING_DT_HIGH);
+}
+
+void ICACHE_RAM_ATTR altitudeClkFalling();
+void altitudeClkFalling() {
+  clkFalling(PIN_ALTITUDE_DT, ALTITUDE_DT_TRIGGER, ALTITUDE_DT_HIGH);
+}
+
+void ICACHE_RAM_ATTR headingSwFalling();
+void headingSwFalling() {
+  swFalling(HEADING_SW_TRIGGER);
+}
+
+void ICACHE_RAM_ATTR altitudeSwFalling();
+void altitudeSwFalling() {
+  swFalling(ALTITUDE_SW_TRIGGER);
+}
+
+void dtTriggered(uint16_t &cnt, uint8_t high, uint8_t fast, uint16_t miV, uint16_t miVR, uint16_t maV, uint16_t mavR) {
+  if (high) {
+    cnt++;
+  } else {
+    cnt--;
+  }
+
+  if (cnt > maV) {
+    cnt = mavR;
+  }
+
+  if (cnt < miV) {
+    cnt = miVR;
+  }
+}
+
+void setup() {
+  Serial.begin(115200);
+  while (!Serial) {
+    ; // wait for serial port to connect. Needed for native USB port only
+  }
+
+  pinMode(PIN_HEADING_SW, INPUT_PULLUP);
+  pinMode(PIN_HEADING_DT, INPUT_PULLUP);
+  pinMode(PIN_HEADING_CLK, INPUT_PULLUP);
+
+  attachInterrupt(digitalPinToInterrupt(PIN_HEADING_CLK), headingClkFalling, FALLING);
+  attachInterrupt(digitalPinToInterrupt(PIN_HEADING_SW), headingSwFalling, FALLING);
+  attachInterrupt(digitalPinToInterrupt(PIN_ALTITUDE_CLK), altitudeClkFalling, FALLING);
+  attachInterrupt(digitalPinToInterrupt(PIN_ALTITUDE_SW), altitudeSwFalling, FALLING);
+}
+
+void loop() {
+  while (writerPos != readerPos) {
+    uint8_t value = valueBuffer[readerPos++];
+
+    if (readerPos >= VALUE_BUFFER) {
+      readerPos = 0;
+    }
+
+    if (value & HEADING_DT_TRIGGER) {
+      uint8_t dtHigh = value & HEADING_DT_HIGH;
+      dtTriggered(heading, dtHigh, 5, MIN_HEADING, MAX_HEADING, MAX_HEADING, MIN_HEADING);
+      Serial.print("Heading: ");
+      Serial.println(heading);
+    } else if (value & HEADING_SW_TRIGGER) {
+      Serial.println("Heading: pushed");
+    } else if (value & ALTITUDE_DT_TRIGGER) {
+      uint8_t dtHigh = value & ALTITUDE_DT_HIGH;
+      dtTriggered(altitude, dtHigh, 5, MIN_ALTITUDE, MIN_ALTITUDE, MAX_ALTITUDE, MAX_ALTITUDE);
+      Serial.print("Altitude: ");
+      Serial.println(altitude);
+    } else if (value & ALTITUDE_SW_TRIGGER) {
+      Serial.println("Altitude: pushed");
+    } else {
+      // never happen error...
+    }
+  }
+}