From 5acab6eac7bee455bc65c1506d3c93b4774103cf Mon Sep 17 00:00:00 2001
From: gsd <mamu@ebal.net>
Date: Sat, 15 Nov 2025 01:49:21 +0300
Subject: [PATCH] io firmware with encoder support

---
 .vscode/settings.json |  5 +++
 pipboyIO/encoder1.cpp | 82 +++++++++++++++++++++++++++++++++++++++++++
 pipboyIO/encoder1.h   |  4 +++
 pipboyIO/pipboyIO.ino | 35 +++++++-----------
 pipboyIO/readme       |  5 ++-
 5 files changed, 107 insertions(+), 24 deletions(-)
 create mode 100644 .vscode/settings.json
 create mode 100644 pipboyIO/encoder1.cpp
 create mode 100644 pipboyIO/encoder1.h

diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..af13e3a
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,5 @@
+{
+    "files.associations": {
+        "cstdint": "cpp"
+    }
+}
\ No newline at end of file
diff --git a/pipboyIO/encoder1.cpp b/pipboyIO/encoder1.cpp
new file mode 100644
index 0000000..76b6efa
--- /dev/null
+++ b/pipboyIO/encoder1.cpp
@@ -0,0 +1,82 @@
+#include <cstdint>
+#include <binary.h>
+#include <esp32-hal-gpio.h>
+#include <Arduino.h>
+#include "encoder1.h"
+
+#define PinA 27               // контат AB
+#define PinC 14               // контат BC
+//#define PinS 5              // кнопка
+
+#define encoder1
+
+uint8_t pinA = 0;             // состояние контата AB
+uint8_t pinC = 0;             // состояние контата BC
+
+uint8_t blockA = false;       // блокировка прерывания на контакте AB
+uint8_t blockC = false;       // блокировка прерывания на контакте BC
+
+uint8_t encoderResult = 0;    // Результирующая переменная
+int16_t encoderCount = 0;     // Счетчик щелчков энкодера
+int16_t oldencoderCount = 0;  // Счетчик старое значение
+
+int16_t getEncoderCount() {
+    return encoderCount;
+}
+
+int16_t getOldencoderCount() {
+    return oldencoderCount;
+}
+
+void setOldencoderCount(int16_t val) {
+    oldencoderCount = val;
+}
+
+
+void encoderFilter () {
+  encoderResult = encoderResult & B00001111;
+  if (encoderResult == B1011) encoderCount ++;  // по часовой стрелке
+  if (encoderResult == B0111) encoderCount --;  // против часосовой стрелки
+  }
+
+void pinACHANGE () {          // Изменилось состояние контакта АB
+  if (blockA == true) return;
+  pinA = !digitalRead(PinA);
+  pinC = !digitalRead(PinC);  
+  encoderResult  <<= 1;
+  bitWrite(encoderResult, 0, pinA);
+  encoderResult  <<= 1;
+  bitWrite(encoderResult, 0, pinC);
+  encoderFilter();  
+  if (!pinA && !pinC) blockA = false; else blockA = true; 
+  blockC = false;
+}
+
+void pinCCHANGE () {          // Изменилось состояние контакта BC
+  if (blockC == true) return;
+  pinA = !digitalRead(PinA);
+  pinC = !digitalRead(PinC);  
+  encoderResult  <<= 1;
+  bitWrite(encoderResult, 0, pinA);
+  encoderResult  <<= 1;
+  bitWrite(encoderResult, 0, pinC);
+  encoderFilter(); 
+  if (!pinA && !pinC) blockC = false; else blockC = true; 
+  blockA = false;
+}
+
+void setupEncoder1() {
+  pinMode (PinA, INPUT_PULLUP);   // Как вход и внутренняя подтяжка
+  pinMode (PinC, INPUT_PULLUP);   // Как вход и внутренняя подтяжка
+  attachInterrupt(digitalPinToInterrupt(PinA), pinACHANGE, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(PinC), pinCCHANGE, CHANGE);
+}
+
+/*void loop() {
+ 
+ if (oldencoderCount != encoderCount) {
+  Serial.println (encoderCount);
+  oldencoderCount = encoderCount;
+ }
+
+}*/
diff --git a/pipboyIO/encoder1.h b/pipboyIO/encoder1.h
new file mode 100644
index 0000000..a5bf747
--- /dev/null
+++ b/pipboyIO/encoder1.h
@@ -0,0 +1,4 @@
+void setupEncoder1();
+int16_t getEncoderCount();
+int16_t getOldencoderCount();
+void setOldencoderCount(int16_t val);
\ No newline at end of file
diff --git a/pipboyIO/pipboyIO.ino b/pipboyIO/pipboyIO.ino
index da250bb..fa48405 100644
--- a/pipboyIO/pipboyIO.ino
+++ b/pipboyIO/pipboyIO.ino
@@ -1,18 +1,18 @@
-#include <Encoder.h>
+#include "encoder1.h"
 
 const int input[] = {36, 39, 34 ,35 ,32 ,33 ,25 ,26};
 long inputValue[] = {0, 0, 0, 0, 0, 0, 0, 0};
 const int numPins = sizeof(input) / sizeof(input[0]);
 
-Encoder enc1(14,27);
-Encoder enc2(13,12);
-long positions[3] = {0, 0, 0};
-
 #define RXD2 (16)
 #define TXD2 (17)
 
 void setup() {
-  //Serial.begin(115200);
+  Serial.begin(115200);
+  //#ifdef encoder1
+    setupEncoder1();
+  //#endif
+
   Serial2.begin(9600, SERIAL_8N1, RXD2, TXD2);
   analogReadResolution(12);
   analogSetAttenuation(ADC_11db);
@@ -26,14 +26,6 @@ void values2uart() {
     Serial2.print(inputValue[i]);
     Serial2.print("\n");
   }
-
-  for (int i = 0; i < 2; i++) {
-    Serial2.print("10");
-    Serial2.print(i);
-    Serial2.print("-");
-    Serial2.print(positions[i]);
-    Serial2.print("\n");
-  }
 }
 
 void loop() {
@@ -41,16 +33,13 @@ void loop() {
     inputValue[i] = map(analogRead(input[i]), 0, 4096, 0, 25);
   }
 
-  long newPos1 = enc1.read();
-  long newPos2 = enc2.read();
-
-  if (newPos1 != positions[0]) {
-    positions[0] = newPos1;
-  }
-
-  if (newPos2 != positions[1]) {
-    positions[1] = newPos2;
+  //#ifdef encoder1
+  //  Serial.print(0);
+    if (getOldencoderCount() != getEncoderCount()) {
+    Serial.println (getEncoderCount());
+    setOldencoderCount(getEncoderCount());
   }
+  //#endif
 
   values2uart();
   delay(50);
diff --git a/pipboyIO/readme b/pipboyIO/readme
index a9e348e..7ffdca7 100644
--- a/pipboyIO/readme
+++ b/pipboyIO/readme
@@ -1,4 +1,7 @@
 sudo apt install xdotool
 export DISPLAY=:0
 xdotool key Return
-...
\ No newline at end of file
+...
+
+board esp32 wrover kit (all version)
+disable bt+wifi
\ No newline at end of file