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button: Support half-stepping encoders

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Adds support for half-stepping encoders (encoders that only emit two
steps per detent, instead of four). Incorporates the feedback from
@susisstrolch's PR: https://github.com/KevinOConnor/klipper/pull/4202
, which was itself built upon a previous PR from @nickbrennan01:
https://github.com/KevinOConnor/klipper/pull/730

Uses the table from the Rotary Arduino library linked in buttons.py:
6b784cca67/Rotary.cpp (L21-L40)

Signed-off-by: Rufo Sanchez <rufo@rufosanchez.com>
This commit is contained in:
Rufo Sanchez 2021-09-12 16:59:15 -05:00 • committed by KevinOConnor
parent 5f184e3f98
commit b336a21fe7
3 changed files with 96 additions and 35 deletions
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121
klippy/extras/buttons.py
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@ -158,47 +158,93 @@ class MCU_ADC_buttons:
# Rotary encoder handler https://github.com/brianlow/Rotary
# Copyright 2011 Ben Buxton (bb@cactii.net).
# Licenced under the GNU GPL Version 3.
R_START = 0x0
R_CW_FINAL = 0x1
R_CW_BEGIN = 0x2
R_CW_NEXT = 0x3
R_CCW_BEGIN = 0x4
R_CCW_FINAL = 0x5
R_CCW_NEXT = 0x6
R_DIR_CW = 0x10
R_DIR_CCW = 0x20
R_DIR_MSK = 0x30
# Use the full-step state table (emits a code at 00 only)
ENCODER_STATES = (
# R_START
(R_START, R_CW_BEGIN, R_CCW_BEGIN, R_START),
# R_CW_FINAL
(R_CW_NEXT, R_START, R_CW_FINAL, R_START | R_DIR_CW),
# R_CW_BEGIN
(R_CW_NEXT, R_CW_BEGIN, R_START, R_START),
# R_CW_NEXT
(R_CW_NEXT, R_CW_BEGIN, R_CW_FINAL, R_START),
# R_CCW_BEGIN
(R_CCW_NEXT, R_START, R_CCW_BEGIN, R_START),
# R_CCW_FINAL
(R_CCW_NEXT, R_CCW_FINAL, R_START, R_START | R_DIR_CCW),
# R_CCW_NEXT
(R_CCW_NEXT, R_CCW_FINAL, R_CCW_BEGIN, R_START)
)
class BaseRotaryEncoder:
R_START = 0x0
R_DIR_CW = 0x10
R_DIR_CCW = 0x20
R_DIR_MSK = 0x30
class RotaryEncoder:
def __init__(self, cw_callback, ccw_callback):
self.cw_callback = cw_callback
self.ccw_callback = ccw_callback
self.encoder_state = R_START
self.encoder_state = self.R_START
def encoder_callback(self, eventtime, state):
es = ENCODER_STATES[self.encoder_state & 0xf][state & 0x3]
es = self.ENCODER_STATES[self.encoder_state & 0xf][state & 0x3]
self.encoder_state = es
if es & R_DIR_MSK == R_DIR_CW:
if es & self.R_DIR_MSK == self.R_DIR_CW:
self.cw_callback(eventtime)
elif es & R_DIR_MSK == R_DIR_CCW:
elif es & self.R_DIR_MSK == self.R_DIR_CCW:
self.ccw_callback(eventtime)
class FullStepRotaryEncoder(BaseRotaryEncoder):
R_CW_FINAL = 0x1
R_CW_BEGIN = 0x2
R_CW_NEXT = 0x3
R_CCW_BEGIN = 0x4
R_CCW_FINAL = 0x5
R_CCW_NEXT = 0x6
# Use the full-step state table (emits a code at 00 only)
ENCODER_STATES = (
# R_START
(BaseRotaryEncoder.R_START, R_CW_BEGIN, R_CCW_BEGIN,
BaseRotaryEncoder.R_START),
# R_CW_FINAL
(R_CW_NEXT, BaseRotaryEncoder.R_START, R_CW_FINAL,
BaseRotaryEncoder.R_START | BaseRotaryEncoder.R_DIR_CW),
# R_CW_BEGIN
(R_CW_NEXT, R_CW_BEGIN, BaseRotaryEncoder.R_START,
BaseRotaryEncoder.R_START),
# R_CW_NEXT
(R_CW_NEXT, R_CW_BEGIN, R_CW_FINAL, BaseRotaryEncoder.R_START),
# R_CCW_BEGIN
(R_CCW_NEXT, BaseRotaryEncoder.R_START, R_CCW_BEGIN,
BaseRotaryEncoder.R_START),
# R_CCW_FINAL
(R_CCW_NEXT, R_CCW_FINAL, BaseRotaryEncoder.R_START,
BaseRotaryEncoder.R_START | BaseRotaryEncoder.R_DIR_CCW),
# R_CCW_NEXT
(R_CCW_NEXT, R_CCW_FINAL, R_CCW_BEGIN, BaseRotaryEncoder.R_START)
)
class HalfStepRotaryEncoder(BaseRotaryEncoder):
# Use the half-step state table (emits a code at 00 and 11)
R_CCW_BEGIN = 0x1
R_CW_BEGIN = 0x2
R_START_M = 0x3
R_CW_BEGIN_M = 0x4
R_CCW_BEGIN_M = 0x5
ENCODER_STATES = (
# R_START (00)
(R_START_M, R_CW_BEGIN, R_CCW_BEGIN, BaseRotaryEncoder.R_START),
# R_CCW_BEGIN
(R_START_M | BaseRotaryEncoder.R_DIR_CCW, BaseRotaryEncoder.R_START,
R_CCW_BEGIN, BaseRotaryEncoder.R_START),
# R_CW_BEGIN
(R_START_M | BaseRotaryEncoder.R_DIR_CW, R_CW_BEGIN,
BaseRotaryEncoder.R_START, BaseRotaryEncoder.R_START),
# R_START_M (11)
(R_START_M, R_CCW_BEGIN_M, R_CW_BEGIN_M, BaseRotaryEncoder.R_START),
# R_CW_BEGIN_M
(R_START_M, R_START_M, R_CW_BEGIN_M,
BaseRotaryEncoder.R_START | BaseRotaryEncoder.R_DIR_CW),
# R_CCW_BEGIN_M
(R_START_M, R_CCW_BEGIN_M, R_START_M,
BaseRotaryEncoder.R_START | BaseRotaryEncoder.R_DIR_CCW),
)
######################################################################
# Button registration code
@ -240,8 +286,15 @@ class PrinterButtons:
self.mcu_buttons[mcu_name] = mcu_buttons = MCU_buttons(
self.printer, mcu)
mcu_buttons.setup_buttons(pin_params_list, callback)
def register_rotary_encoder(self, pin1, pin2, cw_callback, ccw_callback):
re = RotaryEncoder(cw_callback, ccw_callback)
def register_rotary_encoder(self, pin1, pin2, cw_callback, ccw_callback,
steps_per_detent):
if steps_per_detent == 2:
re = HalfStepRotaryEncoder(cw_callback, ccw_callback)
elif steps_per_detent == 4:
re = FullStepRotaryEncoder(cw_callback, ccw_callback)
else:
raise self.printer.config_error(
"%d steps per detent not supported" % steps_per_detent)
self.register_buttons([pin1, pin2], re.encoder_callback)
def register_button_push(self, pin, callback):
def helper(eventtime, state, callback=callback):