fl

hex

{
PropForth4.5

                             PullUpresistor 10kohm between A_phase and 3.3V
 -----------------------       |
|               A_phase |------------- P12
|Rotary Encoder Common  |------------- Gnd
|               B_phase |------------- P13
 -----------------------       |
                             PullUpresistor 10kohm between A_phase and 3.3V


        ----------> CW
        20132013201320  <-- 2bit binary
A_phase 00110011001100
B_phase 10011001100110
        CCW <--------

     prev  current status
       0     0      stop
       0     1      CW
       0     2      CCW
       0     3      invalid
       1     0      CCW
       1     1      stop
       1     2      invalid
       1     3      CW
       2     0      CW
       2     1      invalid
       2     2      stop
       2     3      CCW
       3     0      invalid
       3     1      CCW
       3     2      CW
       3     3      stop
       
}


c wconstant A_phase
d wconstant B_phase

wvariable encoder_tbl 0 c, 1 c, 2 c, f c, 2 c, 0 c, f c, 1 c, 1 c, f c, 0 c, 2 c, f c, 2 c, 1 c, 0 c, 
wvariable prev
0 prev W!
wvariable current
variable counter
0 counter L!

: encoder
ina COG@ A_phase rshift 3 and dup                                               \ get current encoder_data 
prev W@ 4 u* encoder_tbl 2+ + + C@ dup                                          \ get CW/CCW/stop from table
2 < if counter L@ + counter L! else 2 = if counter L@ 1- counter L! thens       \ update counter
prev W!
;

: test begin encoder counter L@ . cr 0 until ;

decimal