Ytdyklly

I would like feedback on the correctness and performance of this code.

My priorities are also are readability, simplicity and self-documenting code - but I'm happy with those as they are.

I know I've used C pretty poorly as far as factoring out common code between the two input lines - but I'm brushing up my C and will do that.

RA2 and RA3 are the two digital input lines. My algorithm is not dissimilar to how debouncing would be done with a low pass capacitor and resistor followed by a schmitt trigger. This function is called by the ISR every 0.5ms, and the rotary switch produces transitions as short as 5-10ms.

I am curious how to deal with situations where the rotary switch is turned a bit faster than the algorithm can process. Can further information be deduced from the gray encoding, even when a step is missed because of the low pass delay and limited sample rate? I suppose this could be taken as far as using neural networks?!

I'm mainly asking this question because I think the speed and just the amount of code of the below can both be reduced by a factor of two at least.

rotsw.h

#define ROTSW_AVG_SIZE 8

#define ROTSW_MAX 7

#define ROTSW_UPPER 5

#define ROTSW_LOWER 2

#define ROTSW_MIN 0



void rotsw_sample_avg_schmitt_count();



extern volatile int rotsw_count_steps;

rotsw.c

unsigned int rotsw_samples[ROTSW_AVG_SIZE];

unsigned char rotsw_write_idx = 0;



int rotsw_avg_ra2 = 0;

int rotsw_avg_ra3 = 0;



int ra2 = 0;

int ra3 = 0;



volatile int rotsw_count = 0;



void rotsw_sample_avg_schmitt_count()

{

    int sample, old_sample, ra2_changed, ra3_changed, count = rotsw_count;



    // Sample RA2 and RA3

    old_sample = rotsw_samples[rotsw_write_idx];

    rotsw_samples[rotsw_write_idx] = sample = PORTA & 0b00001100;

    if (++rotsw_write_idx >= ROTSW_AVG_SIZE) rotsw_write_idx = 0;



    // Moving average, turning digital sample to "analogue"

    if (old_sample & 0x04)  rotsw_avg_ra2--;

    if (old_sample & 0x08)  rotsw_avg_ra3--;

    if (sample & 0x04)      rotsw_avg_ra2++;

    if (sample & 0x08)      rotsw_avg_ra3++;



    // 3. Do limit for Schmitt trigger

    if      (rotsw_avg_ra2 < ROTSW_MIN) rotsw_avg_ra2 = ROTSW_MIN;

    else if (rotsw_avg_ra2 > ROTSW_MAX) rotsw_avg_ra2 = ROTSW_MAX;

    if      (rotsw_avg_ra3 < ROTSW_MIN) rotsw_avg_ra3 = ROTSW_MIN;

    else if (rotsw_avg_ra3 > ROTSW_MAX) rotsw_avg_ra3 = ROTSW_MAX;



    // Do Schmitt trigger

    if (rotsw_avg_ra2 > ROTSW_UPPER){

        ra2_changed = !ra2;

        ra2 = 1;

    } else if (rotsw_avg_ra2 < ROTSW_LOWER){

        ra2_changed = ra2;

        ra2 = 0;

    }

    if (rotsw_avg_ra3 > ROTSW_UPPER){

        ra3_changed = !ra3;

        ra3 = 1;

    } else if (rotsw_avg_ra3 < ROTSW_LOWER){

        ra3_changed = ra3;

        ra3 = 0;

    }



    // Do rotsw state change count.

    if (ra2_changed){

        if (ra2 == ra3) count++;

        else count--;

    }

    if (ra3_changed){

        if(ra2 == ra3) count--;

        else count++;

    }

    rotsw_count = count;

}