From e9b633e46ca57a2b21f9688f4634f8b997d2329c Mon Sep 17 00:00:00 2001
From: Erki <erki.meinberg@gmail.com>
Date: Sun, 18 Apr 2021 17:32:27 +0300
Subject: [PATCH] Fix encoder to read and act properly

---
 Peripherals/Inc/peripherals_encoder.hpp | 29 +++++--------------------
 1 file changed, 6 insertions(+), 23 deletions(-)

diff --git a/Peripherals/Inc/peripherals_encoder.hpp b/Peripherals/Inc/peripherals_encoder.hpp
index b0b7efc..e12f189 100644
--- a/Peripherals/Inc/peripherals_encoder.hpp
+++ b/Peripherals/Inc/peripherals_encoder.hpp
@@ -53,14 +53,13 @@ public:
 
   void setRevolutionTickCount(const std::uint16_t& count)
   {
-    __HAL_TIM_SET_COMPARE(_htim, _channels, count);
     __HAL_TIM_SET_AUTORELOAD(_htim, count);
   }
 
   std::uint16_t getCurrentClicks() const
   {
     const std::uint16_t val = __HAL_TIM_GET_COUNTER(_htim);
-    return val >> 1;
+    return val;
   }
 
   std::int32_t getFullRevolutions() const
@@ -70,41 +69,25 @@ public:
 
   Dirs getDirection() const
   {
-    return _direction;
-  }
-
-  // Should be called somewhat regularly.
-  void update()
-  {
-    const std::uint16_t current = __HAL_TIM_GET_COUNTER(_htim);
-    if (current > _last_read)
-      _direction = Dirs::FORWARD;
+    if (__HAL_TIM_IS_TIM_COUNTING_DOWN(_htim))
+      return Dirs::BACKWARD;
     else
-      _direction = Dirs::BACKWARD;
-
-    _last_read = current;
+      return Dirs::FORWARD;
   }
 
   void timerUpdateEvent()
   {
-    if (_direction == Dirs::FORWARD)
-    {
+    if (!__HAL_TIM_IS_TIM_COUNTING_DOWN(_htim))
       _full_revolutions++;
-    } else
-    {
+    else
       _full_revolutions--;
-    }
-
-    _last_read = 0;
   }
 
 private:
   TIM_HandleTypeDef* _htim;
   std::uint32_t _channels;
 
-  Dirs _direction = Dirs::FORWARD;
   std::int32_t _full_revolutions = 0;
-  std::uint16_t _last_read = 0;
 };
 
 }// namespace Peripherals