input.hpp

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/**
 * @file input.hpp
 * @brief Encoder input convenience functions
 * @ingroup hal
 *
 * Composes GPIO driver reads with Encoder update in a single call.
 *
 * Usage:
 *   #include <sbl/hal/encoder/input.hpp>
 *
 *   sbl::encoder::read<sbl::driver::Gpio>(enc, handle_a, handle_b);
 */
 
#ifndef SBL_HAL_ENCODER_INPUT_HPP_
#define SBL_HAL_ENCODER_INPUT_HPP_
 
#include <sbl/types.hpp>
#include <sbl/components/control/encoder.hpp>
 
namespace sbl {
namespace encoder {
 
using Encoder = sbl::components::control::Encoder;
 
/**
 * @brief Read quadrature GPIO pins and feed into Encoder
 *
 * @tparam Driver GPIO driver type (e.g., sbl::driver::Gpio)
 * @param enc     Encoder instance to update
 * @param a       GPIO handle for channel A
 * @param b       GPIO handle for channel B
 *
 * @note ISR-safe — two GPIO register reads
 */
template<typename Driver>
inline void read(Encoder& enc, const GpioHandle& a, const GpioHandle& b) {
    enc.update(Driver::read(a), Driver::read(b));
}
 
} // namespace encoder
} // namespace sbl
 
#endif // SBL_HAL_ENCODER_INPUT_HPP_