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#include "stm32l1xx_hal.h"
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#include "stm32l1xx_hal.h"
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#include "switches.h"
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#include "switches.h"
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#include "main.h"
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#include "main.h"
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const int SHIFT = 1;
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typedef enum
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typedef enum
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{
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{
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  PH_00 = 0, PH_10 = 2, PH_11 = 3, PH_01 = 1,
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  PH_00 = 0, PH_10 = 2, PH_11 = 3, PH_01 = 1,
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} eGreyCode;
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} eGreyCode;
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// reset the dial positions
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// reset the dial positions
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  for (i = 0; i < MAX_DIALS; i++)
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  for (i = 0; i < MAX_DIALS; i++)
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    {
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    {
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      dial_pos[i] = 0;
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      dial_pos[i] = 0;
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    }
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    }
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  dial_count[0] = __HAL_TIM_GET_COUNTER(&htim9) >> 2;
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  dial_count[0] = __HAL_TIM_GET_COUNTER(&htim9) >> SHIFT;
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  dial_count[1] = __HAL_TIM_GET_COUNTER(&htim3) >> 2;
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  dial_count[1] = __HAL_TIM_GET_COUNTER(&htim3) >> SHIFT;
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}
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}
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// this is the interrupt handler , dealling with the switches
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// this is the interrupt handler , dealling with the switches
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void
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void
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HandleSwitches (void)
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HandleSwitches (void)
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        }
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        }
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    }
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    }
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  push_pos[0] = sw_newstate[0];
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  push_pos[0] = sw_newstate[0];
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  push_pos[1] = sw_newstate[1];
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  push_pos[1] = sw_newstate[1];
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// use the modulus counters from the timer counters
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  int cnt0 = __HAL_TIM_GET_COUNTER(&htim9) >> 2;  // counts 4 per step
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  int cnt0 = __HAL_TIM_GET_COUNTER(&htim9) >> SHIFT;  // counts 4 per step
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  int cnt1 = __HAL_TIM_GET_COUNTER(&htim3) >> 2;  // counts 4 per step
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  int cnt1 = __HAL_TIM_GET_COUNTER(&htim3) >> SHIFT;  // counts 4 per step
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  // always count up, or count down to zero but dont wrap
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  // always count up, or count down to zero but dont wrap
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  if ((dial_pos[0] != 0) || (cnt0 > dial_count[0]))
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  if ((dial_pos[0] != 0) || (cnt0 > dial_count[0]))
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    dial_pos[0] += cnt0 - dial_count[0];
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    dial_pos[0] += cnt0 - dial_count[0];