basic magnetic encoder support (untested)

firmware/src/main.cpp

@@ -10,6 +10,7 @@
 #include "stepper.h"
 #include "memes.h"
 #include "input.h"
+#include "spindle.h"
 
 void setup() {
   setupDebug();
@@ -27,6 +28,9 @@ void setup() {
   if (!setupKeyboard()) {
     fatal();
   }
+  if (!setupSpindle()) {
+    fatal();
+  }
 
   splashScreen();
 }

firmware/src/spindle.cpp

@@ -0,0 +1,27 @@
+#include <AS5600.h>
+#include <Wire.h>
+#include "spindle.h"
+
+AS5600 spindle(&Wire);
+
+bool setupSpindle() {
+  if (!spindle.begin()) {
+    Serial.println("Could not initialize spindle encoder");
+    return false;
+  } else if (!spindle.detectMagnet()) {
+    Serial.println("Could not detect magnet");
+    return false;
+  } else if (spindle.magnetTooWeak()) {
+    Serial.println("Magnet too weak");
+    return false;
+  } else if (spindle.magnetTooStrong()) {
+    Serial.println("Magnet too strong");
+    return false;
+  }
+
+  return true;
+}
+
+uint16_t getSpindlePosition() {
+  return spindle.readAngle();
+}

firmware/src/spindle.h

@@ -0,0 +1,5 @@
+#pragma once
+
+bool setupSpindle();
+/** 0..4095 (12-bit) */
+uint16_t getSpindlePosition();