From 893b99d907b85109c8cf8b00f381f36939f5ae3c Mon Sep 17 00:00:00 2001
From: Pete Johanson <peter@peterjohanson.com>
Date: Fri, 17 Jul 2020 22:43:19 -0400
Subject: [PATCH 01/16] Initial en11 exploration.

---
 app/boards/shields/kyria/kyria_left.overlay   |  12 +
 app/drivers/zephyr/CMakeLists.txt             |   3 +
 app/drivers/zephyr/Kconfig                    |  47 ++++
 .../zephyr/dts/bindings/alps,en11.yaml        |  17 ++
 app/drivers/zephyr/en11.c                     | 110 +++++++++
 app/drivers/zephyr/en11.h                     |  61 +++++
 app/drivers/zephyr/en11_trigger.c             | 210 ++++++++++++++++++
 app/src/drivers/sensors/en11/CMakeLists.txt   |   6 +
 app/src/drivers/sensors/en11/Kconfig          |  52 +++++
 app/src/main.c                                |  24 ++
 10 files changed, 542 insertions(+)
 create mode 100644 app/drivers/zephyr/dts/bindings/alps,en11.yaml
 create mode 100644 app/drivers/zephyr/en11.c
 create mode 100644 app/drivers/zephyr/en11.h
 create mode 100644 app/drivers/zephyr/en11_trigger.c
 create mode 100644 app/src/drivers/sensors/en11/CMakeLists.txt
 create mode 100644 app/src/drivers/sensors/en11/Kconfig

diff --git a/app/boards/shields/kyria/kyria_left.overlay b/app/boards/shields/kyria/kyria_left.overlay
index c6305bd8..393b9d8e 100644
--- a/app/boards/shields/kyria/kyria_left.overlay
+++ b/app/boards/shields/kyria/kyria_left.overlay
@@ -6,6 +6,18 @@
 
 #include "kyria.dtsi"
 
+/ {
+	sensors {
+		encoder: encoder0 {
+			compatible = "alps,en11";
+			label = "Rotary Encoder";
+			a-gpios = <&pro_micro_d 5 GPIO_ACTIVE_HIGH>;
+			b-gpios = <&pro_micro_d 9 GPIO_ACTIVE_HIGH>;
+		};
+	};
+
+};
+
 &kscan0 {
 	col-gpios
 		= <&pro_micro_a  3 GPIO_ACTIVE_HIGH>
diff --git a/app/drivers/zephyr/CMakeLists.txt b/app/drivers/zephyr/CMakeLists.txt
index 983828f5..59664195 100644
--- a/app/drivers/zephyr/CMakeLists.txt
+++ b/app/drivers/zephyr/CMakeLists.txt
@@ -6,4 +6,7 @@ if(CONFIG_ZMK_KSCAN_GPIO_DRIVER)
     kscan_gpio_matrix.c
     kscan_gpio_direct.c
     )
+
+  zephyr_library_sources_ifdef(CONFIG_EN11 en11.c)
+  zephyr_library_sources_ifdef(CONFIG_EN11_TRIGGER en11_trigger.c)
 endif()
diff --git a/app/drivers/zephyr/Kconfig b/app/drivers/zephyr/Kconfig
index cd526e86..00a43d27 100644
--- a/app/drivers/zephyr/Kconfig
+++ b/app/drivers/zephyr/Kconfig
@@ -17,3 +17,50 @@ config ZMK_KSCAN_INIT_PRIORITY
 	help
 	  Keyboard scan device driver initialization priority.
 
+menuconfig EN11
+	bool "EN11 Incremental Encoder Sensor"
+	depends on GPIO
+	help
+	  Enable driver for EN11 incremental encoder sensors.
+
+if EN11
+
+choice
+	prompt "Trigger mode"
+	default EN11_TRIGGER_NONE
+	help
+	  Specify the type of triggering to be used by the driver.
+
+config EN11_TRIGGER_NONE
+	bool "No trigger"
+
+config EN11_TRIGGER_GLOBAL_THREAD
+	bool "Use global thread"
+	depends on GPIO
+	select EN11_TRIGGER
+
+config EN11_TRIGGER_OWN_THREAD
+	bool "Use own thread"
+	depends on GPIO
+	select EN11_TRIGGER
+
+endchoice
+
+config EN11_TRIGGER
+	bool
+
+config EN11_THREAD_PRIORITY
+	int "Thread priority"
+	depends on EN11_TRIGGER_OWN_THREAD
+	default 10
+	help
+	  Priority of thread used by the driver to handle interrupts.
+
+config EN11_THREAD_STACK_SIZE
+	int "Thread stack size"
+	depends on EN11_TRIGGER_OWN_THREAD
+	default 1024
+	help
+	  Stack size of thread used by the driver to handle interrupts.
+
+endif # EN11
diff --git a/app/drivers/zephyr/dts/bindings/alps,en11.yaml b/app/drivers/zephyr/dts/bindings/alps,en11.yaml
new file mode 100644
index 00000000..1d1de3aa
--- /dev/null
+++ b/app/drivers/zephyr/dts/bindings/alps,en11.yaml
@@ -0,0 +1,17 @@
+description: |
+  Sensor driver for the Alps en11 rotary encoder
+
+compatible: "alps,en11"
+
+properties:
+  label:
+    type: string
+    required: true
+  a-gpios:
+    type: phandle-array
+    required: true
+    description: A pin for the encoder
+  b-gpios:
+    type: phandle-array
+    required: true
+    description: A pin for the encoder
diff --git a/app/drivers/zephyr/en11.c b/app/drivers/zephyr/en11.c
new file mode 100644
index 00000000..e6c6b740
--- /dev/null
+++ b/app/drivers/zephyr/en11.c
@@ -0,0 +1,110 @@
+/*
+ * Copyright (c) 2020 Peter Johanson
+ *
+ * SPDX-License-Identifier: MIT
+ */
+
+#define DT_DRV_COMPAT alps_en11
+
+#include <device.h>
+#include <drivers/gpio.h>
+#include <sys/util.h>
+#include <kernel.h>
+#include <drivers/sensor.h>
+#include <sys/__assert.h>
+#include <logging/log.h>
+
+#include "en11.h"
+
+LOG_MODULE_REGISTER(EN11, CONFIG_SENSOR_LOG_LEVEL);
+
+static int en11_sample_fetch(struct device *dev, enum sensor_channel chan)
+{
+	struct en11_data *drv_data = dev->driver_data;
+	u16_t val;
+
+	__ASSERT_NO_MSG(chan == SENSOR_CHAN_ALL || chan == SENSOR_CHAN_AMBIENT_TEMP);
+
+	// if (en11_reg_read(drv_data, EN11_REG_TOBJ, &val) < 0) {
+	// 	return -EIO;
+	// }
+
+	// if (val & EN11_DATA_INVALID_BIT) {
+	// 	return -EIO;
+	// }
+
+	// drv_data->sample = arithmetic_shift_right((s16_t)val, 2);
+
+	return 0;
+}
+
+static int en11_channel_get(struct device *dev,
+			       enum sensor_channel chan,
+			       struct sensor_value *val)
+{
+	struct en11_data *drv_data = dev->driver_data;
+	// s32_t uval;
+
+	// if (chan != SENSOR_CHAN_AMBIENT_TEMP) {
+	// 	return -ENOTSUP;
+	// }
+
+	// uval = (s32_t)drv_data->sample * EN11_TEMP_SCALE;
+	// val->val1 = uval / 1000000;
+	// val->val2 = uval % 1000000;
+
+	return 0;
+}
+
+static const struct sensor_driver_api en11_driver_api = {
+#ifdef CONFIG_EN11_TRIGGER
+	.trigger_set = en11_trigger_set,
+#endif
+	.sample_fetch = en11_sample_fetch,
+	.channel_get = en11_channel_get,
+};
+
+int en11_init(struct device *dev)
+{
+	struct en11_data *drv_data = dev->driver_data;
+	const struct en11_config *drv_cfg = dev->config_info;
+
+	LOG_DBG("");
+
+	drv_data->a = device_get_binding(drv_cfg->a_label);
+	if (drv_data->a == NULL) {
+		LOG_ERR("Failed to get pointer to A GPIO device");
+		return -EINVAL;
+	}
+
+	drv_data->b = device_get_binding(drv_cfg->b_label);
+	if (drv_data->b == NULL) {
+		LOG_ERR("Failed to get pointer to B GPIO device");
+		return -EINVAL;
+	}
+
+#ifdef CONFIG_EN11_TRIGGER
+	if (en11_init_interrupt(dev) < 0) {
+		LOG_DBG("Failed to initialize interrupt!");
+		return -EIO;
+	}
+#endif
+
+	return 0;
+}
+
+struct en11_data en11_data;
+
+const struct en11_config en11_cfg = {
+	.a_label = DT_INST_GPIO_LABEL(0, a_gpios),
+	.a_pin = DT_INST_GPIO_PIN(0, a_gpios),
+	.a_flags = DT_INST_GPIO_FLAGS(0, a_gpios),
+	.b_label = DT_INST_GPIO_LABEL(0, b_gpios),
+	.b_pin = DT_INST_GPIO_PIN(0, b_gpios),
+	.b_flags = DT_INST_GPIO_FLAGS(0, b_gpios),
+};
+
+DEVICE_AND_API_INIT(en11, DT_INST_LABEL(0), en11_init,
+		    &en11_data,
+		    &en11_cfg, POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY,
+		    &en11_driver_api);
diff --git a/app/drivers/zephyr/en11.h b/app/drivers/zephyr/en11.h
new file mode 100644
index 00000000..e8b2f21e
--- /dev/null
+++ b/app/drivers/zephyr/en11.h
@@ -0,0 +1,61 @@
+/*
+ * Copyright (c) 2020 Peter Johanson
+ *
+ * SPDX-License-Identifier: MIT
+ */
+
+#pragma once
+
+#include <device.h>
+#include <drivers/gpio.h>
+#include <sys/util.h>
+
+struct en11_config {
+	const char *a_label;
+	const u8_t a_pin;
+	const u8_t a_flags;
+
+	const char *b_label;
+	const u8_t b_pin;
+	const u8_t b_flags;
+};
+
+enum en11_pin_state {
+	EN11_A_PIN_STATE,
+	EN11_B_PIN_STATE
+};
+
+struct en11_data {
+	struct device *a;
+	struct device *b;
+	u8_t ab_state;
+	s16_t sample;
+
+#ifdef CONFIG_EN11_TRIGGER
+	struct device *gpio;
+	struct gpio_callback a_gpio_cb;
+	struct gpio_callback b_gpio_cb;
+	struct device *dev;
+
+	sensor_trigger_handler_t handler;
+	struct sensor_trigger trigger;
+
+#if defined(CONFIG_EN11_TRIGGER_OWN_THREAD)
+	K_THREAD_STACK_MEMBER(thread_stack, CONFIG_EN11_THREAD_STACK_SIZE);
+	struct k_sem gpio_sem;
+	struct k_thread thread;
+#elif defined(CONFIG_EN11_TRIGGER_GLOBAL_THREAD)
+	struct k_work work;
+#endif
+
+#endif /* CONFIG_EN11_TRIGGER */
+};
+
+#ifdef CONFIG_EN11_TRIGGER
+
+int en11_trigger_set(struct device *dev,
+		       const struct sensor_trigger *trig,
+		       sensor_trigger_handler_t handler);
+
+int en11_init_interrupt(struct device *dev);
+#endif
diff --git a/app/drivers/zephyr/en11_trigger.c b/app/drivers/zephyr/en11_trigger.c
new file mode 100644
index 00000000..d210431f
--- /dev/null
+++ b/app/drivers/zephyr/en11_trigger.c
@@ -0,0 +1,210 @@
+/*
+ * Copyright (c) 2016 Intel Corporation
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#define DT_DRV_COMPAT alps_en11
+
+#include <device.h>
+#include <drivers/gpio.h>
+#include <sys/util.h>
+#include <kernel.h>
+#include <drivers/sensor.h>
+
+#include "en11.h"
+
+extern struct en11_data en11_driver;
+
+#include <logging/log.h>
+LOG_MODULE_DECLARE(EN11, CONFIG_SENSOR_LOG_LEVEL);
+
+static inline void setup_int(struct device *dev,
+			     bool enable)
+{
+	struct en11_data *data = dev->driver_data;
+	const struct en11_config *cfg = dev->config_info;
+
+	LOG_DBG("enabled %s", (enable ? "true" : "false"));
+
+	if (gpio_pin_interrupt_configure(data->a,
+				     cfg->a_pin,
+				     enable
+				     ? GPIO_INT_EDGE_BOTH
+				     : GPIO_INT_DISABLE)) {
+						 LOG_WRN("Unable to set A pin GPIO interrupt");
+					 }
+
+	if (gpio_pin_interrupt_configure(data->b,
+				     cfg->b_pin,
+				     enable
+				     ? GPIO_INT_EDGE_BOTH
+				     : GPIO_INT_DISABLE)) {
+						 LOG_WRN("Unable to set A pin GPIO interrupt");
+					 }
+}
+
+static void en11_a_gpio_callback(struct device *dev,
+				 struct gpio_callback *cb, u32_t pins)
+{
+	struct en11_data *drv_data =
+		CONTAINER_OF(cb, struct en11_data, a_gpio_cb);
+
+	LOG_DBG("");
+
+	setup_int(drv_data->dev, false);
+
+#if defined(CONFIG_EN11_TRIGGER_OWN_THREAD)
+	k_sem_give(&drv_data->gpio_sem);
+#elif defined(CONFIG_EN11_TRIGGER_GLOBAL_THREAD)
+	k_work_submit(&drv_data->work);
+#endif
+}
+
+static void en11_b_gpio_callback(struct device *dev,
+				 struct gpio_callback *cb, u32_t pins)
+{
+	struct en11_data *drv_data =
+		CONTAINER_OF(cb, struct en11_data, b_gpio_cb);
+
+	LOG_DBG("");
+
+	setup_int(drv_data->dev, false);
+
+#if defined(CONFIG_EN11_TRIGGER_OWN_THREAD)
+	k_sem_give(&drv_data->gpio_sem);
+#elif defined(CONFIG_EN11_TRIGGER_GLOBAL_THREAD)
+	k_work_submit(&drv_data->work);
+#endif
+}
+
+static void en11_thread_cb(void *arg)
+{
+	struct device *dev = arg;
+	struct en11_data *drv_data = dev->driver_data;
+	const struct en11_config *cfg = dev->config_info;
+	u16_t status;
+
+	// gpio_pin_get(drv_data->a, cfg->a_pin)
+
+	// if (en11_reg_read(drv_data, EN11_REG_STATUS, &status) < 0) {
+	// 	return;
+	// }
+
+	// if (status & EN11_DATA_READY_INT_BIT &&
+	//     drv_data->drdy_handler != NULL) {
+	// 	drv_data->drdy_handler(dev, &drv_data->drdy_trigger);
+	// }
+
+	// if (status & EN11_TOBJ_TH_INT_BITS &&
+	//     drv_data->th_handler != NULL) {
+	// 	drv_data->th_handler(dev, &drv_data->th_trigger);
+	// }
+
+	setup_int(dev, true);
+}
+
+#ifdef CONFIG_EN11_TRIGGER_OWN_THREAD
+static void en11_thread(int dev_ptr, int unused)
+{
+	struct device *dev = INT_TO_POINTER(dev_ptr);
+	struct en11_data *drv_data = dev->driver_data;
+
+	ARG_UNUSED(unused);
+
+	while (1) {
+		k_sem_take(&drv_data->gpio_sem, K_FOREVER);
+		en11_thread_cb(dev);
+	}
+}
+#endif
+
+#ifdef CONFIG_EN11_TRIGGER_GLOBAL_THREAD
+static void en11_work_cb(struct k_work *work)
+{
+	struct en11_data *drv_data =
+		CONTAINER_OF(work, struct en11_data, work);
+
+	LOG_DBG("");
+
+	en11_thread_cb(drv_data->dev);
+}
+#endif
+
+int en11_trigger_set(struct device *dev,
+		       const struct sensor_trigger *trig,
+		       sensor_trigger_handler_t handler)
+{
+	struct en11_data *drv_data = dev->driver_data;
+
+	setup_int(dev, false);
+
+	drv_data->trigger = *trig;
+	drv_data->handler = handler;
+
+	setup_int(dev, true);
+
+	return 0;
+}
+
+int en11_init_interrupt(struct device *dev)
+{
+	struct en11_data *drv_data = dev->driver_data;
+	const struct en11_config *drv_cfg = dev->config_info;
+
+	/* setup gpio interrupt */
+
+	LOG_DBG("A: %s %d B: %s %d", drv_cfg->a_label, drv_cfg->a_pin, drv_cfg->b_label, drv_cfg->b_pin);
+	
+	gpio_pin_configure(drv_data->a, drv_cfg->a_pin,
+			   drv_cfg->a_flags
+			   | GPIO_INPUT);
+
+	if (gpio_pin_set(drv_data->a, drv_cfg->a_pin, 1)) {
+		LOG_DBG("Failed to set A active!");
+		return -EIO;
+	}
+
+	gpio_init_callback(&drv_data->a_gpio_cb,
+			   en11_a_gpio_callback,
+			   BIT(drv_cfg->a_pin));
+
+	if (gpio_add_callback(drv_data->a, &drv_data->a_gpio_cb) < 0) {
+		LOG_DBG("Failed to set A callback!");
+		return -EIO;
+	}
+
+	gpio_pin_configure(drv_data->b, drv_cfg->b_pin,
+			   drv_cfg->b_flags
+			   | GPIO_INPUT);
+
+	if (gpio_pin_set(drv_data->b, drv_cfg->b_pin, 1)) {
+		LOG_DBG("Failed to set B active!");
+		return -EIO;
+	}
+
+	gpio_init_callback(&drv_data->b_gpio_cb,
+			   en11_b_gpio_callback,
+			   BIT(drv_cfg->b_pin));
+
+	if (gpio_add_callback(drv_data->b, &drv_data->b_gpio_cb) < 0) {
+		LOG_DBG("Failed to set B callback!");
+		return -EIO;
+	}
+
+	LOG_DBG("A Pin? %d, B Pin? %d", gpio_pin_get(drv_data->a, drv_cfg->a_pin), gpio_pin_get(drv_data->b, drv_cfg->b_pin));
+
+#if defined(CONFIG_EN11_TRIGGER_OWN_THREAD)
+	k_sem_init(&drv_data->gpio_sem, 0, UINT_MAX);
+
+	k_thread_create(&drv_data->thread, drv_data->thread_stack,
+			CONFIG_EN11_THREAD_STACK_SIZE,
+			(k_thread_entry_t)en11_thread, dev,
+			0, NULL, K_PRIO_COOP(CONFIG_EN11_THREAD_PRIORITY),
+			0, K_NO_WAIT);
+#elif defined(CONFIG_EN11_TRIGGER_GLOBAL_THREAD)
+	drv_data->work.handler = en11_work_cb;
+#endif
+
+	return 0;
+}
diff --git a/app/src/drivers/sensors/en11/CMakeLists.txt b/app/src/drivers/sensors/en11/CMakeLists.txt
new file mode 100644
index 00000000..4c538ca8
--- /dev/null
+++ b/app/src/drivers/sensors/en11/CMakeLists.txt
@@ -0,0 +1,6 @@
+# SPDX-License-Identifier: Apache-2.0
+
+zephyr_library()
+
+zephyr_library_sources_ifdef(CONFIG_EN11 en11.c)
+zephyr_library_sources_ifdef(CONFIG_EN11_TRIGGER en11_trigger.c)
diff --git a/app/src/drivers/sensors/en11/Kconfig b/app/src/drivers/sensors/en11/Kconfig
new file mode 100644
index 00000000..84fec95c
--- /dev/null
+++ b/app/src/drivers/sensors/en11/Kconfig
@@ -0,0 +1,52 @@
+# EN11 incremental encoder sensor configuration options
+
+# Copyright (c) 2020 Peter Johanson
+# SPDX-License-Identifier: MIT
+
+menuconfig EN11
+	bool "EN11 Incremental Encoder Sensor"
+	depends on GPIO
+	help
+	  Enable driver for EN11 incremental encoder sensors.
+
+if EN11
+
+choice
+	prompt "Trigger mode"
+	default EN11_TRIGGER_NONE
+	help
+	  Specify the type of triggering to be used by the driver.
+
+config EN11_TRIGGER_NONE
+	bool "No trigger"
+
+config EN11_TRIGGER_GLOBAL_THREAD
+	bool "Use global thread"
+	depends on GPIO
+	select EN11_TRIGGER
+
+config EN11_TRIGGER_OWN_THREAD
+	bool "Use own thread"
+	depends on GPIO
+	select EN11_TRIGGER
+
+endchoice
+
+config EN11_TRIGGER
+	bool
+
+config EN11_THREAD_PRIORITY
+	int "Thread priority"
+	depends on EN11_TRIGGER_OWN_THREAD
+	default 10
+	help
+	  Priority of thread used by the driver to handle interrupts.
+
+config EN11_THREAD_STACK_SIZE
+	int "Thread stack size"
+	depends on EN11_TRIGGER_OWN_THREAD
+	default 1024
+	help
+	  Stack size of thread used by the driver to handle interrupts.
+
+endif # EN11
diff --git a/app/src/main.c b/app/src/main.c
index 92ecc8b1..f42c7c4d 100644
--- a/app/src/main.c
+++ b/app/src/main.c
@@ -8,6 +8,7 @@
 #include <device.h>
 #include <devicetree.h>
 #include <settings/settings.h>
+#include <drivers/sensor.h>
 
 #include <logging/log.h>
 LOG_MODULE_REGISTER(zmk, CONFIG_ZMK_LOG_LEVEL);
@@ -18,6 +19,27 @@ LOG_MODULE_REGISTER(zmk, CONFIG_ZMK_LOG_LEVEL);
 
 #define ZMK_KSCAN_DEV DT_LABEL(ZMK_MATRIX_NODE_ID)
 
+static struct sensor_trigger trigger;
+
+void encoder_change(struct device *dev, struct sensor_trigger *trigger)
+{
+	LOG_DBG("");
+}
+
+void init_sensor()
+{
+	struct device *dev = device_get_binding("Rotary Encoder");
+	if (!dev) {
+		LOG_DBG("NO ENCODER!");
+		return;
+	}
+
+	trigger.type = SENSOR_TRIG_DATA_READY;
+	trigger.chan = SENSOR_CHAN_ROTATION;
+
+	sensor_trigger_set(dev, &trigger, encoder_change);
+}
+
 void main(void)
 {
 	printk("Welcome to ZMK!\n");
@@ -31,4 +53,6 @@ void main(void)
 #ifdef CONFIG_SETTINGS
 	settings_load();
 #endif
+
+	init_sensor();
 }

From 331bfa70521112759a4b553356a90eee8747644d Mon Sep 17 00:00:00 2001
From: Pete Johanson <peter@peterjohanson.com>
Date: Mon, 20 Jul 2020 10:27:44 -0400
Subject: [PATCH 02/16] Interrupt fixes.

---
 app/boards/shields/kyria/kyria_left.overlay |  7 ++-----
 app/drivers/zephyr/en11_trigger.c           | 17 +++++++----------
 2 files changed, 9 insertions(+), 15 deletions(-)

diff --git a/app/boards/shields/kyria/kyria_left.overlay b/app/boards/shields/kyria/kyria_left.overlay
index 393b9d8e..d17548ff 100644
--- a/app/boards/shields/kyria/kyria_left.overlay
+++ b/app/boards/shields/kyria/kyria_left.overlay
@@ -7,15 +7,12 @@
 #include "kyria.dtsi"
 
 / {
-	sensors {
 		encoder: encoder0 {
 			compatible = "alps,en11";
 			label = "Rotary Encoder";
-			a-gpios = <&pro_micro_d 5 GPIO_ACTIVE_HIGH>;
-			b-gpios = <&pro_micro_d 9 GPIO_ACTIVE_HIGH>;
+			a-gpios = <&pro_micro_d 5 (GPIO_ACTIVE_HIGH | GPIO_PULL_UP)>;
+			b-gpios = <&pro_micro_d 9 (GPIO_ACTIVE_HIGH | GPIO_PULL_UP)>;
 		};
-	};
-
 };
 
 &kscan0 {
diff --git a/app/drivers/zephyr/en11_trigger.c b/app/drivers/zephyr/en11_trigger.c
index d210431f..0f85e8e6 100644
--- a/app/drivers/zephyr/en11_trigger.c
+++ b/app/drivers/zephyr/en11_trigger.c
@@ -152,16 +152,15 @@ int en11_init_interrupt(struct device *dev)
 	struct en11_data *drv_data = dev->driver_data;
 	const struct en11_config *drv_cfg = dev->config_info;
 
+	drv_data->dev = dev;
 	/* setup gpio interrupt */
 
 	LOG_DBG("A: %s %d B: %s %d", drv_cfg->a_label, drv_cfg->a_pin, drv_cfg->b_label, drv_cfg->b_pin);
 	
-	gpio_pin_configure(drv_data->a, drv_cfg->a_pin,
+	if (gpio_pin_configure(drv_data->a, drv_cfg->a_pin,
 			   drv_cfg->a_flags
-			   | GPIO_INPUT);
-
-	if (gpio_pin_set(drv_data->a, drv_cfg->a_pin, 1)) {
-		LOG_DBG("Failed to set A active!");
+			   | GPIO_INPUT)) {
+		LOG_DBG("Failed to configure B pin");
 		return -EIO;
 	}
 
@@ -174,12 +173,10 @@ int en11_init_interrupt(struct device *dev)
 		return -EIO;
 	}
 
-	gpio_pin_configure(drv_data->b, drv_cfg->b_pin,
+	if (gpio_pin_configure(drv_data->b, drv_cfg->b_pin,
 			   drv_cfg->b_flags
-			   | GPIO_INPUT);
-
-	if (gpio_pin_set(drv_data->b, drv_cfg->b_pin, 1)) {
-		LOG_DBG("Failed to set B active!");
+			   | GPIO_INPUT)) {
+		LOG_DBG("Failed to configure B pin");
 		return -EIO;
 	}
 

From 109c69cbab0a417c97b20788b0fd3bcd720178f1 Mon Sep 17 00:00:00 2001
From: Pete Johanson <peter@peterjohanson.com>
Date: Mon, 20 Jul 2020 20:54:58 -0400
Subject: [PATCH 03/16] EN11 is actually EC11, some sample work.

---
 app/boards/shields/kyria/kyria_left.overlay   |   3 +-
 app/drivers/zephyr/CMakeLists.txt             |   4 +-
 app/drivers/zephyr/Kconfig                    |  32 ++---
 .../zephyr/dts/bindings/alps,en11.yaml        |   8 +-
 app/drivers/zephyr/ec11.c                     | 132 ++++++++++++++++++
 app/drivers/zephyr/{en11.h => ec11.h}         |  31 ++--
 .../zephyr/{en11_trigger.c => ec11_trigger.c} |  91 ++++++------
 app/drivers/zephyr/en11.c                     | 110 ---------------
 app/src/drivers/sensors/en11/CMakeLists.txt   |   6 -
 app/src/drivers/sensors/en11/Kconfig          |  52 -------
 app/src/main.c                                |  15 ++
 11 files changed, 237 insertions(+), 247 deletions(-)
 create mode 100644 app/drivers/zephyr/ec11.c
 rename app/drivers/zephyr/{en11.h => ec11.h} (59%)
 rename app/drivers/zephyr/{en11_trigger.c => ec11_trigger.c} (60%)
 delete mode 100644 app/drivers/zephyr/en11.c
 delete mode 100644 app/src/drivers/sensors/en11/CMakeLists.txt
 delete mode 100644 app/src/drivers/sensors/en11/Kconfig

diff --git a/app/boards/shields/kyria/kyria_left.overlay b/app/boards/shields/kyria/kyria_left.overlay
index d17548ff..43c9d88d 100644
--- a/app/boards/shields/kyria/kyria_left.overlay
+++ b/app/boards/shields/kyria/kyria_left.overlay
@@ -8,10 +8,11 @@
 
 / {
 		encoder: encoder0 {
-			compatible = "alps,en11";
+			compatible = "alps,ec11";
 			label = "Rotary Encoder";
 			a-gpios = <&pro_micro_d 5 (GPIO_ACTIVE_HIGH | GPIO_PULL_UP)>;
 			b-gpios = <&pro_micro_d 9 (GPIO_ACTIVE_HIGH | GPIO_PULL_UP)>;
+			resolution = <4>;
 		};
 };
 
diff --git a/app/drivers/zephyr/CMakeLists.txt b/app/drivers/zephyr/CMakeLists.txt
index 59664195..8778ded3 100644
--- a/app/drivers/zephyr/CMakeLists.txt
+++ b/app/drivers/zephyr/CMakeLists.txt
@@ -7,6 +7,6 @@ if(CONFIG_ZMK_KSCAN_GPIO_DRIVER)
     kscan_gpio_direct.c
     )
 
-  zephyr_library_sources_ifdef(CONFIG_EN11 en11.c)
-  zephyr_library_sources_ifdef(CONFIG_EN11_TRIGGER en11_trigger.c)
+  zephyr_library_sources_ifdef(CONFIG_EC11 ec11.c)
+  zephyr_library_sources_ifdef(CONFIG_EC11_TRIGGER ec11_trigger.c)
 endif()
diff --git a/app/drivers/zephyr/Kconfig b/app/drivers/zephyr/Kconfig
index 00a43d27..0237846a 100644
--- a/app/drivers/zephyr/Kconfig
+++ b/app/drivers/zephyr/Kconfig
@@ -17,50 +17,50 @@ config ZMK_KSCAN_INIT_PRIORITY
 	help
 	  Keyboard scan device driver initialization priority.
 
-menuconfig EN11
-	bool "EN11 Incremental Encoder Sensor"
+menuconfig EC11
+	bool "EC11 Incremental Encoder Sensor"
 	depends on GPIO
 	help
-	  Enable driver for EN11 incremental encoder sensors.
+	  Enable driver for EC11 incremental encoder sensors.
 
-if EN11
+if EC11
 
 choice
 	prompt "Trigger mode"
-	default EN11_TRIGGER_NONE
+	default EC11_TRIGGER_NONE
 	help
 	  Specify the type of triggering to be used by the driver.
 
-config EN11_TRIGGER_NONE
+config EC11_TRIGGER_NONE
 	bool "No trigger"
 
-config EN11_TRIGGER_GLOBAL_THREAD
+config EC11_TRIGGER_GLOBAL_THREAD
 	bool "Use global thread"
 	depends on GPIO
-	select EN11_TRIGGER
+	select EC11_TRIGGER
 
-config EN11_TRIGGER_OWN_THREAD
+config EC11_TRIGGER_OWN_THREAD
 	bool "Use own thread"
 	depends on GPIO
-	select EN11_TRIGGER
+	select EC11_TRIGGER
 
 endchoice
 
-config EN11_TRIGGER
+config EC11_TRIGGER
 	bool
 
-config EN11_THREAD_PRIORITY
+config EC11_THREAD_PRIORITY
 	int "Thread priority"
-	depends on EN11_TRIGGER_OWN_THREAD
+	depends on EC11_TRIGGER_OWN_THREAD
 	default 10
 	help
 	  Priority of thread used by the driver to handle interrupts.
 
-config EN11_THREAD_STACK_SIZE
+config EC11_THREAD_STACK_SIZE
 	int "Thread stack size"
-	depends on EN11_TRIGGER_OWN_THREAD
+	depends on EC11_TRIGGER_OWN_THREAD
 	default 1024
 	help
 	  Stack size of thread used by the driver to handle interrupts.
 
-endif # EN11
+endif # EC11
diff --git a/app/drivers/zephyr/dts/bindings/alps,en11.yaml b/app/drivers/zephyr/dts/bindings/alps,en11.yaml
index 1d1de3aa..5cbe77a2 100644
--- a/app/drivers/zephyr/dts/bindings/alps,en11.yaml
+++ b/app/drivers/zephyr/dts/bindings/alps,en11.yaml
@@ -1,7 +1,7 @@
 description: |
-  Sensor driver for the Alps en11 rotary encoder
+  Sensor driver for the Alps EC11 rotary encoder
 
-compatible: "alps,en11"
+compatible: "alps,ec11"
 
 properties:
   label:
@@ -15,3 +15,7 @@ properties:
     type: phandle-array
     required: true
     description: A pin for the encoder
+  resolution:
+    type: int
+    description: Number of pulses per tick
+    required: false
diff --git a/app/drivers/zephyr/ec11.c b/app/drivers/zephyr/ec11.c
new file mode 100644
index 00000000..ef0c5c39
--- /dev/null
+++ b/app/drivers/zephyr/ec11.c
@@ -0,0 +1,132 @@
+/*
+ * Copyright (c) 2020 Peter Johanson
+ *
+ * SPDX-License-Identifier: MIT
+ */
+
+#define DT_DRV_COMPAT alps_ec11
+
+#include <device.h>
+#include <drivers/gpio.h>
+#include <sys/util.h>
+#include <kernel.h>
+#include <drivers/sensor.h>
+#include <sys/__assert.h>
+#include <logging/log.h>
+
+#include "ec11.h"
+
+LOG_MODULE_REGISTER(EC11, CONFIG_SENSOR_LOG_LEVEL);
+
+
+static int ec11_sample_fetch(struct device *dev, enum sensor_channel chan)
+{
+	struct ec11_data *drv_data = dev->driver_data;
+	const struct ec11_config *drv_cfg = dev->config_info;
+	u8_t val;
+	u8_t delta;
+
+	__ASSERT_NO_MSG(chan == SENSOR_CHAN_ALL || chan == SENSOR_CHAN_ROTATION);
+
+	val = (gpio_pin_get(drv_data->a, drv_cfg->a_pin) << 1) | gpio_pin_get(drv_data->b, drv_cfg->b_pin);
+
+	LOG_DBG("prev: %d, new: %d", drv_data->ab_state, val);
+
+	switch(val | (drv_data->ab_state << 2)) {
+		case 0b0001: case 0b0111: case 0b1110:
+			LOG_DBG("+1");
+			delta = 1;
+			break;
+		default:
+			LOG_DBG("FIGURE IT OUT!");
+			break;
+	}
+
+	LOG_DBG("Delta: %d", delta);
+
+
+	// if (ec11_reg_read(drv_data, EC11_REG_TOBJ, &val) < 0) {
+	// 	return -EIO;
+	// }
+
+	// if (val & EC11_DATA_INVALID_BIT) {
+	// 	return -EIO;
+	// }
+
+	// drv_data->sample = arithmetic_shift_right((s16_t)val, 2);
+
+	return 0;
+}
+
+static int ec11_channel_get(struct device *dev,
+			       enum sensor_channel chan,
+			       struct sensor_value *val)
+{
+	struct ec11_data *drv_data = dev->driver_data;
+
+	// s32_t uval;
+
+	// if (chan != SENSOR_CHAN_AMBIENT_TEMP) {
+	// 	return -ENOTSUP;
+	// }
+
+	// uval = (s32_t)drv_data->sample * EC11_TEMP_SCALE;
+	// val->val1 = uval / 1000000;
+	// val->val2 = uval % 1000000;
+
+	return 0;
+}
+
+static const struct sensor_driver_api ec11_driver_api = {
+#ifdef CONFIG_EC11_TRIGGER
+	.trigger_set = ec11_trigger_set,
+#endif
+	.sample_fetch = ec11_sample_fetch,
+	.channel_get = ec11_channel_get,
+};
+
+int ec11_init(struct device *dev)
+{
+	struct ec11_data *drv_data = dev->driver_data;
+	const struct ec11_config *drv_cfg = dev->config_info;
+
+	LOG_DBG("resolution %d", drv_cfg->resolution);
+
+	drv_data->a = device_get_binding(drv_cfg->a_label);
+	if (drv_data->a == NULL) {
+		LOG_ERR("Failed to get pointer to A GPIO device");
+		return -EINVAL;
+	}
+
+	drv_data->b = device_get_binding(drv_cfg->b_label);
+	if (drv_data->b == NULL) {
+		LOG_ERR("Failed to get pointer to B GPIO device");
+		return -EINVAL;
+	}
+
+#ifdef CONFIG_EC11_TRIGGER
+	if (ec11_init_interrupt(dev) < 0) {
+		LOG_DBG("Failed to initialize interrupt!");
+		return -EIO;
+	}
+#endif
+
+	return 0;
+}
+
+struct ec11_data ec11_data;
+
+const struct ec11_config ec11_cfg = {
+	.a_label = DT_INST_GPIO_LABEL(0, a_gpios),
+	.a_pin = DT_INST_GPIO_PIN(0, a_gpios),
+	.a_flags = DT_INST_GPIO_FLAGS(0, a_gpios),
+	.b_label = DT_INST_GPIO_LABEL(0, b_gpios),
+	.b_pin = DT_INST_GPIO_PIN(0, b_gpios),
+	.b_flags = DT_INST_GPIO_FLAGS(0, b_gpios),
+	COND_CODE_0(DT_INST_NODE_HAS_PROP(0, resolution), (1), (DT_INST_PROP(0, resolution))),
+};
+
+DEVICE_AND_API_INIT(ec11, DT_INST_LABEL(0), ec11_init,
+		    &ec11_data,
+		    &ec11_cfg, POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY,
+		    &ec11_driver_api);
diff --git a/app/drivers/zephyr/en11.h b/app/drivers/zephyr/ec11.h
similarity index 59%
rename from app/drivers/zephyr/en11.h
rename to app/drivers/zephyr/ec11.h
index e8b2f21e..524af2c0 100644
--- a/app/drivers/zephyr/en11.h
+++ b/app/drivers/zephyr/ec11.h
@@ -10,7 +10,7 @@
 #include <drivers/gpio.h>
 #include <sys/util.h>
 
-struct en11_config {
+struct ec11_config {
 	const char *a_label;
 	const u8_t a_pin;
 	const u8_t a_flags;
@@ -18,20 +18,23 @@ struct en11_config {
 	const char *b_label;
 	const u8_t b_pin;
 	const u8_t b_flags;
+
+	const u8_t resolution;
 };
 
-enum en11_pin_state {
-	EN11_A_PIN_STATE,
-	EN11_B_PIN_STATE
+enum ec11_pin_state {
+	EC11_A_PIN_STATE,
+	EC11_B_PIN_STATE
 };
 
-struct en11_data {
+struct ec11_data {
 	struct device *a;
 	struct device *b;
 	u8_t ab_state;
-	s16_t sample;
+	s16_t pulse_state;
+	s16_t tick_state;
 
-#ifdef CONFIG_EN11_TRIGGER
+#ifdef CONFIG_EC11_TRIGGER
 	struct device *gpio;
 	struct gpio_callback a_gpio_cb;
 	struct gpio_callback b_gpio_cb;
@@ -40,22 +43,22 @@ struct en11_data {
 	sensor_trigger_handler_t handler;
 	struct sensor_trigger trigger;
 
-#if defined(CONFIG_EN11_TRIGGER_OWN_THREAD)
-	K_THREAD_STACK_MEMBER(thread_stack, CONFIG_EN11_THREAD_STACK_SIZE);
+#if defined(CONFIG_EC11_TRIGGER_OWN_THREAD)
+	K_THREAD_STACK_MEMBER(thread_stack, CONFIG_EC11_THREAD_STACK_SIZE);
 	struct k_sem gpio_sem;
 	struct k_thread thread;
-#elif defined(CONFIG_EN11_TRIGGER_GLOBAL_THREAD)
+#elif defined(CONFIG_EC11_TRIGGER_GLOBAL_THREAD)
 	struct k_work work;
 #endif
 
-#endif /* CONFIG_EN11_TRIGGER */
+#endif /* CONFIG_EC11_TRIGGER */
 };
 
-#ifdef CONFIG_EN11_TRIGGER
+#ifdef CONFIG_EC11_TRIGGER
 
-int en11_trigger_set(struct device *dev,
+int ec11_trigger_set(struct device *dev,
 		       const struct sensor_trigger *trig,
 		       sensor_trigger_handler_t handler);
 
-int en11_init_interrupt(struct device *dev);
+int ec11_init_interrupt(struct device *dev);
 #endif
diff --git a/app/drivers/zephyr/en11_trigger.c b/app/drivers/zephyr/ec11_trigger.c
similarity index 60%
rename from app/drivers/zephyr/en11_trigger.c
rename to app/drivers/zephyr/ec11_trigger.c
index 0f85e8e6..07493fbe 100644
--- a/app/drivers/zephyr/en11_trigger.c
+++ b/app/drivers/zephyr/ec11_trigger.c
@@ -4,7 +4,7 @@
  * SPDX-License-Identifier: Apache-2.0
  */
 
-#define DT_DRV_COMPAT alps_en11
+#define DT_DRV_COMPAT alps_ec11
 
 #include <device.h>
 #include <drivers/gpio.h>
@@ -12,18 +12,18 @@
 #include <kernel.h>
 #include <drivers/sensor.h>
 
-#include "en11.h"
+#include "ec11.h"
 
-extern struct en11_data en11_driver;
+extern struct ec11_data ec11_driver;
 
 #include <logging/log.h>
-LOG_MODULE_DECLARE(EN11, CONFIG_SENSOR_LOG_LEVEL);
+LOG_MODULE_DECLARE(EC11, CONFIG_SENSOR_LOG_LEVEL);
 
 static inline void setup_int(struct device *dev,
 			     bool enable)
 {
-	struct en11_data *data = dev->driver_data;
-	const struct en11_config *cfg = dev->config_info;
+	struct ec11_data *data = dev->driver_data;
+	const struct ec11_config *cfg = dev->config_info;
 
 	LOG_DBG("enabled %s", (enable ? "true" : "false"));
 
@@ -44,59 +44,60 @@ static inline void setup_int(struct device *dev,
 					 }
 }
 
-static void en11_a_gpio_callback(struct device *dev,
+static void ec11_a_gpio_callback(struct device *dev,
 				 struct gpio_callback *cb, u32_t pins)
 {
-	struct en11_data *drv_data =
-		CONTAINER_OF(cb, struct en11_data, a_gpio_cb);
+	struct ec11_data *drv_data =
+		CONTAINER_OF(cb, struct ec11_data, a_gpio_cb);
 
 	LOG_DBG("");
 
 	setup_int(drv_data->dev, false);
 
-#if defined(CONFIG_EN11_TRIGGER_OWN_THREAD)
+#if defined(CONFIG_EC11_TRIGGER_OWN_THREAD)
 	k_sem_give(&drv_data->gpio_sem);
-#elif defined(CONFIG_EN11_TRIGGER_GLOBAL_THREAD)
+#elif defined(CONFIG_EC11_TRIGGER_GLOBAL_THREAD)
 	k_work_submit(&drv_data->work);
 #endif
 }
 
-static void en11_b_gpio_callback(struct device *dev,
+static void ec11_b_gpio_callback(struct device *dev,
 				 struct gpio_callback *cb, u32_t pins)
 {
-	struct en11_data *drv_data =
-		CONTAINER_OF(cb, struct en11_data, b_gpio_cb);
+	struct ec11_data *drv_data =
+		CONTAINER_OF(cb, struct ec11_data, b_gpio_cb);
 
 	LOG_DBG("");
 
 	setup_int(drv_data->dev, false);
 
-#if defined(CONFIG_EN11_TRIGGER_OWN_THREAD)
+#if defined(CONFIG_EC11_TRIGGER_OWN_THREAD)
 	k_sem_give(&drv_data->gpio_sem);
-#elif defined(CONFIG_EN11_TRIGGER_GLOBAL_THREAD)
+#elif defined(CONFIG_EC11_TRIGGER_GLOBAL_THREAD)
 	k_work_submit(&drv_data->work);
 #endif
 }
 
-static void en11_thread_cb(void *arg)
+static void ec11_thread_cb(void *arg)
 {
 	struct device *dev = arg;
-	struct en11_data *drv_data = dev->driver_data;
-	const struct en11_config *cfg = dev->config_info;
+	struct ec11_data *drv_data = dev->driver_data;
+	const struct ec11_config *cfg = dev->config_info;
 	u16_t status;
 
+	drv_data->handler(dev, &drv_data->trigger);
 	// gpio_pin_get(drv_data->a, cfg->a_pin)
 
-	// if (en11_reg_read(drv_data, EN11_REG_STATUS, &status) < 0) {
+	// if (ec11_reg_read(drv_data, EC11_REG_STATUS, &status) < 0) {
 	// 	return;
 	// }
 
-	// if (status & EN11_DATA_READY_INT_BIT &&
+	// if (status & EC11_DATA_READY_INT_BIT &&
 	//     drv_data->drdy_handler != NULL) {
 	// 	drv_data->drdy_handler(dev, &drv_data->drdy_trigger);
 	// }
 
-	// if (status & EN11_TOBJ_TH_INT_BITS &&
+	// if (status & EC11_TOBJ_TH_INT_BITS &&
 	//     drv_data->th_handler != NULL) {
 	// 	drv_data->th_handler(dev, &drv_data->th_trigger);
 	// }
@@ -104,41 +105,43 @@ static void en11_thread_cb(void *arg)
 	setup_int(dev, true);
 }
 
-#ifdef CONFIG_EN11_TRIGGER_OWN_THREAD
-static void en11_thread(int dev_ptr, int unused)
+#ifdef CONFIG_EC11_TRIGGER_OWN_THREAD
+static void ec11_thread(int dev_ptr, int unused)
 {
 	struct device *dev = INT_TO_POINTER(dev_ptr);
-	struct en11_data *drv_data = dev->driver_data;
+	struct ec11_data *drv_data = dev->driver_data;
 
 	ARG_UNUSED(unused);
 
 	while (1) {
 		k_sem_take(&drv_data->gpio_sem, K_FOREVER);
-		en11_thread_cb(dev);
+		ec11_thread_cb(dev);
 	}
 }
 #endif
 
-#ifdef CONFIG_EN11_TRIGGER_GLOBAL_THREAD
-static void en11_work_cb(struct k_work *work)
+#ifdef CONFIG_EC11_TRIGGER_GLOBAL_THREAD
+static void ec11_work_cb(struct k_work *work)
 {
-	struct en11_data *drv_data =
-		CONTAINER_OF(work, struct en11_data, work);
+	struct ec11_data *drv_data =
+		CONTAINER_OF(work, struct ec11_data, work);
 
 	LOG_DBG("");
 
-	en11_thread_cb(drv_data->dev);
+	ec11_thread_cb(drv_data->dev);
 }
 #endif
 
-int en11_trigger_set(struct device *dev,
+int ec11_trigger_set(struct device *dev,
 		       const struct sensor_trigger *trig,
 		       sensor_trigger_handler_t handler)
 {
-	struct en11_data *drv_data = dev->driver_data;
+	struct ec11_data *drv_data = dev->driver_data;
 
 	setup_int(dev, false);
 
+	k_msleep(5);
+
 	drv_data->trigger = *trig;
 	drv_data->handler = handler;
 
@@ -147,10 +150,10 @@ int en11_trigger_set(struct device *dev,
 	return 0;
 }
 
-int en11_init_interrupt(struct device *dev)
+int ec11_init_interrupt(struct device *dev)
 {
-	struct en11_data *drv_data = dev->driver_data;
-	const struct en11_config *drv_cfg = dev->config_info;
+	struct ec11_data *drv_data = dev->driver_data;
+	const struct ec11_config *drv_cfg = dev->config_info;
 
 	drv_data->dev = dev;
 	/* setup gpio interrupt */
@@ -165,7 +168,7 @@ int en11_init_interrupt(struct device *dev)
 	}
 
 	gpio_init_callback(&drv_data->a_gpio_cb,
-			   en11_a_gpio_callback,
+			   ec11_a_gpio_callback,
 			   BIT(drv_cfg->a_pin));
 
 	if (gpio_add_callback(drv_data->a, &drv_data->a_gpio_cb) < 0) {
@@ -181,7 +184,7 @@ int en11_init_interrupt(struct device *dev)
 	}
 
 	gpio_init_callback(&drv_data->b_gpio_cb,
-			   en11_b_gpio_callback,
+			   ec11_b_gpio_callback,
 			   BIT(drv_cfg->b_pin));
 
 	if (gpio_add_callback(drv_data->b, &drv_data->b_gpio_cb) < 0) {
@@ -191,16 +194,16 @@ int en11_init_interrupt(struct device *dev)
 
 	LOG_DBG("A Pin? %d, B Pin? %d", gpio_pin_get(drv_data->a, drv_cfg->a_pin), gpio_pin_get(drv_data->b, drv_cfg->b_pin));
 
-#if defined(CONFIG_EN11_TRIGGER_OWN_THREAD)
+#if defined(CONFIG_EC11_TRIGGER_OWN_THREAD)
 	k_sem_init(&drv_data->gpio_sem, 0, UINT_MAX);
 
 	k_thread_create(&drv_data->thread, drv_data->thread_stack,
-			CONFIG_EN11_THREAD_STACK_SIZE,
-			(k_thread_entry_t)en11_thread, dev,
-			0, NULL, K_PRIO_COOP(CONFIG_EN11_THREAD_PRIORITY),
+			CONFIG_EC11_THREAD_STACK_SIZE,
+			(k_thread_entry_t)ec11_thread, dev,
+			0, NULL, K_PRIO_COOP(CONFIG_EC11_THREAD_PRIORITY),
 			0, K_NO_WAIT);
-#elif defined(CONFIG_EN11_TRIGGER_GLOBAL_THREAD)
-	drv_data->work.handler = en11_work_cb;
+#elif defined(CONFIG_EC11_TRIGGER_GLOBAL_THREAD)
+	k_work_init(&drv_data->work, ec11_work_cb);
 #endif
 
 	return 0;
diff --git a/app/drivers/zephyr/en11.c b/app/drivers/zephyr/en11.c
deleted file mode 100644
index e6c6b740..00000000
--- a/app/drivers/zephyr/en11.c
+++ /dev/null
@@ -1,110 +0,0 @@
-/*
- * Copyright (c) 2020 Peter Johanson
- *
- * SPDX-License-Identifier: MIT
- */
-
-#define DT_DRV_COMPAT alps_en11
-
-#include <device.h>
-#include <drivers/gpio.h>
-#include <sys/util.h>
-#include <kernel.h>
-#include <drivers/sensor.h>
-#include <sys/__assert.h>
-#include <logging/log.h>
-
-#include "en11.h"
-
-LOG_MODULE_REGISTER(EN11, CONFIG_SENSOR_LOG_LEVEL);
-
-static int en11_sample_fetch(struct device *dev, enum sensor_channel chan)
-{
-	struct en11_data *drv_data = dev->driver_data;
-	u16_t val;
-
-	__ASSERT_NO_MSG(chan == SENSOR_CHAN_ALL || chan == SENSOR_CHAN_AMBIENT_TEMP);
-
-	// if (en11_reg_read(drv_data, EN11_REG_TOBJ, &val) < 0) {
-	// 	return -EIO;
-	// }
-
-	// if (val & EN11_DATA_INVALID_BIT) {
-	// 	return -EIO;
-	// }
-
-	// drv_data->sample = arithmetic_shift_right((s16_t)val, 2);
-
-	return 0;
-}
-
-static int en11_channel_get(struct device *dev,
-			       enum sensor_channel chan,
-			       struct sensor_value *val)
-{
-	struct en11_data *drv_data = dev->driver_data;
-	// s32_t uval;
-
-	// if (chan != SENSOR_CHAN_AMBIENT_TEMP) {
-	// 	return -ENOTSUP;
-	// }
-
-	// uval = (s32_t)drv_data->sample * EN11_TEMP_SCALE;
-	// val->val1 = uval / 1000000;
-	// val->val2 = uval % 1000000;
-
-	return 0;
-}
-
-static const struct sensor_driver_api en11_driver_api = {
-#ifdef CONFIG_EN11_TRIGGER
-	.trigger_set = en11_trigger_set,
-#endif
-	.sample_fetch = en11_sample_fetch,
-	.channel_get = en11_channel_get,
-};
-
-int en11_init(struct device *dev)
-{
-	struct en11_data *drv_data = dev->driver_data;
-	const struct en11_config *drv_cfg = dev->config_info;
-
-	LOG_DBG("");
-
-	drv_data->a = device_get_binding(drv_cfg->a_label);
-	if (drv_data->a == NULL) {
-		LOG_ERR("Failed to get pointer to A GPIO device");
-		return -EINVAL;
-	}
-
-	drv_data->b = device_get_binding(drv_cfg->b_label);
-	if (drv_data->b == NULL) {
-		LOG_ERR("Failed to get pointer to B GPIO device");
-		return -EINVAL;
-	}
-
-#ifdef CONFIG_EN11_TRIGGER
-	if (en11_init_interrupt(dev) < 0) {
-		LOG_DBG("Failed to initialize interrupt!");
-		return -EIO;
-	}
-#endif
-
-	return 0;
-}
-
-struct en11_data en11_data;
-
-const struct en11_config en11_cfg = {
-	.a_label = DT_INST_GPIO_LABEL(0, a_gpios),
-	.a_pin = DT_INST_GPIO_PIN(0, a_gpios),
-	.a_flags = DT_INST_GPIO_FLAGS(0, a_gpios),
-	.b_label = DT_INST_GPIO_LABEL(0, b_gpios),
-	.b_pin = DT_INST_GPIO_PIN(0, b_gpios),
-	.b_flags = DT_INST_GPIO_FLAGS(0, b_gpios),
-};
-
-DEVICE_AND_API_INIT(en11, DT_INST_LABEL(0), en11_init,
-		    &en11_data,
-		    &en11_cfg, POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY,
-		    &en11_driver_api);
diff --git a/app/src/drivers/sensors/en11/CMakeLists.txt b/app/src/drivers/sensors/en11/CMakeLists.txt
deleted file mode 100644
index 4c538ca8..00000000
--- a/app/src/drivers/sensors/en11/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-# SPDX-License-Identifier: Apache-2.0
-
-zephyr_library()
-
-zephyr_library_sources_ifdef(CONFIG_EN11 en11.c)
-zephyr_library_sources_ifdef(CONFIG_EN11_TRIGGER en11_trigger.c)
diff --git a/app/src/drivers/sensors/en11/Kconfig b/app/src/drivers/sensors/en11/Kconfig
deleted file mode 100644
index 84fec95c..00000000
--- a/app/src/drivers/sensors/en11/Kconfig
+++ /dev/null
@@ -1,52 +0,0 @@
-# EN11 incremental encoder sensor configuration options
-
-# Copyright (c) 2020 Peter Johanson
-# SPDX-License-Identifier: MIT
-
-menuconfig EN11
-	bool "EN11 Incremental Encoder Sensor"
-	depends on GPIO
-	help
-	  Enable driver for EN11 incremental encoder sensors.
-
-if EN11
-
-choice
-	prompt "Trigger mode"
-	default EN11_TRIGGER_NONE
-	help
-	  Specify the type of triggering to be used by the driver.
-
-config EN11_TRIGGER_NONE
-	bool "No trigger"
-
-config EN11_TRIGGER_GLOBAL_THREAD
-	bool "Use global thread"
-	depends on GPIO
-	select EN11_TRIGGER
-
-config EN11_TRIGGER_OWN_THREAD
-	bool "Use own thread"
-	depends on GPIO
-	select EN11_TRIGGER
-
-endchoice
-
-config EN11_TRIGGER
-	bool
-
-config EN11_THREAD_PRIORITY
-	int "Thread priority"
-	depends on EN11_TRIGGER_OWN_THREAD
-	default 10
-	help
-	  Priority of thread used by the driver to handle interrupts.
-
-config EN11_THREAD_STACK_SIZE
-	int "Thread stack size"
-	depends on EN11_TRIGGER_OWN_THREAD
-	default 1024
-	help
-	  Stack size of thread used by the driver to handle interrupts.
-
-endif # EN11
diff --git a/app/src/main.c b/app/src/main.c
index f42c7c4d..d04efae2 100644
--- a/app/src/main.c
+++ b/app/src/main.c
@@ -23,7 +23,22 @@ static struct sensor_trigger trigger;
 
 void encoder_change(struct device *dev, struct sensor_trigger *trigger)
 {
+	int err;
+	struct sensor_value value;
+
 	LOG_DBG("");
+
+	err = sensor_sample_fetch(dev);
+	if (err) {
+		LOG_ERR("Failed to fetch new EC11 sample");
+		return;
+	}
+
+	err = sensor_channel_get(dev, SENSOR_CHAN_ROTATION, &value);
+	if (err) {
+		LOG_DBG("Failed to get the sample for EC11 %d", err);
+		return;
+	}
 }
 
 void init_sensor()

From c058757252c01b347bb432cea45e4a7bfb189738 Mon Sep 17 00:00:00 2001
From: Pete Johanson <peter@peterjohanson.com>
Date: Mon, 20 Jul 2020 22:47:50 -0400
Subject: [PATCH 04/16] Fetch/get implementation work.

---
 app/drivers/zephyr/ec11.c | 43 +++++++++++++++++----------------------
 app/drivers/zephyr/ec11.h |  5 +++--
 2 files changed, 22 insertions(+), 26 deletions(-)

diff --git a/app/drivers/zephyr/ec11.c b/app/drivers/zephyr/ec11.c
index ef0c5c39..3e09cd69 100644
--- a/app/drivers/zephyr/ec11.c
+++ b/app/drivers/zephyr/ec11.c
@@ -24,7 +24,7 @@ static int ec11_sample_fetch(struct device *dev, enum sensor_channel chan)
 	struct ec11_data *drv_data = dev->driver_data;
 	const struct ec11_config *drv_cfg = dev->config_info;
 	u8_t val;
-	u8_t delta;
+	s8_t delta;
 
 	__ASSERT_NO_MSG(chan == SENSOR_CHAN_ALL || chan == SENSOR_CHAN_ROTATION);
 
@@ -33,28 +33,26 @@ static int ec11_sample_fetch(struct device *dev, enum sensor_channel chan)
 	LOG_DBG("prev: %d, new: %d", drv_data->ab_state, val);
 
 	switch(val | (drv_data->ab_state << 2)) {
-		case 0b0001: case 0b0111: case 0b1110:
-			LOG_DBG("+1");
+		case 0b0001: case 0b0111: case 0b1110: case 0b1000:
 			delta = 1;
 			break;
+		case 0b0010: case 0b0100: case 0b1101: case 0b1011:
+			delta = -1;
+			break;
 		default:
-			LOG_DBG("FIGURE IT OUT!");
+			delta = 0;
 			break;
 	}
 
 	LOG_DBG("Delta: %d", delta);
 
+	drv_data->pulses += delta;
+	drv_data->ab_state = val;
 
-	// if (ec11_reg_read(drv_data, EC11_REG_TOBJ, &val) < 0) {
-	// 	return -EIO;
-	// }
-
-	// if (val & EC11_DATA_INVALID_BIT) {
-	// 	return -EIO;
-	// }
-
-	// drv_data->sample = arithmetic_shift_right((s16_t)val, 2);
-
+	drv_data->ticks = drv_data->pulses / drv_cfg->resolution;
+	drv_data->delta = delta;
+	drv_data->pulses %= drv_cfg->resolution;
+	
 	return 0;
 }
 
@@ -63,17 +61,14 @@ static int ec11_channel_get(struct device *dev,
 			       struct sensor_value *val)
 {
 	struct ec11_data *drv_data = dev->driver_data;
+	
+	if (chan != SENSOR_CHAN_ROTATION) {
+		return -ENOTSUP;
+	}
 
-	// s32_t uval;
-
-	// if (chan != SENSOR_CHAN_AMBIENT_TEMP) {
-	// 	return -ENOTSUP;
-	// }
-
-	// uval = (s32_t)drv_data->sample * EC11_TEMP_SCALE;
-	// val->val1 = uval / 1000000;
-	// val->val2 = uval % 1000000;
-
+	val->val1 = drv_data->ticks;
+	val->val2 = drv_data->delta;
+	
 	return 0;
 }
 
diff --git a/app/drivers/zephyr/ec11.h b/app/drivers/zephyr/ec11.h
index 524af2c0..8acc3a6c 100644
--- a/app/drivers/zephyr/ec11.h
+++ b/app/drivers/zephyr/ec11.h
@@ -31,8 +31,9 @@ struct ec11_data {
 	struct device *a;
 	struct device *b;
 	u8_t ab_state;
-	s16_t pulse_state;
-	s16_t tick_state;
+	s8_t pulses;
+	s8_t ticks;
+	s8_t delta;
 
 #ifdef CONFIG_EC11_TRIGGER
 	struct device *gpio;

From b6b982fcef50938fcd271d41452a6c3e86a0c5c9 Mon Sep 17 00:00:00 2001
From: Pete Johanson <peter@peterjohanson.com>
Date: Mon, 20 Jul 2020 23:51:40 -0400
Subject: [PATCH 05/16] Code clean up

---
 app/drivers/zephyr/ec11_trigger.c | 17 -----------------
 1 file changed, 17 deletions(-)

diff --git a/app/drivers/zephyr/ec11_trigger.c b/app/drivers/zephyr/ec11_trigger.c
index 07493fbe..7e4a0353 100644
--- a/app/drivers/zephyr/ec11_trigger.c
+++ b/app/drivers/zephyr/ec11_trigger.c
@@ -82,25 +82,8 @@ static void ec11_thread_cb(void *arg)
 {
 	struct device *dev = arg;
 	struct ec11_data *drv_data = dev->driver_data;
-	const struct ec11_config *cfg = dev->config_info;
-	u16_t status;
 
 	drv_data->handler(dev, &drv_data->trigger);
-	// gpio_pin_get(drv_data->a, cfg->a_pin)
-
-	// if (ec11_reg_read(drv_data, EC11_REG_STATUS, &status) < 0) {
-	// 	return;
-	// }
-
-	// if (status & EC11_DATA_READY_INT_BIT &&
-	//     drv_data->drdy_handler != NULL) {
-	// 	drv_data->drdy_handler(dev, &drv_data->drdy_trigger);
-	// }
-
-	// if (status & EC11_TOBJ_TH_INT_BITS &&
-	//     drv_data->th_handler != NULL) {
-	// 	drv_data->th_handler(dev, &drv_data->th_trigger);
-	// }
 
 	setup_int(dev, true);
 }

From 7da9a1039f453d549318737d85603a7a8c87b1d9 Mon Sep 17 00:00:00 2001
From: Pete Johanson <peter@peterjohanson.com>
Date: Tue, 21 Jul 2020 13:16:15 -0400
Subject: [PATCH 06/16] Working encoder detection.

---
 app/drivers/zephyr/ec11.c | 15 ++++++++++++---
 app/src/main.c            |  2 ++
 2 files changed, 14 insertions(+), 3 deletions(-)

diff --git a/app/drivers/zephyr/ec11.c b/app/drivers/zephyr/ec11.c
index 3e09cd69..74c8f9b8 100644
--- a/app/drivers/zephyr/ec11.c
+++ b/app/drivers/zephyr/ec11.c
@@ -18,6 +18,13 @@
 
 LOG_MODULE_REGISTER(EC11, CONFIG_SENSOR_LOG_LEVEL);
 
+static int ec11_get_ab_state(struct device *dev)
+{
+	struct ec11_data *drv_data = dev->driver_data;
+	const struct ec11_config *drv_cfg = dev->config_info;
+
+	return (gpio_pin_get(drv_data->a, drv_cfg->a_pin) << 1) | gpio_pin_get(drv_data->b, drv_cfg->b_pin);
+}
 
 static int ec11_sample_fetch(struct device *dev, enum sensor_channel chan)
 {
@@ -28,15 +35,15 @@ static int ec11_sample_fetch(struct device *dev, enum sensor_channel chan)
 
 	__ASSERT_NO_MSG(chan == SENSOR_CHAN_ALL || chan == SENSOR_CHAN_ROTATION);
 
-	val = (gpio_pin_get(drv_data->a, drv_cfg->a_pin) << 1) | gpio_pin_get(drv_data->b, drv_cfg->b_pin);
+	val = ec11_get_ab_state(dev);
 
 	LOG_DBG("prev: %d, new: %d", drv_data->ab_state, val);
 
 	switch(val | (drv_data->ab_state << 2)) {
-		case 0b0001: case 0b0111: case 0b1110: case 0b1000:
+		case 0b0010: case 0b0100: case 0b1101: case 0b1011:
 			delta = 1;
 			break;
-		case 0b0010: case 0b0100: case 0b1101: case 0b1011:
+		case 0b0001: case 0b0111: case 0b1110: case 0b1000:
 			delta = -1;
 			break;
 		default:
@@ -106,6 +113,8 @@ int ec11_init(struct device *dev)
 	}
 #endif
 
+	drv_data->ab_state = ec11_get_ab_state(dev);
+
 	return 0;
 }
 
diff --git a/app/src/main.c b/app/src/main.c
index d04efae2..557dd619 100644
--- a/app/src/main.c
+++ b/app/src/main.c
@@ -39,6 +39,8 @@ void encoder_change(struct device *dev, struct sensor_trigger *trigger)
 		LOG_DBG("Failed to get the sample for EC11 %d", err);
 		return;
 	}
+
+	LOG_DBG("val1 %d val2 %d", value.val1, value.val2);
 }
 
 void init_sensor()

From aa7c74fe075526c73cac8ae1e7df826f762fedc5 Mon Sep 17 00:00:00 2001
From: Pete Johanson <peter@peterjohanson.com>
Date: Tue, 21 Jul 2020 13:24:44 -0400
Subject: [PATCH 07/16] Filename fix for EN11 -> EC11.

---
 .../zephyr/dts/bindings/{alps,en11.yaml => alps,ec11.yaml}        | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename app/drivers/zephyr/dts/bindings/{alps,en11.yaml => alps,ec11.yaml} (100%)

diff --git a/app/drivers/zephyr/dts/bindings/alps,en11.yaml b/app/drivers/zephyr/dts/bindings/alps,ec11.yaml
similarity index 100%
rename from app/drivers/zephyr/dts/bindings/alps,en11.yaml
rename to app/drivers/zephyr/dts/bindings/alps,ec11.yaml

From ac9ba3ae7d6db496ba7ddccf434804cfebfa6dab Mon Sep 17 00:00:00 2001
From: Pete Johanson <peter@peterjohanson.com>
Date: Tue, 21 Jul 2020 13:29:21 -0400
Subject: [PATCH 08/16] Code cleanup for non-trigger mode.

---
 app/drivers/zephyr/ec11.c         | 18 +++++++++++++++++-
 app/drivers/zephyr/ec11.h         |  6 ------
 app/drivers/zephyr/ec11_trigger.c | 17 -----------------
 3 files changed, 17 insertions(+), 24 deletions(-)

diff --git a/app/drivers/zephyr/ec11.c b/app/drivers/zephyr/ec11.c
index 74c8f9b8..9d724d53 100644
--- a/app/drivers/zephyr/ec11.c
+++ b/app/drivers/zephyr/ec11.c
@@ -92,7 +92,7 @@ int ec11_init(struct device *dev)
 	struct ec11_data *drv_data = dev->driver_data;
 	const struct ec11_config *drv_cfg = dev->config_info;
 
-	LOG_DBG("resolution %d", drv_cfg->resolution);
+	LOG_DBG("A: %s %d B: %s %d resolution %d", drv_cfg->a_label, drv_cfg->a_pin, drv_cfg->b_label, drv_cfg->b_pin, drv_cfg->resolution);	
 
 	drv_data->a = device_get_binding(drv_cfg->a_label);
 	if (drv_data->a == NULL) {
@@ -106,6 +106,22 @@ int ec11_init(struct device *dev)
 		return -EINVAL;
 	}
 
+	if (gpio_pin_configure(drv_data->a, drv_cfg->a_pin,
+			   drv_cfg->a_flags
+			   | GPIO_INPUT)) {
+		LOG_DBG("Failed to configure A pin");
+		return -EIO;
+	}
+
+	if (gpio_pin_configure(drv_data->b, drv_cfg->b_pin,
+			   drv_cfg->b_flags
+			   | GPIO_INPUT)) {
+		LOG_DBG("Failed to configure B pin");
+		return -EIO;
+	}
+
+
+
 #ifdef CONFIG_EC11_TRIGGER
 	if (ec11_init_interrupt(dev) < 0) {
 		LOG_DBG("Failed to initialize interrupt!");
diff --git a/app/drivers/zephyr/ec11.h b/app/drivers/zephyr/ec11.h
index 8acc3a6c..b54e5328 100644
--- a/app/drivers/zephyr/ec11.h
+++ b/app/drivers/zephyr/ec11.h
@@ -22,11 +22,6 @@ struct ec11_config {
 	const u8_t resolution;
 };
 
-enum ec11_pin_state {
-	EC11_A_PIN_STATE,
-	EC11_B_PIN_STATE
-};
-
 struct ec11_data {
 	struct device *a;
 	struct device *b;
@@ -36,7 +31,6 @@ struct ec11_data {
 	s8_t delta;
 
 #ifdef CONFIG_EC11_TRIGGER
-	struct device *gpio;
 	struct gpio_callback a_gpio_cb;
 	struct gpio_callback b_gpio_cb;
 	struct device *dev;
diff --git a/app/drivers/zephyr/ec11_trigger.c b/app/drivers/zephyr/ec11_trigger.c
index 7e4a0353..68f9bec4 100644
--- a/app/drivers/zephyr/ec11_trigger.c
+++ b/app/drivers/zephyr/ec11_trigger.c
@@ -141,14 +141,6 @@ int ec11_init_interrupt(struct device *dev)
 	drv_data->dev = dev;
 	/* setup gpio interrupt */
 
-	LOG_DBG("A: %s %d B: %s %d", drv_cfg->a_label, drv_cfg->a_pin, drv_cfg->b_label, drv_cfg->b_pin);
-	
-	if (gpio_pin_configure(drv_data->a, drv_cfg->a_pin,
-			   drv_cfg->a_flags
-			   | GPIO_INPUT)) {
-		LOG_DBG("Failed to configure B pin");
-		return -EIO;
-	}
 
 	gpio_init_callback(&drv_data->a_gpio_cb,
 			   ec11_a_gpio_callback,
@@ -159,13 +151,6 @@ int ec11_init_interrupt(struct device *dev)
 		return -EIO;
 	}
 
-	if (gpio_pin_configure(drv_data->b, drv_cfg->b_pin,
-			   drv_cfg->b_flags
-			   | GPIO_INPUT)) {
-		LOG_DBG("Failed to configure B pin");
-		return -EIO;
-	}
-
 	gpio_init_callback(&drv_data->b_gpio_cb,
 			   ec11_b_gpio_callback,
 			   BIT(drv_cfg->b_pin));
@@ -175,8 +160,6 @@ int ec11_init_interrupt(struct device *dev)
 		return -EIO;
 	}
 
-	LOG_DBG("A Pin? %d, B Pin? %d", gpio_pin_get(drv_data->a, drv_cfg->a_pin), gpio_pin_get(drv_data->b, drv_cfg->b_pin));
-
 #if defined(CONFIG_EC11_TRIGGER_OWN_THREAD)
 	k_sem_init(&drv_data->gpio_sem, 0, UINT_MAX);
 

From c619d36294374ffea018090938d3613454fe3aae Mon Sep 17 00:00:00 2001
From: Pete Johanson <peter@peterjohanson.com>
Date: Tue, 21 Jul 2020 13:37:02 -0400
Subject: [PATCH 09/16] Support multiple instances of the encoder.

---
 app/drivers/zephyr/ec11.c | 31 ++++++++++++++++---------------
 1 file changed, 16 insertions(+), 15 deletions(-)

diff --git a/app/drivers/zephyr/ec11.c b/app/drivers/zephyr/ec11.c
index 9d724d53..357c5724 100644
--- a/app/drivers/zephyr/ec11.c
+++ b/app/drivers/zephyr/ec11.c
@@ -134,19 +134,20 @@ int ec11_init(struct device *dev)
 	return 0;
 }
 
-struct ec11_data ec11_data;
+#define EC11_INST(n) \
+	struct ec11_data ec11_data_##n;                                                            \
+	const struct ec11_config ec11_cfg_##n = {                                                  \
+		.a_label = DT_INST_GPIO_LABEL(n, a_gpios),                                             \
+		.a_pin = DT_INST_GPIO_PIN(n, a_gpios),                                                 \
+		.a_flags = DT_INST_GPIO_FLAGS(n, a_gpios),                                             \
+		.b_label = DT_INST_GPIO_LABEL(n, b_gpios),                                             \
+		.b_pin = DT_INST_GPIO_PIN(n, b_gpios),                                                 \
+		.b_flags = DT_INST_GPIO_FLAGS(n, b_gpios),                                             \
+		COND_CODE_0(DT_INST_NODE_HAS_PROP(n, resolution), (1), (DT_INST_PROP(n, resolution))), \
+	};                                                                                         \
+	DEVICE_AND_API_INIT(ec11, DT_INST_LABEL(n), ec11_init,                                     \
+				&ec11_data_##n,                                                                \
+				&ec11_cfg_##n, POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY,                       \
+				&ec11_driver_api);
 
-const struct ec11_config ec11_cfg = {
-	.a_label = DT_INST_GPIO_LABEL(0, a_gpios),
-	.a_pin = DT_INST_GPIO_PIN(0, a_gpios),
-	.a_flags = DT_INST_GPIO_FLAGS(0, a_gpios),
-	.b_label = DT_INST_GPIO_LABEL(0, b_gpios),
-	.b_pin = DT_INST_GPIO_PIN(0, b_gpios),
-	.b_flags = DT_INST_GPIO_FLAGS(0, b_gpios),
-	COND_CODE_0(DT_INST_NODE_HAS_PROP(0, resolution), (1), (DT_INST_PROP(0, resolution))),
-};
-
-DEVICE_AND_API_INIT(ec11, DT_INST_LABEL(0), ec11_init,
-		    &ec11_data,
-		    &ec11_cfg, POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY,
-		    &ec11_driver_api);
+DT_INST_FOREACH_STATUS_OKAY(EC11_INST)
\ No newline at end of file

From b48011ace61e28362b322aecd48dadd09775f8d3 Mon Sep 17 00:00:00 2001
From: Pete Johanson <peter@peterjohanson.com>
Date: Tue, 21 Jul 2020 13:40:16 -0400
Subject: [PATCH 10/16] Remove sensor test code.

---
 app/src/main.c | 42 ------------------------------------------
 1 file changed, 42 deletions(-)

diff --git a/app/src/main.c b/app/src/main.c
index 557dd619..defee20e 100644
--- a/app/src/main.c
+++ b/app/src/main.c
@@ -8,7 +8,6 @@
 #include <device.h>
 #include <devicetree.h>
 #include <settings/settings.h>
-#include <drivers/sensor.h>
 
 #include <logging/log.h>
 LOG_MODULE_REGISTER(zmk, CONFIG_ZMK_LOG_LEVEL);
@@ -19,44 +18,6 @@ LOG_MODULE_REGISTER(zmk, CONFIG_ZMK_LOG_LEVEL);
 
 #define ZMK_KSCAN_DEV DT_LABEL(ZMK_MATRIX_NODE_ID)
 
-static struct sensor_trigger trigger;
-
-void encoder_change(struct device *dev, struct sensor_trigger *trigger)
-{
-	int err;
-	struct sensor_value value;
-
-	LOG_DBG("");
-
-	err = sensor_sample_fetch(dev);
-	if (err) {
-		LOG_ERR("Failed to fetch new EC11 sample");
-		return;
-	}
-
-	err = sensor_channel_get(dev, SENSOR_CHAN_ROTATION, &value);
-	if (err) {
-		LOG_DBG("Failed to get the sample for EC11 %d", err);
-		return;
-	}
-
-	LOG_DBG("val1 %d val2 %d", value.val1, value.val2);
-}
-
-void init_sensor()
-{
-	struct device *dev = device_get_binding("Rotary Encoder");
-	if (!dev) {
-		LOG_DBG("NO ENCODER!");
-		return;
-	}
-
-	trigger.type = SENSOR_TRIG_DATA_READY;
-	trigger.chan = SENSOR_CHAN_ROTATION;
-
-	sensor_trigger_set(dev, &trigger, encoder_change);
-}
-
 void main(void)
 {
 	printk("Welcome to ZMK!\n");
@@ -66,10 +27,7 @@ void main(void)
 		return;
 	}
 
-
 #ifdef CONFIG_SETTINGS
 	settings_load();
 #endif
-
-	init_sensor();
 }

From f3267e6030822abc594aadd4264508607dc5bb69 Mon Sep 17 00:00:00 2001
From: Pete Johanson <peter@peterjohanson.com>
Date: Tue, 21 Jul 2020 13:52:03 -0400
Subject: [PATCH 11/16] Tweaks for orientation and A/B pins for Kyria left

---
 app/boards/shields/kyria/kyria_left.overlay | 4 ++--
 app/drivers/zephyr/ec11.c                   | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/app/boards/shields/kyria/kyria_left.overlay b/app/boards/shields/kyria/kyria_left.overlay
index 43c9d88d..3b3df8c8 100644
--- a/app/boards/shields/kyria/kyria_left.overlay
+++ b/app/boards/shields/kyria/kyria_left.overlay
@@ -10,8 +10,8 @@
 		encoder: encoder0 {
 			compatible = "alps,ec11";
 			label = "Rotary Encoder";
-			a-gpios = <&pro_micro_d 5 (GPIO_ACTIVE_HIGH | GPIO_PULL_UP)>;
-			b-gpios = <&pro_micro_d 9 (GPIO_ACTIVE_HIGH | GPIO_PULL_UP)>;
+			a-gpios = <&pro_micro_d 9 (GPIO_ACTIVE_HIGH | GPIO_PULL_UP)>;
+			b-gpios = <&pro_micro_d 5 (GPIO_ACTIVE_HIGH | GPIO_PULL_UP)>;
 			resolution = <4>;
 		};
 };
diff --git a/app/drivers/zephyr/ec11.c b/app/drivers/zephyr/ec11.c
index 357c5724..1bc5d6a6 100644
--- a/app/drivers/zephyr/ec11.c
+++ b/app/drivers/zephyr/ec11.c
@@ -41,10 +41,10 @@ static int ec11_sample_fetch(struct device *dev, enum sensor_channel chan)
 
 	switch(val | (drv_data->ab_state << 2)) {
 		case 0b0010: case 0b0100: case 0b1101: case 0b1011:
-			delta = 1;
+			delta = -1;
 			break;
 		case 0b0001: case 0b0111: case 0b1110: case 0b1000:
-			delta = -1;
+			delta = 1;
 			break;
 		default:
 			delta = 0;

From 3338b3f7dea5bfb4c433c4aef12e636f92a06c94 Mon Sep 17 00:00:00 2001
From: Pete Johanson <peter@peterjohanson.com>
Date: Tue, 21 Jul 2020 13:53:43 -0400
Subject: [PATCH 12/16] Revert minor change to main.

---
 app/src/main.c | 1 +
 1 file changed, 1 insertion(+)

diff --git a/app/src/main.c b/app/src/main.c
index defee20e..92ecc8b1 100644
--- a/app/src/main.c
+++ b/app/src/main.c
@@ -27,6 +27,7 @@ void main(void)
 		return;
 	}
 
+
 #ifdef CONFIG_SETTINGS
 	settings_load();
 #endif

From a734d58ffe6147be5e426b8c758da3b2237df7a0 Mon Sep 17 00:00:00 2001
From: Pete Johanson <peter@peterjohanson.com>
Date: Tue, 21 Jul 2020 14:01:15 -0400
Subject: [PATCH 13/16] More consistent DT for the split encoders.

---
 app/boards/shields/kyria/kyria.dtsi          | 19 +++++++++++++++++++
 app/boards/shields/kyria/kyria_left.overlay  | 13 +++----------
 app/boards/shields/kyria/kyria_right.overlay |  4 ++++
 3 files changed, 26 insertions(+), 10 deletions(-)

diff --git a/app/boards/shields/kyria/kyria.dtsi b/app/boards/shields/kyria/kyria.dtsi
index f96adf0f..87d78020 100644
--- a/app/boards/shields/kyria/kyria.dtsi
+++ b/app/boards/shields/kyria/kyria.dtsi
@@ -10,6 +10,7 @@
 	chosen {
 		zmk,kscan = &kscan0;
 		zmk,matrix_transform = &default_transform;
+		zmk,encoders = <&left_encoder &right_encoder>;
 	};
 
 	default_transform: keymap_transform_0 {
@@ -58,6 +59,24 @@ RC(2,0) RC(2,1) RC(2,2) RC(2,3) RC(2,4) RC(2,5) RC(2,6) RC(2,7) RC(2,8) RC(2,9)
 		
 	};
 
+	left_encoder: encoder_left {
+		compatible = "alps,ec11";
+		label = "LEFT_ENCODER";
+		a-gpios = <&pro_micro_d 9 (GPIO_ACTIVE_HIGH | GPIO_PULL_UP)>;
+		b-gpios = <&pro_micro_d 5 (GPIO_ACTIVE_HIGH | GPIO_PULL_UP)>;
+		resolution = <4>;
+		status = "disabled";
+	};
+
+	right_encoder: encoder_right {
+		compatible = "alps,ec11";
+		label = "RIGHT_ENCODER";
+		a-gpios = <&pro_micro_d 5 (GPIO_ACTIVE_HIGH | GPIO_PULL_UP)>;
+		b-gpios = <&pro_micro_d 9 (GPIO_ACTIVE_HIGH | GPIO_PULL_UP)>;
+		resolution = <4>;
+		status = "disabled";
+	};
+
 	// TODO: Encoder node(s)
 	// TODO: OLED node
 	// TODO: RGB node(s)
diff --git a/app/boards/shields/kyria/kyria_left.overlay b/app/boards/shields/kyria/kyria_left.overlay
index 3b3df8c8..29f648d7 100644
--- a/app/boards/shields/kyria/kyria_left.overlay
+++ b/app/boards/shields/kyria/kyria_left.overlay
@@ -6,16 +6,6 @@
 
 #include "kyria.dtsi"
 
-/ {
-		encoder: encoder0 {
-			compatible = "alps,ec11";
-			label = "Rotary Encoder";
-			a-gpios = <&pro_micro_d 9 (GPIO_ACTIVE_HIGH | GPIO_PULL_UP)>;
-			b-gpios = <&pro_micro_d 5 (GPIO_ACTIVE_HIGH | GPIO_PULL_UP)>;
-			resolution = <4>;
-		};
-};
-
 &kscan0 {
 	col-gpios
 		= <&pro_micro_a  3 GPIO_ACTIVE_HIGH>
@@ -29,3 +19,6 @@
 		;
 };
 
+&left_encoder {
+	status = "okay";
+};
\ No newline at end of file
diff --git a/app/boards/shields/kyria/kyria_right.overlay b/app/boards/shields/kyria/kyria_right.overlay
index b919bb2a..8163c95e 100644
--- a/app/boards/shields/kyria/kyria_right.overlay
+++ b/app/boards/shields/kyria/kyria_right.overlay
@@ -23,3 +23,7 @@
 		;
 };
 
+
+&right_encoder {
+	status = "okay";
+};

From ec74adb3b700572be9b15be2fc297e4c36b8a0bd Mon Sep 17 00:00:00 2001
From: Pete Johanson <peter@peterjohanson.com>
Date: Tue, 21 Jul 2020 14:01:48 -0400
Subject: [PATCH 14/16] Better chosen name.

---
 app/boards/shields/kyria/kyria.dtsi | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/app/boards/shields/kyria/kyria.dtsi b/app/boards/shields/kyria/kyria.dtsi
index 87d78020..4efca8eb 100644
--- a/app/boards/shields/kyria/kyria.dtsi
+++ b/app/boards/shields/kyria/kyria.dtsi
@@ -10,7 +10,7 @@
 	chosen {
 		zmk,kscan = &kscan0;
 		zmk,matrix_transform = &default_transform;
-		zmk,encoders = <&left_encoder &right_encoder>;
+		zmk,sensors = <&left_encoder &right_encoder>;
 	};
 
 	default_transform: keymap_transform_0 {

From b49755b724201de32583e76af77caa6e4c68163b Mon Sep 17 00:00:00 2001
From: Pete Johanson <peter@peterjohanson.com>
Date: Tue, 21 Jul 2020 14:24:58 -0400
Subject: [PATCH 15/16] Skip chosen node for now.

---
 app/boards/shields/kyria/kyria.dtsi | 1 -
 1 file changed, 1 deletion(-)

diff --git a/app/boards/shields/kyria/kyria.dtsi b/app/boards/shields/kyria/kyria.dtsi
index 4efca8eb..59d0c487 100644
--- a/app/boards/shields/kyria/kyria.dtsi
+++ b/app/boards/shields/kyria/kyria.dtsi
@@ -10,7 +10,6 @@
 	chosen {
 		zmk,kscan = &kscan0;
 		zmk,matrix_transform = &default_transform;
-		zmk,sensors = <&left_encoder &right_encoder>;
 	};
 
 	default_transform: keymap_transform_0 {

From 3a508c42d0f408b42e58f119f4f0132a87203ad1 Mon Sep 17 00:00:00 2001
From: Pete Johanson <peter@peterjohanson.com>
Date: Tue, 21 Jul 2020 14:28:59 -0400
Subject: [PATCH 16/16] Trailing newline fix.

---
 app/boards/shields/kyria/kyria_left.overlay | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/app/boards/shields/kyria/kyria_left.overlay b/app/boards/shields/kyria/kyria_left.overlay
index 29f648d7..c8b5be27 100644
--- a/app/boards/shields/kyria/kyria_left.overlay
+++ b/app/boards/shields/kyria/kyria_left.overlay
@@ -21,4 +21,4 @@
 
 &left_encoder {
 	status = "okay";
-};
\ No newline at end of file
+};