ChibiOS Free Embedded RTOS

This is my first attempt to write a driver using ChibiOS.
This Demo reads a rotary encoder connected to PINS A0,A1,A4 of a Nucleo F411 and dumps
the Values and Button state to uart2 (38400Baud).
It features a polled encoder interface, so you can use any pins you want.
It is intended for user input, NOT quadrature encoders mounted to motors.
I tried to use the chibiOS driver structure.
Feedback is very appreciated.

Moving this thread to user projects, just in case somebody is interested.

Giovanni

When the code finds a low-to-high transition on the A channel, it checks to see if the B channel is high or low and then increments/decrements the variable to account for the direction that the encoder must be turning in order to generate the waveform found.