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1 | 6 | kaklik | /*! \file encoder.c \brief Quadrature Encoder reader/driver. */ |
2 | //***************************************************************************** |
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3 | // |
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4 | // File Name : 'encoder.c' |
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5 | // Title : Quadrature Encoder reader/driver |
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6 | // Author : Pascal Stang - Copyright (C) 2003-2004 |
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7 | // Created : 2003.01.26 |
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8 | // Revised : 2004.06.25 |
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9 | // Version : 0.3 |
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10 | // Target MCU : Atmel AVR Series |
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11 | // Editor Tabs : 4 |
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12 | // |
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13 | // NOTE: This code is currently below version 1.0, and therefore is considered |
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14 | // to be lacking in some functionality or documentation, or may not be fully |
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15 | // tested. Nonetheless, you can expect most functions to work. |
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16 | // |
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17 | // This code is distributed under the GNU Public License |
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18 | // which can be found at http://www.gnu.org/licenses/gpl.txt |
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19 | // |
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20 | //***************************************************************************** |
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21 | |||
22 | #include <avr/io.h> |
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23 | #include <avr/interrupt.h> |
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24 | |||
25 | #include "global.h" |
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26 | #include "encoder.h" |
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27 | |||
28 | // Program ROM constants |
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29 | |||
30 | // Global variables |
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31 | volatile EncoderStateType EncoderState[NUM_ENCODERS]; |
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32 | |||
33 | // Functions |
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34 | |||
35 | // encoderInit() initializes hardware and encoder position readings |
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36 | // Run this init routine once before using any other encoder functions. |
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37 | void encoderInit(void) |
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38 | { |
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39 | u08 i; |
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40 | |||
41 | // initialize/clear encoder data |
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42 | for(i=0; i<NUM_ENCODERS; i++) |
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43 | { |
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44 | EncoderState[i].position = 0; |
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45 | //EncoderState[i].velocity = 0; // NOT CURRENTLY USED |
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46 | } |
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47 | |||
48 | // configure direction and interrupt I/O pins: |
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49 | // - for input |
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50 | // - apply pullup resistors |
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51 | // - any-edge interrupt triggering |
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52 | // - enable interrupt |
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53 | |||
54 | #ifdef ENC0_SIGNAL |
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55 | // set interrupt pins to input and apply pullup resistor |
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56 | cbi(ENC0_PHASEA_DDR, ENC0_PHASEA_PIN); |
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57 | sbi(ENC0_PHASEA_PORT, ENC0_PHASEA_PIN); |
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58 | // set encoder direction pin for input and apply pullup resistor |
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59 | cbi(ENC0_PHASEB_DDR, ENC0_PHASEB_PIN); |
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60 | sbi(ENC0_PHASEB_PORT, ENC0_PHASEB_PIN); |
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61 | // configure interrupts for any-edge triggering |
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62 | sbi(ENC0_ICR, ENC0_ISCX0); |
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63 | cbi(ENC0_ICR, ENC0_ISCX1); |
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64 | // enable interrupts |
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65 | sbi(IMSK, ENC0_INT); // ISMK is auto-defined in encoder.h |
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66 | #endif |
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67 | #ifdef ENC1_SIGNAL |
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68 | // set interrupt pins to input and apply pullup resistor |
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69 | cbi(ENC1_PHASEA_DDR, ENC1_PHASEA_PIN); |
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70 | sbi(ENC1_PHASEA_PORT, ENC1_PHASEA_PIN); |
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71 | // set encoder direction pin for input and apply pullup resistor |
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72 | cbi(ENC1_PHASEB_DDR, ENC1_PHASEB_PIN); |
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73 | sbi(ENC1_PHASEB_PORT, ENC1_PHASEB_PIN); |
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74 | // configure interrupts for any-edge triggering |
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75 | sbi(ENC1_ICR, ENC1_ISCX0); |
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76 | cbi(ENC1_ICR, ENC1_ISCX1); |
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77 | // enable interrupts |
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78 | sbi(IMSK, ENC1_INT); // ISMK is auto-defined in encoder.h |
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79 | #endif |
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80 | #ifdef ENC2_SIGNAL |
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81 | // set interrupt pins to input and apply pullup resistor |
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82 | cbi(ENC2_PHASEA_DDR, ENC2_PHASEA_PIN); |
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83 | sbi(ENC2_PHASEA_PORT, ENC2_PHASEA_PIN); |
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84 | // set encoder direction pin for input and apply pullup resistor |
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85 | cbi(ENC2_PHASEB_DDR, ENC2_PHASEB_PIN); |
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86 | sbi(ENC2_PHASEB_PORT, ENC2_PHASEB_PIN); |
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87 | // configure interrupts for any-edge triggering |
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88 | sbi(ENC2_ICR, ENC2_ISCX0); |
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89 | cbi(ENC2_ICR, ENC2_ISCX1); |
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90 | // enable interrupts |
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91 | sbi(IMSK, ENC2_INT); // ISMK is auto-defined in encoder.h |
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92 | #endif |
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93 | #ifdef ENC3_SIGNAL |
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94 | // set interrupt pins to input and apply pullup resistor |
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95 | cbi(ENC3_PHASEA_DDR, ENC3_PHASEA_PIN); |
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96 | sbi(ENC3_PHASEA_PORT, ENC3_PHASEA_PIN); |
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97 | // set encoder direction pin for input and apply pullup resistor |
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98 | cbi(ENC3_PHASEB_DDR, ENC3_PHASEB_PIN); |
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99 | sbi(ENC3_PHASEB_PORT, ENC3_PHASEB_PIN); |
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100 | // configure interrupts for any-edge triggering |
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101 | sbi(ENC3_ICR, ENC3_ISCX0); |
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102 | cbi(ENC3_ICR, ENC3_ISCX1); |
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103 | // enable interrupts |
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104 | sbi(IMSK, ENC3_INT); // ISMK is auto-defined in encoder.h |
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105 | #endif |
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106 | |||
107 | // enable global interrupts |
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108 | sei(); |
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109 | } |
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110 | |||
111 | // encoderOff() disables hardware and stops encoder position updates |
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112 | void encoderOff(void) |
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113 | { |
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114 | // disable encoder interrupts |
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115 | #ifdef ENC0_SIGNAL |
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116 | // disable interrupts |
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117 | sbi(IMSK, INT0); // ISMK is auto-defined in encoder.h |
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118 | #endif |
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119 | #ifdef ENC1_SIGNAL |
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120 | // disable interrupts |
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121 | sbi(IMSK, INT1); // ISMK is auto-defined in encoder.h |
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122 | #endif |
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123 | #ifdef ENC2_SIGNAL |
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124 | // disable interrupts |
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125 | sbi(IMSK, INT2); // ISMK is auto-defined in encoder.h |
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126 | #endif |
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127 | #ifdef ENC3_SIGNAL |
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128 | // disable interrupts |
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129 | sbi(IMSK, INT3); // ISMK is auto-defined in encoder.h |
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130 | #endif |
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131 | } |
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132 | |||
133 | // encoderGetPosition() reads the current position of the encoder |
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134 | s32 encoderGetPosition(u08 encoderNum) |
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135 | { |
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136 | // sanity check |
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137 | if(encoderNum < NUM_ENCODERS) |
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138 | return EncoderState[encoderNum].position; |
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139 | else |
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140 | return 0; |
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141 | } |
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142 | |||
143 | // encoderSetPosition() sets the current position of the encoder |
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144 | void encoderSetPosition(u08 encoderNum, s32 position) |
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145 | { |
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146 | // sanity check |
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147 | if(encoderNum < NUM_ENCODERS) |
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148 | EncoderState[encoderNum].position = position; |
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149 | // else do nothing |
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150 | } |
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151 | |||
152 | #ifdef ENC0_SIGNAL |
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153 | //! Encoder 0 interrupt handler |
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154 | SIGNAL(ENC0_SIGNAL) |
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155 | { |
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156 | // encoder has generated a pulse |
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157 | // check the relative phase of the input channels |
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158 | // and update position accordingly |
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159 | if( ((inb(ENC0_PHASEA_PORTIN) & (1<<ENC0_PHASEA_PIN)) == 0) ^ |
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160 | ((inb(ENC0_PHASEB_PORTIN) & (1<<ENC0_PHASEB_PIN)) == 0) ) |
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161 | { |
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162 | EncoderState[0].position++; |
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163 | } |
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164 | else |
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165 | { |
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166 | EncoderState[0].position--; |
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167 | } |
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168 | } |
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169 | #endif |
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170 | |||
171 | #ifdef ENC1_SIGNAL |
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172 | //! Encoder 1 interrupt handler |
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173 | SIGNAL(ENC1_SIGNAL) |
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174 | { |
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175 | // encoder has generated a pulse |
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176 | // check the relative phase of the input channels |
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177 | // and update position accordingly |
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178 | if( ((inb(ENC1_PHASEA_PORTIN) & (1<<ENC1_PHASEA_PIN)) == 0) ^ |
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179 | ((inb(ENC1_PHASEB_PORTIN) & (1<<ENC1_PHASEB_PIN)) == 0) ) |
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180 | { |
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181 | EncoderState[1].position++; |
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182 | } |
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183 | else |
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184 | { |
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185 | EncoderState[1].position--; |
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186 | } |
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187 | } |
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188 | #endif |
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189 | |||
190 | #ifdef ENC2_SIGNAL |
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191 | //! Encoder 2 interrupt handler |
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192 | SIGNAL(ENC2_SIGNAL) |
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193 | { |
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194 | // encoder has generated a pulse |
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195 | // check the relative phase of the input channels |
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196 | // and update position accordingly |
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197 | if( ((inb(ENC2_PHASEA_PORTIN) & (1<<ENC2_PHASEA_PIN)) == 0) ^ |
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198 | ((inb(ENC2_PHASEB_PORTIN) & (1<<ENC2_PHASEB_PIN)) == 0) ) |
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199 | { |
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200 | EncoderState[2].position++; |
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201 | } |
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202 | else |
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203 | { |
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204 | EncoderState[2].position--; |
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205 | } |
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206 | } |
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207 | #endif |
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208 | |||
209 | #ifdef ENC3_SIGNAL |
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210 | //! Encoder 3 interrupt handler |
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211 | SIGNAL(ENC3_SIGNAL) |
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212 | { |
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213 | // encoder has generated a pulse |
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214 | // check the relative phase of the input channels |
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215 | // and update position accordingly |
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216 | if( ((inb(ENC3_PHASEA_PORTIN) & (1<<ENC3_PHASEA_PIN)) == 0) ^ |
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217 | ((inb(ENC3_PHASEB_PORTIN) & (1<<ENC3_PHASEB_PIN)) == 0) ) |
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218 | { |
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219 | EncoderState[3].position++; |
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220 | } |
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221 | else |
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222 | { |
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223 | EncoderState[3].position--; |
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224 | } |
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225 | } |
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226 | #endif |
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