You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
66 lines
1.0 KiB
Plaintext
66 lines
1.0 KiB
Plaintext
#include <avr/interrupt.h>
|
|
#include <avr/io.h>
|
|
|
|
|
|
int pinA = 11;
|
|
int pinB = 12;
|
|
int ledPin = 13;
|
|
|
|
void setup() {
|
|
//Timer2 Settings
|
|
TCCR2A = 0;
|
|
TCCR2B = 0<<CS22 | 1<<CS21 | 0<<CS20;
|
|
|
|
//Timer2 Overflow Interrupt Enable
|
|
TIMSK2 = 1<<TOIE2;
|
|
|
|
// pullups
|
|
digitalWrite(pinA, HIGH);
|
|
digitalWrite(pinB, HIGH);
|
|
|
|
Serial.begin(9600);
|
|
}
|
|
|
|
volatile int8_t enc_delta; // -128 ... 127
|
|
static int8_t last;
|
|
|
|
|
|
ISR(TIMER2_OVF_vect) {
|
|
int8_t neu, diff;
|
|
|
|
// convert gray to binary
|
|
neu = 0;
|
|
if(digitalRead(pinA))
|
|
neu = 3;
|
|
if(digitalRead(pinB))
|
|
neu ^= 1;
|
|
|
|
diff = last - neu; // difference last - new
|
|
if( diff & 1 ) { // bit 0 = value (1)
|
|
last = neu; // store new as next last
|
|
enc_delta += (diff & 2) - 1; // bit 1 = direction (+/-)
|
|
}
|
|
}
|
|
|
|
int8_t val_alt;
|
|
void loop() {
|
|
int8_t val;
|
|
|
|
digitalWrite(13,HIGH);
|
|
|
|
cli();
|
|
val = enc_delta;
|
|
// enc_delta = val & 1;
|
|
sei();
|
|
|
|
if (val != val_alt) {
|
|
Serial.println(val>>1);
|
|
}
|
|
|
|
val_alt = val;
|
|
|
|
delay(100);
|
|
digitalWrite(13,LOW);
|
|
delay(100);
|
|
}
|