encoder_8c-source.html

单片机的软件

<a name="l00115"></a><a class="code" href="encoder_8h.html#a3">00115</a> <span class="keywordtype">void</span> <a class="code" href="encoder_8c.html#a2">encoderOff</a>(<span class="keywordtype">void</span>)
00116 {
00117     <span class="comment">// disable encoder interrupts</span>
00118 <span class="preprocessor">    #ifdef ENC0_SIGNAL</span>
00119 <span class="preprocessor"></span>        <span class="comment">// disable interrupts</span>
00120         sbi(<a class="code" href="encoder_8h.html#a0">IMSK</a>, INT0);    <span class="comment">// ISMK is auto-defined in encoder.h</span>
00121 <span class="preprocessor">    #endif</span>
00122 <span class="preprocessor"></span><span class="preprocessor">    #ifdef ENC1_SIGNAL</span>
00123 <span class="preprocessor"></span>        <span class="comment">// disable interrupts</span>
00124         sbi(<a class="code" href="encoder_8h.html#a0">IMSK</a>, INT1);    <span class="comment">// ISMK is auto-defined in encoder.h</span>
00125 <span class="preprocessor">    #endif</span>
00126 <span class="preprocessor"></span><span class="preprocessor">    #ifdef ENC2_SIGNAL</span>
00127 <span class="preprocessor"></span>        <span class="comment">// disable interrupts</span>
00128         sbi(<a class="code" href="encoder_8h.html#a0">IMSK</a>, INT2);    <span class="comment">// ISMK is auto-defined in encoder.h</span>
00129 <span class="preprocessor">    #endif</span>
00130 <span class="preprocessor"></span><span class="preprocessor">    #ifdef ENC3_SIGNAL</span>
00131 <span class="preprocessor"></span>        <span class="comment">// disable interrupts</span>
00132         sbi(<a class="code" href="encoder_8h.html#a0">IMSK</a>, INT3);    <span class="comment">// ISMK is auto-defined in encoder.h</span>
00133 <span class="preprocessor">    #endif</span>
00134 <span class="preprocessor"></span>}
00135 
00136 <span class="comment">// encoderGetPosition() reads the current position of the encoder </span>
<a name="l00137"></a><a class="code" href="encoder_8h.html#a4">00137</a> s32 <a class="code" href="encoder_8c.html#a3">encoderGetPosition</a>(u08 encoderNum)
00138 {
00139     <span class="comment">// sanity check</span>
00140     <span class="keywordflow">if</span>(encoderNum &lt; NUM_ENCODERS)
00141         <span class="keywordflow">return</span> EncoderState[encoderNum].<a class="code" href="structstruct__EncoderState.html#o0">position</a>;
00142     <span class="keywordflow">else</span>
00143         <span class="keywordflow">return</span> 0;
00144 }
00145 
00146 <span class="comment">// encoderSetPosition() sets the current position of the encoder</span>
<a name="l00147"></a><a class="code" href="encoder_8h.html#a5">00147</a> <span class="keywordtype">void</span> <a class="code" href="encoder_8c.html#a4">encoderSetPosition</a>(u08 encoderNum, s32 position)
00148 {
00149     <span class="comment">// sanity check</span>
00150     <span class="keywordflow">if</span>(encoderNum &lt; NUM_ENCODERS)
00151         EncoderState[encoderNum].<a class="code" href="structstruct__EncoderState.html#o0">position</a> = position;
00152     <span class="comment">// else do nothing</span>
00153 }
00154 
00155 <span class="preprocessor">#ifdef ENC0_SIGNAL</span>
00156 <span class="preprocessor"></span><span class="comment">//! Encoder 0 interrupt handler</span>
00157 <span class="comment"></span><a class="code" href="a2d_8c.html#a10">SIGNAL</a>(ENC0_SIGNAL)
00158 {
00159     <span class="comment">// encoder has generated a pulse</span>
00160     <span class="comment">// check the relative phase of the input channels</span>
00161     <span class="comment">// and update position accordingly</span>
00162     <span class="keywordflow">if</span>( ((inb(ENC0_PHASEA_PORTIN) &amp; (1&lt;&lt;ENC0_PHASEA_PIN)) == 0) ^
00163         ((inb(ENC0_PHASEB_PORTIN) &amp; (1&lt;&lt;ENC0_PHASEB_PIN)) == 0) )
00164     {
00165         EncoderState[0].<a class="code" href="structstruct__EncoderState.html#o0">position</a>++;
00166     }
00167     <span class="keywordflow">else</span>
00168     {
00169         EncoderState[0].<a class="code" href="structstruct__EncoderState.html#o0">position</a>--;
00170     }
00171 }
00172 <span class="preprocessor">#endif</span>
00173 <span class="preprocessor"></span>
00174 <span class="preprocessor">#ifdef ENC1_SIGNAL</span>
00175 <span class="preprocessor"></span><span class="comment">//! Encoder 1 interrupt handler</span>
00176 <span class="comment"></span><a class="code" href="a2d_8c.html#a10">SIGNAL</a>(ENC1_SIGNAL)
00177 {
00178     <span class="comment">// encoder has generated a pulse</span>
00179     <span class="comment">// check the relative phase of the input channels</span>
00180     <span class="comment">// and update position accordingly</span>
00181     <span class="keywordflow">if</span>( ((inb(ENC1_PHASEA_PORTIN) &amp; (1&lt;&lt;ENC1_PHASEA_PIN)) == 0) ^
00182         ((inb(ENC1_PHASEB_PORTIN) &amp; (1&lt;&lt;ENC1_PHASEB_PIN)) == 0) )
00183     {
00184         EncoderState[1].<a class="code" href="structstruct__EncoderState.html#o0">position</a>++;
00185     }
00186     <span class="keywordflow">else</span>
00187     {
00188         EncoderState[1].<a class="code" href="structstruct__EncoderState.html#o0">position</a>--;
00189     }
00190 }
00191 <span class="preprocessor">#endif</span>
00192 <span class="preprocessor"></span>
00193 <span class="preprocessor">#ifdef ENC2_SIGNAL</span>
00194 <span class="preprocessor"></span><span class="comment">//! Encoder 2 interrupt handler</span>
00195 <span class="comment"></span><a class="code" href="a2d_8c.html#a10">SIGNAL</a>(ENC2_SIGNAL)
00196 {
00197     <span class="comment">// encoder has generated a pulse</span>
00198     <span class="comment">// check the relative phase of the input channels</span>
00199     <span class="comment">// and update position accordingly</span>
00200     <span class="keywordflow">if</span>( ((inb(ENC2_PHASEA_PORTIN) &amp; (1&lt;&lt;ENC2_PHASEA_PIN)) == 0) ^
00201         ((inb(ENC2_PHASEB_PORTIN) &amp; (1&lt;&lt;ENC2_PHASEB_PIN)) == 0) )
00202     {
00203         EncoderState[2].<a class="code" href="structstruct__EncoderState.html#o0">position</a>++;
00204     }
00205     <span class="keywordflow">else</span>
00206     {
00207         EncoderState[2].<a class="code" href="structstruct__EncoderState.html#o0">position</a>--;
00208     }
00209 }
00210 <span class="preprocessor">#endif</span>
00211 <span class="preprocessor"></span>
00212 <span class="preprocessor">#ifdef ENC3_SIGNAL</span>
00213 <span class="preprocessor"></span><span class="comment">//! Encoder 3 interrupt handler</span>
00214 <span class="comment"></span><a class="code" href="a2d_8c.html#a10">SIGNAL</a>(ENC3_SIGNAL)
00215 {
00216     <span class="comment">// encoder has generated a pulse</span>
00217     <span class="comment">// check the relative phase of the input channels</span>
00218     <span class="comment">// and update position accordingly</span>
00219     <span class="keywordflow">if</span>( ((inb(ENC3_PHASEA_PORTIN) &amp; (1&lt;&lt;ENC3_PHASEA_PIN)) == 0) ^
00220         ((inb(ENC3_PHASEB_PORTIN) &amp; (1&lt;&lt;ENC3_PHASEB_PIN)) == 0) )
00221     {
00222         EncoderState[3].<a class="code" href="structstruct__EncoderState.html#o0">position</a>++;
00223     }
00224     <span class="keywordflow">else</span>
00225     {
00226         EncoderState[3].<a class="code" href="structstruct__EncoderState.html#o0">position</a>--;
00227     }
00228 }
00229 <span class="preprocessor">#endif</span>
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