encoder_8c-source.html

avr应用测试程序

00114     <span class="comment">// disable encoder interrupts</span>
00115 <span class="preprocessor">    #ifdef ENC0_SIGNAL</span>
00116 <span class="preprocessor"></span>        <span class="comment">// disable interrupts</span>
00117         sbi(<a class="code" href="encoder_8h.html#a0">IMSK</a>, INT0);    <span class="comment">// ISMK is auto-defined in encoder.h</span>
00118 <span class="preprocessor">    #endif</span>
00119 <span class="preprocessor"></span><span class="preprocessor">    #ifdef ENC1_SIGNAL</span>
00120 <span class="preprocessor"></span>        <span class="comment">// disable interrupts</span>
00121         sbi(<a class="code" href="encoder_8h.html#a0">IMSK</a>, INT1);    <span class="comment">// ISMK is auto-defined in encoder.h</span>
00122 <span class="preprocessor">    #endif</span>
00123 <span class="preprocessor"></span><span class="preprocessor">    #ifdef ENC2_SIGNAL</span>
00124 <span class="preprocessor"></span>        <span class="comment">// disable interrupts</span>
00125         sbi(<a class="code" href="encoder_8h.html#a0">IMSK</a>, INT2);    <span class="comment">// ISMK is auto-defined in encoder.h</span>
00126 <span class="preprocessor">    #endif</span>
00127 <span class="preprocessor"></span><span class="preprocessor">    #ifdef ENC3_SIGNAL</span>
00128 <span class="preprocessor"></span>        <span class="comment">// disable interrupts</span>
00129         sbi(<a class="code" href="encoder_8h.html#a0">IMSK</a>, INT3);    <span class="comment">// ISMK is auto-defined in encoder.h</span>
00130 <span class="preprocessor">    #endif</span>
00131 <span class="preprocessor"></span>}
00132 
00133 <span class="comment">// encoderGetPosition() reads the current position of the encoder </span>
<a name="l00134"></a><a class="code" href="encoder_8h.html#a4">00134</a> s32 <a class="code" href="encoder_8c.html#a3">encoderGetPosition</a>(u08 encoderNum)
00135 {
00136     <span class="comment">// sanity check</span>
00137     <span class="keywordflow">if</span>(encoderNum &lt; NUM_ENCODERS)
00138         <span class="keywordflow">return</span> EncoderState[encoderNum].<a class="code" href="structstruct__EncoderState.html#o0">position</a>;
00139     <span class="keywordflow">else</span>
00140         <span class="keywordflow">return</span> 0;
00141 }
00142 
00143 <span class="comment">// encoderSetPosition() sets the current position of the encoder</span>
<a name="l00144"></a><a class="code" href="encoder_8h.html#a5">00144</a> <span class="keywordtype">void</span> <a class="code" href="encoder_8c.html#a4">encoderSetPosition</a>(u08 encoderNum, s32 position)
00145 {
00146     <span class="comment">// sanity check</span>
00147     <span class="keywordflow">if</span>(encoderNum &lt; NUM_ENCODERS)
00148         EncoderState[encoderNum].<a class="code" href="structstruct__EncoderState.html#o0">position</a> = position;
00149     <span class="comment">// else do nothing</span>
00150 }
00151 
00152 <span class="preprocessor">#ifdef ENC0_SIGNAL</span>
00153 <span class="preprocessor"></span><span class="comment">//! Encoder 0 interrupt handler</span>
00154 <span class="comment"></span><a class="code" href="a2d_8c.html#a10">SIGNAL</a>(ENC0_SIGNAL)
00155 {
00156     <span class="comment">// encoder has generated a pulse</span>
00157     <span class="comment">// check the relative phase of the input channels</span>
00158     <span class="comment">// and update position accordingly</span>
00159     <span class="keywordflow">if</span>( ((inb(ENC0_PHASEA_PORTIN) &amp; (1&lt;&lt;ENC0_PHASEA_PIN)) == 0) ^
00160         ((inb(ENC0_PHASEB_PORTIN) &amp; (1&lt;&lt;ENC0_PHASEB_PIN)) == 0) )
00161     {
00162         EncoderState[0].<a class="code" href="structstruct__EncoderState.html#o0">position</a>++;
00163     }
00164     <span class="keywordflow">else</span>
00165     {
00166         EncoderState[0].<a class="code" href="structstruct__EncoderState.html#o0">position</a>--;
00167     }
00168 }
00169 <span class="preprocessor">#endif</span>
00170 <span class="preprocessor"></span>
00171 <span class="preprocessor">#ifdef ENC1_SIGNAL</span>
00172 <span class="preprocessor"></span><span class="comment">//! Encoder 1 interrupt handler</span>
00173 <span class="comment"></span><a class="code" href="a2d_8c.html#a10">SIGNAL</a>(ENC1_SIGNAL)
00174 {
00175     <span class="comment">// encoder has generated a pulse</span>
00176     <span class="comment">// check the relative phase of the input channels</span>
00177     <span class="comment">// and update position accordingly</span>
00178     <span class="keywordflow">if</span>( ((inb(ENC1_PHASEA_PORTIN) &amp; (1&lt;&lt;ENC1_PHASEA_PIN)) == 0) ^
00179         ((inb(ENC1_PHASEB_PORTIN) &amp; (1&lt;&lt;ENC1_PHASEB_PIN)) == 0) )
00180     {
00181         EncoderState[1].<a class="code" href="structstruct__EncoderState.html#o0">position</a>++;
00182     }
00183     <span class="keywordflow">else</span>
00184     {
00185         EncoderState[1].<a class="code" href="structstruct__EncoderState.html#o0">position</a>--;
00186     }
00187 }
00188 <span class="preprocessor">#endif</span>
00189 <span class="preprocessor"></span>
00190 <span class="preprocessor">#ifdef ENC2_SIGNAL</span>
00191 <span class="preprocessor"></span><span class="comment">//! Encoder 2 interrupt handler</span>
00192 <span class="comment"></span><a class="code" href="a2d_8c.html#a10">SIGNAL</a>(ENC2_SIGNAL)
00193 {
00194     <span class="comment">// encoder has generated a pulse</span>
00195     <span class="comment">// check the relative phase of the input channels</span>
00196     <span class="comment">// and update position accordingly</span>
00197     <span class="keywordflow">if</span>( ((inb(ENC2_PHASEA_PORTIN) &amp; (1&lt;&lt;ENC2_PHASEA_PIN)) == 0) ^
00198         ((inb(ENC2_PHASEB_PORTIN) &amp; (1&lt;&lt;ENC2_PHASEB_PIN)) == 0) )
00199     {
00200         EncoderState[2].<a class="code" href="structstruct__EncoderState.html#o0">position</a>++;
00201     }
00202     <span class="keywordflow">else</span>
00203     {
00204         EncoderState[2].<a class="code" href="structstruct__EncoderState.html#o0">position</a>--;
00205     }
00206 }
00207 <span class="preprocessor">#endif</span>
00208 <span class="preprocessor"></span>
00209 <span class="preprocessor">#ifdef ENC3_SIGNAL</span>
00210 <span class="preprocessor"></span><span class="comment">//! Encoder 3 interrupt handler</span>
00211 <span class="comment"></span><a class="code" href="a2d_8c.html#a10">SIGNAL</a>(ENC3_SIGNAL)
00212 {
00213     <span class="comment">// encoder has generated a pulse</span>
00214     <span class="comment">// check the relative phase of the input channels</span>
00215     <span class="comment">// and update position accordingly</span>
00216     <span class="keywordflow">if</span>( ((inb(ENC3_PHASEA_PORTIN) &amp; (1&lt;&lt;ENC3_PHASEA_PIN)) == 0) ^
00217         ((inb(ENC3_PHASEB_PORTIN) &amp; (1&lt;&lt;ENC3_PHASEB_PIN)) == 0) )
00218     {
00219         EncoderState[3].<a class="code" href="structstruct__EncoderState.html#o0">position</a>++;
00220     }
00221     <span class="keywordflow">else</span>
00222     {
00223         EncoderState[3].<a class="code" href="structstruct__EncoderState.html#o0">position</a>--;
00224     }
00225 }
00226 <span class="preprocessor">#endif</span>
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