ICS-Microprocessor-2020/4_Ust-vo_poluchenia_velichin_s_datchikov
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Обновить Encoder.h

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Артём Новиков 2024-03-01 17:18:14 +00:00
parent 40bd72bc4d
commit d96385496e
1 changed files with 49 additions and 12 deletions
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61
Encoder.h
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@ -6,7 +6,7 @@
// Определяем бит в регистре PIND для сигнала с DT энкодера.
#define PIND_DT 0b01000000
int encoder_state, prev_encoder_state = 3, state = 1;
int encoder_state, prev_encoder_state = 3, state = 1, total_state;
void read_encoder_state(void)
{
@ -19,19 +19,56 @@ void read_encoder_state(void)
pin_clk_2 = (PIND & PIND_CLK) ? 1 : 0;
// Устанавливаем значение PIN_DT_2 в зависимости от установки бита PIND_DT в PIND
pin_dt_2 = (PIND & PIND_DT) ? 1 : 0;
// Получаем состояние энкодера
encoder_state = (pin_clk_2 << 1) | pin_dt_2;
if ( pin_clk_2 != prev_encoder_state)
{
prev_encoder_state = pin_clk_2;
if ( !pin_clk_2 )
// Проверяем, изменилось ли состояние энкодера
if (encoder_state != prev_encoder_state)
{
switch (encoder_state)
{
switch(PIND & pin_dt_2 )
{
case 0: state--; break;
case 1: state++; break;
}
case 0: // Поворот против часовой стрелки (CCW)
if (prev_encoder_state == 2)
state++;
else if (prev_encoder_state == 1)
state--;
break;
case 1: // Поворот по часовой стрелке (CW)
if (prev_encoder_state == 0)
state++;
else if (prev_encoder_state == 3)
state--;
break;
case 2: // Поворот против часовой стрелки (CCW)
if (prev_encoder_state == 3)
state++;
else if (prev_encoder_state == 0)
state--;
break;
case 3: // Поворот по часовой стрелке (CW)
if (prev_encoder_state == 1)
state++;
else if (prev_encoder_state == 2)
state--;
break;
}
}
// Устанавливаем значение prev_encoder_state равным текущему состоянию энкодера
prev_encoder_state = encoder_state;
if ( state == 4 )
{
total_state++;
state=0;
}
if ( state == -4 )
{
total_state--;
state=0;
}
}
}
void encoder_setup(void)
@ -45,7 +82,7 @@ int encoder_value(void)
{
// Читаем состояние энкодера
read_encoder_state();
return state;
return total_state;
}
//#include "enc.cpp"