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

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Артём Новиков 2024-02-17 22:50:59 +00:00
parent 40c876d282
commit f3ee7efb61
1 changed files with 150 additions and 5 deletions
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155
Encoder.c
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@ -1,16 +1,161 @@
#include <avr/io.h>
#define F_CPU 1000000UL
#define PIND_MASK 0b11000011
#define PIND_SHIFT 6
#define PIND_CLK 0b00010000
#define PIND_DT 0b01000000
//#define PIND_MASK PIND_CLK + PIND_DT
volatile uint8_t next_state, prev_state, state, state_1;
int sw34; // Передача
int sw34, PIND_SHIFT_1, PIND_SHIFT_2, PIND_MASK, PIN_CLK_2, PIN_DT_2; // Передача
void read_encoder_state()
{
PIND_SHIFT_1 = 0;
PIND_SHIFT_2 = 0;
PIND_MASK = 0;
if(PIND_CLK == 4 & PIND_DT == 8) //0b00001100 = 12
{
PIND_SHIFT_1 = 2;
PIND_SHIFT_2 = 2;
}
if(PIND_CLK == 4 & PIND_DT == 16) //0b00010100 = 20
{
PIND_SHIFT_1 = 2;
PIND_SHIFT_2 = 3;
}
if(PIND_CLK == 4 & PIND_DT == 32) //0b00100100 = 36
{
PIND_SHIFT_1 = 2;
PIND_SHIFT_2 = 4;
}
if(PIND_CLK == 4 & PIND_DT == 64) //0b01000100 = 68
{
PIND_SHIFT_1 = 2;
PIND_SHIFT_2 = 5;
}
if(PIND_CLK == 4 & PIND_DT == 128) //0b10000100 = 132
{
PIND_SHIFT_1 = 2;
PIND_SHIFT_2 = 6;
}
if(PIND_CLK == 8 & PIND_DT == 4) //0b00001100 = 12
{
PIND_SHIFT_1 = 3;
PIND_SHIFT_2 = 2;
}
if(PIND_CLK == 8 & PIND_DT == 16) //0b00011000 = 24
{
PIND_SHIFT_1 = 3;
PIND_SHIFT_2 = 3;
}
if(PIND_CLK == 8 & PIND_DT == 32) //0b00101000 = 40
{
PIND_SHIFT_1 = 3;
PIND_SHIFT_2 = 4;
}
if(PIND_CLK == 8 & PIND_DT == 64) //0b01001000 = 72
{
PIND_SHIFT_1 = 3;
PIND_SHIFT_2 = 5;
}
if(PIND_CLK == 8 & PIND_DT == 128) //0b10001000 = 136
{
PIND_SHIFT_1 = 3;
PIND_SHIFT_2 = 6;
}
if(PIND_CLK == 16 & PIND_DT == 4) //0b00010100 = 16
{
PIND_SHIFT_1 = 4;
PIND_SHIFT_2 = 2;
}
if(PIND_CLK == 16 & PIND_DT == 8) //0b00011000 = 24
{
PIND_SHIFT_1 = 4;
PIND_SHIFT_2 = 3;
}
if(PIND_CLK == 16 & PIND_DT == 32) //0b00110000 = 48
{
PIND_SHIFT_1 = 4;
PIND_SHIFT_2 = 4;
}
if(PIND_CLK == 16 & PIND_DT == 64) //0b01010000 = 80
{
PIND_SHIFT_1 = 4;
PIND_SHIFT_2 = 5;
}
if(PIND_CLK == 16 & PIND_DT == 128) //0b10010000 = 144
{
PIND_SHIFT_1 = 4;
PIND_SHIFT_2 = 6;
}
if(PIND_CLK == 32 & PIND_DT == 4) //0b00100100 = 36
{
PIND_SHIFT_1 = 5;
PIND_SHIFT_2 = 2;
}
if(PIND_CLK == 32 & PIND_DT == 8) //0b00101000 = 40
{
PIND_SHIFT_1 = 5;
PIND_SHIFT_2 = 3;
}
if(PIND_CLK == 32 & PIND_DT == 16) //0b00110000 = 48
{
PIND_SHIFT_1 = 5;
PIND_SHIFT_2 = 4;
}
if(PIND_CLK == 32 & PIND_DT == 64) //0b01100000 = 96
{
PIND_SHIFT_1 = 5;
PIND_SHIFT_2 = 5;
}
if(PIND_CLK == 32 & PIND_DT == 128) //0b10100000 = 160
{
PIND_SHIFT_1 = 5;
PIND_SHIFT_2 = 6;
}
if(PIND_CLK == 64 & PIND_DT == 4) //0b01000100 = 68
{
PIND_SHIFT_1 = 6;
PIND_SHIFT_2 = 2;
}
if(PIND_CLK == 64 & PIND_DT == 8) //0b01001000 = 72
{
PIND_SHIFT_1 = 6;
PIND_SHIFT_2 = 3;
}
if(PIND_CLK == 64 & PIND_DT == 16) //0b01010000 = 80
{
PIND_SHIFT_1 = 6;
PIND_SHIFT_2 = 4;
}
if(PIND_CLK == 64 & PIND_DT == 32) //0b01100000 = 96
{
PIND_SHIFT_1 = 6;
PIND_SHIFT_2 = 5;
}
if(PIND_CLK == 64 & PIND_DT == 128) //0b11000000 = 192
{
PIND_SHIFT_1 = 6;
PIND_SHIFT_2 = 6;
}
PIN_CLK_2 = (PIND & PIND_CLK) >> PIND_SHIFT_1;
PIN_DT_2 = (PIND & PIND_DT) >> PIND_SHIFT_2;
PIND_MASK = (PIN_CLK_2 + PIN_DT_2);
// Читаем состояние энкодера
next_state = (PIND & PIND_MASK) >> PIND_SHIFT;
next_state = (PIND & PIND_MASK);
// Обновляем состояние энкодера
if (next_state != prev_state)
@ -45,7 +190,7 @@ void setup()
// Настройка портов ввода-вывода
DDRD = 0x00;
PORTD = PIND_MASK;
PORTD = (PIND_CLK + PIND_DT);
}
void loop()