encoder.c File Reference

#include <stdlib.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include "encoder.h"
#include "utils.h"

Include dependency graph for encoder.c:

Go to the source code of this file.

Defines
#define	PHASE_A   BITREAD(PIND,PD7)
	Standard includes.
#define	PHASE_B   BITREAD(PINE,PE6)
Functions
void	encoder_init ()
int16_t	encoder_read ()
void	encoder_reset ()
	ISR (TIMER3_COMPA_vect)
Variables
volatile int16_t	enc_accum
volatile int8_t	enc_delta
static int16_t	last

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Detailed Description

Code for encoder setup and position acquisition. Contains gray code converter code from Peter Dannegger from Mikrocontroller.net, for glitchless encoder position evaluation

Version:

1.0

Author:

Julio Sagardoy

Definition in file encoder.c.

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Define Documentation

#define PHASE_A   BITREAD(PIND,PD7)

Standard includes.

AVR includes Own includes

Definition at line 29 of file encoder.c.

#define PHASE_B   BITREAD(PINE,PE6)

Definition at line 30 of file encoder.c.

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Function Documentation

void encoder_init

(

void

)

Encoder init routine.

Definition at line 77 of file encoder.c.

int16_t encoder_read

(

)

Returns actual value in the counter.

Definition at line 47 of file encoder.c.

void encoder_reset

(

)

Resets encoder counter to 0. Mandatory to run this after calibration, so it counts from 0.

Definition at line 38 of file encoder.c.

ISR

(

TIMER3_COMPA_vect

)

Definition at line 52 of file encoder.c.

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Variable Documentation

volatile int16_t enc_accum

Definition at line 33 of file encoder.c.

volatile int8_t enc_delta

Definition at line 32 of file encoder.c.

int16_t last [static]

Definition at line 34 of file encoder.c.