148 lines
1.8 KiB
C
148 lines
1.8 KiB
C
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/*
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* rotaryEncoder.c
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*
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* Created: 16/12/2021 16:34:05
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* Author: n0x
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*/
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#include "rotaryEncoder.h"
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#define ROTA PORTC7
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#define ROTB PORTC6
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#define ROTBUTTON PORTC5
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/* enums */
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enum{
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S2, S3, S4, S5, S6, S7,
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INIT, WAIT
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} RotaryState = INIT; /* Emus for the stoplight task (task 3) */
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int16_t count;
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void
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drehgeber_init(void)
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{
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DDRC &= ~(7<<DDC5); /* Set bit 5-7 of Data Direction Register C as input */
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PORTC |= (7<<PORTC5); /* Initialize bit 5-7 of PORTC as for pull up resistor */
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/* With Timer */
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// TCCR2A |= (1<<WGM21);
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// TCCR2B |= (3<<CS20);
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// TIMSK2 |= (1<<OCIE2A);
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// OCR2A = 250 - 1;
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/* With external interrupt */
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PCICR |= (1<<PCIE2);
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PCMSK2 |= (1<<PCINT23)|(1<<PCINT22);
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}
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// ISR(TIMER2_COMPA_vect)
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// {
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// drehgeber_process();
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// }
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ISR(PCINT2_vect)
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{
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drehgeber_process();
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}
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void
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drehgeber_process(void)
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{
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uint8_t a,b, enc;
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a = ((PINC & (1<<ROTA)) == 0);
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b = ((PINC & (1<<ROTB)) == 0)<<1;
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enc=a+b;
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switch(RotaryState)
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{
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case INIT:
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RotaryState = WAIT;
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break;
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case WAIT:
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if(enc == 1)
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{
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RotaryState = S2;
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}
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if(enc == 2)
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{
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RotaryState = S5;
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}
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break;
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case S2:
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if(enc == 3)
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{
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RotaryState = S3;
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}
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if(enc == 0)
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{
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RotaryState = WAIT;
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}
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break;
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case S3:
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if(enc == 2)
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{
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RotaryState = S4;
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}
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if(enc == 1)
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{
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RotaryState = S2;
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}
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break;
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case S4:
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if(enc == 0)
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{
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count++;
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RotaryState = WAIT;
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}
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if(enc == 3)
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{
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RotaryState = S3;
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}
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break;
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case S5:
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if(enc == 3)
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{
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RotaryState = S6;
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}
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if(enc == 0)
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{
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RotaryState = WAIT;
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}
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break;
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case S6:
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if(enc == 1)
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{
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RotaryState = S7;
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}
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if(enc == 2)
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{
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RotaryState = S5;
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}
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break;
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case S7:
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if(enc == 0)
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{
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count--;
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RotaryState = WAIT;
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}
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if(enc == 3)
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{
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RotaryState = S6;
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}
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break;
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}
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}
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int16_t drehgeber_get(void)
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{
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return count;
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}
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