90 lines
2.3 KiB
Markdown
90 lines
2.3 KiB
Markdown
# FreeRTOS based AVR library for rotary encoder
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## Features
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1. Support some encoders on one device.
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## Using
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In an existing project, run the following command to install the components:
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```text
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cd ../your_project/lib
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git clone http://git.zh.com.ru/avr_libraries/zh_avr_free_rtos
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git clone http://git.zh.com.ru/avr_libraries/zh_avr_common
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git clone http://git.zh.com.ru/avr_libraries/zh_avr_encoder
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```
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In the application, add the component:
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```c
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#include "zh_avr_encoder.h"
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```
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## Examples
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One encoder on device:
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```c
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#include "avr/io.h"
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#include "stdio.h"
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#include "zh_avr_encoder.h"
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#define BAUD_RATE 9600
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#define BAUD_PRESCALE (F_CPU / 16 / BAUD_RATE - 1)
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int usart(char byte, FILE *stream)
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{
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while ((UCSR0A & (1 << UDRE0)) == 0)
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{
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}
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UDR0 = byte;
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return 0;
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}
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FILE uart = FDEV_SETUP_STREAM(usart, NULL, _FDEV_SETUP_WRITE);
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zh_avr_encoder_handle_t encoder_handle = {0};
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int main(void)
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{
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UBRR0H = (BAUD_PRESCALE >> 8);
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UBRR0L = BAUD_PRESCALE;
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UCSR0B = (1 << RXEN0) | (1 << TXEN0);
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UCSR0C = (1 << UCSZ01) | (1 << UCSZ00);
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stdout = &uart;
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zh_avr_encoder_init_config_t encoder_init_config = ZH_AVR_ENCODER_INIT_CONFIG_DEFAULT();
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encoder_init_config.gpio_port = AVR_PORTD;
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encoder_init_config.a_gpio_number = PORTD5;
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encoder_init_config.b_gpio_number = PORTD6;
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encoder_init_config.pullup = true;
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encoder_init_config.encoder_min_value = -10;
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encoder_init_config.encoder_max_value = 20;
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encoder_init_config.encoder_step = 1;
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encoder_init_config.encoder_number = 1;
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zh_avr_encoder_init(&encoder_init_config, &encoder_handle);
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double position = 0;
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zh_avr_encoder_get(&encoder_handle, &position);
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printf("Encoder position %d.\n", (int)position);
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zh_avr_encoder_set(&encoder_handle, 5);
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zh_avr_encoder_reset(&encoder_handle);
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vTaskStartScheduler();
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return 0;
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}
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void zh_avr_encoder_event_handler(zh_avr_encoder_event_on_isr_t *event) // Do not delete!
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{
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printf("Encoder number %d position %d.\n", event->encoder_number, (int)event->encoder_position);
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printf("Interrupt Task Remaining Stack Size %d.\n", uxTaskGetStackHighWaterMark(NULL));
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}
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// ISR(PCINT0_vect) // For AVR_PORTB.
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// ISR(PCINT1_vect) // For AVR_PORTC.
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ISR(PCINT2_vect) // For AVR_PORTD.
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{
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if (zh_avr_encoder_isr_handler(&encoder_handle) == pdTRUE)
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{
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portYIELD();
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}
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}
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```
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