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/*
****************************************************************************
* Copyright (c) 2015 Dark Guan <tickel.guan@gmail.com> *
* This file is part of Ananas. *
* *
* Ananas is free software: you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* Ananas is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License for more details. *
* *
* You should have received a copy of the GNU General Public License *
* along with Ananas. If not, see <http://www.gnu.org/licenses/>. *
****************************************************************************
*/
/*
* Encoder.cpp
*
* Created on: 2015年12月14日
* Author: Dark
*/
#include "arduino.h"
#include "Ananas.h"
//#include "MsTimer2.h"
#include "Stepper.h"
#include "configuration.h"
#include "con_configuration.h"
#include "Encoder.h"
#include "AMS_5600.h"
#include "Wire.h"
#include "PinChangeInt.h"
#define FOUR_SUB 4
#define TWO_SUB 2
#define ONE_SUB 1
#ifdef USEAMS5600
//AMS
AMS_5600 ams5600;
#define MINICOUNT -2048
#define MAXCOUNT 2048
#define PRECISION 4096
//deaf zone
#define DeadZone1 512
#define DeadZone4 511
#define DeadZone5 513
#define DeadZone2 256
#define DeadZone3 0
volatile unsigned int Np = 0;
volatile unsigned int Lp = 0;
volatile int count = 0;
//volatile long countAll = 0;
#endif
//encoder use interrupt
volatile long encodercount;
//for speed calculate
long lastencodercount; //
volatile long encodercountfeedrate; //encoder rotate speed
volatile unsigned long absencodercounterfeedrate;
bool endcoderdir;
volatile bool encodecounton; //true means there is encodecount flowing in;
//false means there is encodecount flowing in;
volatile bool stateA;
volatile bool stateB;
volatile bool inverseCountDir;
volatile int8_t increment;
volatile uint16_t endertostep;
unsigned char subdivide;
unsigned char speedfactor;
//
//volatile unsigned long time;
//volatile unsigned long lasttime;
//volatile unsigned long deltatime;
void counter1_C();
void counter2_C();
void counterSub();
//void speedmeasure();
//void speedcalculate();
void initialEncoder() {
//set all the pins
pinMode(ENCODER_A, INPUT);
pinMode(ENCODER_A, INPUT);
//use the pull-up resistor
digitalWrite(ENCODER_A, HIGH);
digitalWrite(ENCODER_B, HIGH);
//CHANGE
#ifndef USEAMS5600
switch (subdivide) {
case FOUR_SUB:
SERIAL_ECHOLNPGM("Using FOUR_SUB");
attachInterrupt(0, counter1_C, CHANGE); //为A 相添加中断
#if DEVICE == ANANAS092
attachPinChangeInterrupt(ENCODER_B, counter2_C, CHANGE);
#else
attachInterrupt(1, counter2_C, CHANGE); //为B 相添加中断
#endif
break;
case TWO_SUB:
SERIAL_ECHOLNPGM("Using TWO_SUB");
attachInterrupt(0, counterSub, CHANGE); //为A 相添加中断
break;
case ONE_SUB:
SERIAL_ECHOLNPGM("Using ONE_SUB");
attachInterrupt(0, counterSub, FALLING);//为A 相添加中断
break;
default:
SERIAL_ECHOLNPGM("Not Using Optical Encoder!");
break;
}
#endif
encodercount = 0;
//TODO add EEPROM settings
// inverseCountDir = INV_COUNT_DIR;
// if (inverseCountDir) {
// increment = 1;
// } else {
// increment = -1;
// }
//start speed measure
encodecounton = false;
lastencodercount = encodercount;
absencodercounterfeedrate = 0;
// MsTimer2::set(SPEEDMEASURETIME, speedcalculate);
// MsTimer2::start(); //start timer
//inital encoders/s to steps/s
//and /2 is prepare for speed lookup
// endertostep = SPEEDUNIT * STRONG_PURSE_FACTOR / 2;
// endertostep = SPEEDUNIT * STRONG_PURSE_FACTOR;
// time = 0;
//开启
#ifdef USEAMS5600
Wire.begin();
Np = ams5600.getRawAngle();
Lp = Np;
#endif
}
#ifdef USEAMS5600
void AMSpeedcalculate() {
Np = ams5600.getRawAngle();
// if (Np == DeadZone4) {
// Serial.println("5600Return4!");
// return;
// }
count = Np - Lp;
int absmp = abs(Np);
if (absmp == DeadZone1) {
Serial.println("5600Return1!");
return;
}
if (absmp == DeadZone2) {
Serial.println("5600Return2!");
return;
}
if (absmp == DeadZone3) {
Serial.println("5600Return3!");
return;
}
if (absmp == DeadZone4) {
Serial.println("5600Return4!");
return;
}
if (absmp == DeadZone5) {
Serial.println("5600Return5!");
return;
}
Lp = Np;
if ((count > MINICOUNT) && (count < MAXCOUNT)) {
inverseCountDir ? encodercount += count : encodercount -= count;
} else if (count >= MAXCOUNT) {
inverseCountDir ?
encodercount += PRECISION - count :
encodercount -= PRECISION - count;
} else { //count <=MINICOUNT
inverseCountDir ?
encodercount += PRECISION + count :
encodercount -= PRECISION + count;
}
encodecounton = true;
}
#endif
void refresh_endertostep() {
endertostep = SPEEDUNIT * speedfactor;
}
void setincrement() {
if (inverseCountDir) {
increment = 1;
} else {
increment = -1;
}
}
//change the count dir
void changeDir() {
inverseCountDir = !inverseCountDir;
setincrement();
}
//CHNANGE
FORCE_INLINE void counter1_C() {
// time = millis();
// interrupts();
// deltatime = time - lasttime;
// lasttime = time;
noInterrupts();
stateA = READ(ENCODER_A);
// stateB = digitalRead(ENCODER_B);
// if (stateA ^ stateB) //state is not same then
// {
// encodercount += increment;
// } else {
// encodercount -= increment;
// }
// stateA ^ stateB ? encodercount += increment : encodercount -= increment;
// if (inverseCountDir)
// stateA ^ stateB ? encodercount++ : encodercount--;
// else
// stateA ^ stateB ? encodercount-- : encodercount++;
inverseCountDir ?
(stateA ^ stateB ? encodercount++ : encodercount--) :
(stateA ^ stateB ? encodercount-- : encodercount++);
encodecounton = true;
interrupts();
}
FORCE_INLINE void counter2_C() {
//
// time = millis();
// interrupts();
// deltatime = time - lasttime;
// lasttime = time;
noInterrupts();
// stateA = digitalRead(ENCODER_A);
stateB = READ(ENCODER_B);
// if (!(stateA ^ stateB)) {
// encodercount += increment;
// } else {
// encodercount -= increment;
// }
// !(stateA ^ stateB) ? encodercount += increment : encodercount -= increment;
inverseCountDir ?
(!(stateA ^ stateB) ? encodercount++ : encodercount--) :
(!(stateA ^ stateB) ? encodercount-- : encodercount++);
encodecounton = true;
interrupts();
}
FORCE_INLINE void counterSub() {
// time = millis();
// interrupts();
// deltatime = time - lasttime;
// lasttime = time;
noInterrupts();
stateA = READ(ENCODER_A);
stateB = READ(ENCODER_B);
// if (stateA ^ stateB) //state is not same then
// {
// encodercount += increment;
// } else {
// encodercount -= increment;
// }
// stateA ^ stateB ? encodercount += increment : encodercount -= increment;
inverseCountDir ?
(stateA ^ stateB ? encodercount++ : encodercount--) :
(stateA ^ stateB ? encodercount-- : encodercount++);
encodecounton = true;
interrupts();
}
//calculate rotate speed unit step/s use a 100ms timer
//minimus speed which can be detected is encoder/s
//FORCE_INLINE void speedcalculate() {
////allow other interrupt run
// interrupts();
//// noInterrupts();
// if (encodecounton) {
// encodercountfeedrate = (lastencodercount - encodercount);
// //refresh the lastencodercount
// lastencodercount = encodercount;
// absencodercounterfeedrate = abs(encodercountfeedrate) * endertostep;
// //encoder/s
// } else {
// encodercountfeedrate = 0;
// absencodercounterfeedrate = 0;
// return;
// }
// encodecounton = false;
//
////Test
//// SERIAL_ECHOPGM(" encodercountfeedrate : ");
//// SERIAL_ECHO(encodercountfeedrate);
//// SERIAL_ECHOLNPGM("");
//// interrupts();
//}
void speed_calculate() {
//allow other interrupt run
interrupts();
// noInterrupts();
if (encodecounton) {
encodercountfeedrate = (lastencodercount - encodercount);
//refresh the lastencodercount
lastencodercount = encodercount;
absencodercounterfeedrate = abs(encodercountfeedrate) * endertostep;
//encoder/s
} else {
encodercountfeedrate = 0;
absencodercounterfeedrate = 0;
return;
}
encodecounton = false;
//Test
// SERIAL_ECHOPGM(" encodercountfeedrate : ");
// SERIAL_ECHO(encodercountfeedrate);
// SERIAL_ECHOLNPGM("");
// interrupts();
}
//TODO add positon calculate
//float getPosition() {
// return float(encodercount / float(ENCODER_COUNTS_PER_UNIT));
//}
long getEncodercount() {
return encodercount;
}
void setEncodercount(long count) {
encodercount = count;
}
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