51 lines
1.3 KiB
C
51 lines
1.3 KiB
C
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#include "config.h"
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#include <avr/io.h>
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#include <util/delay.h>
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#include <stdbool.h>
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// Pin Definitions
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#define ENCODER_A_PIN PD6
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#define ENCODER_B_PIN PD5
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#define ENCODER_C_PIN PD4
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#define ENCODER_D_PIN PD3
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#define ENCODER_OE_PIN PD2
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#define ENCODER_DA_PIN PD1
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void prepare_interrupt() {
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EICRA |= (1 << ISC00); // Any logical change triggers interrupt
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EIMSK |= (1 << INT0); // INT0 external interrupt
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PCICR |= (1 << PCIE0);
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}
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// Encoder Module
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void encoder_init() {
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// Set A, B, C, D, and DA pins as inputs
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DDRD &= ~((1 << ENCODER_A_PIN) | (1 << ENCODER_B_PIN) | (1 << ENCODER_C_PIN) | (1 << ENCODER_D_PIN) | (1 << ENCODER_DA_PIN));
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// Set OE as output
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DDRD |= (1 << ENCODER_OE_PIN);
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// Enable internal pull-up resistors for A, B, C, D, and OE pins
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PORTD |= (1 << ENCODER_A_PIN) | (1 << ENCODER_B_PIN) | (1 << ENCODER_C_PIN) | (1 << ENCODER_D_PIN) | (1 << ENCODER_DA_PIN);
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}
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uint8_t encoder_read() {
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uint8_t encoder_data = 0;
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// Set OE (Output Enable) pin low to enable the encoder
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PORTD &= ~(1 << ENCODER_OE_PIN);
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_delay_us(1);
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// Read the state of the encoder
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encoder_data = PIND >> (ENCODER_A_PIN - 3);
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encoder_data &= 0x0F;
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// Set OE pin high to disable the encoder
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PORTD |= (1 << ENCODER_OE_PIN);
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return encoder_data;
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}
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bool encoder_available() {
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return (PIND & (1 << ENCODER_DA_PIN));
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}
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