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Fixes for the ATmega2560. This was completely broken on most pins,
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but now it works.
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Mike Schwager committed Feb 15, 2015
1 parent 169b67a commit 726efdb
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Showing 6 changed files with 143 additions and 74 deletions.
26 changes: 13 additions & 13 deletions AdaEncoder.cpp
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Expand Up @@ -139,16 +139,16 @@ AdaEncoder *AdaEncoder::getFirstEncoder() {
* addEncoder
* Arguments:
* - id: a single char that identifies this encoder
* - pinA: The pin on the Arduino that one side of the encoder plugs into. Turning in this direction means we're
* turning clockwise.
* - pinA: The pin on the Arduino that one side of the encoder plugs into. Turning in this
* direction means we're turning clockwise.
* - pinB: The Arduino pin connected to the encoder; this is the counterclockwise direction.
*
* The pins can be any of the digital pins 0-13, or any of the analog pins A0-A5 (aka, 14-19). You can specify the
* analog pins as A0, A1, A2, ... etc.
* On ATmega328-based Arduinos, the pins can be any of the digital pins 0-13, or any of the
* analog pins A0-A5 (aka, 14-19). You can specify the analog pins as A0, A1, A2, ... etc.
*
* The pins must be paired in the same port, as described above. In summary this means that the two pins should
* together be grouped within a single port; ie, if you connect pinA to digital pin 9, you must connect pinB to
* digital pin 8 or 10-13. See this table:
* The pins must be paired in the same port, as described above. In summary this means that
* the two pins should together be grouped within a single port; ie, if you connect pinA to
* digital pin 9, you must connect pinB to digital pin 8 or 10-13. See this table:
* Arduino Pins PORT
* ------------ ----
* Digital 0-7 D
Expand All @@ -172,12 +172,12 @@ void AdaEncoder::addEncoder(char _id, uint8_t _pinA, uint8_t _pinB)
printBuffer.putString(getPSTR(" *\n"));
#endif

// error checking
if (pinA == pinB) return; // No! silly
if (pinA < 8 && pinB > 7) return; // No! different ports
if ((pinA > 7 && pinA < 14) && (pinB < 8 || pinB > 13)) return; // No! different ports
if (pinA > 13 && pinB < 14) return; // No! different ports
if (pinA > 19 || pinB > 19) return; // No! out of band
// error checking. At the moment, A and B MUST be on the same port, so
// do not allow different ports. Reset the sketch instead.
if (pinA == pinB) asm volatile (" jmp 0"); // No! silly
if (digital_pin_to_port_PGM[pinA] != digital_pin_to_port_PGM[pinB]) {
asm volatile (" jmp 0"); // The reset the sketch
};

turning=0;
clicks=0;
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104 changes: 45 additions & 59 deletions AdaEncoder.h
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Expand Up @@ -25,8 +25,9 @@ limitations under the License.
/* Behavior goes like this:
* 11 is the detent position for an encoder. So the encoder will go through an order like this:
* 11 <=> 01 <=> 00 <=> 10 <=> 11 OR 11 <=> 10 <=> 00 <=> 01 <=> 11
* depending on direction. The <=> represent a possible bounce situation. Therefore, we keep track of the
* encoder behavior in a binary number called (appropriately enough) encoder. Encoder has 8 bits.
* depending on direction. The <=> represent a possible bounce situation. Therefore, we keep track
* of the * encoder behavior in a binary number called (appropriately enough) encoder. Encoder has
* 8 bits.
*
* The process starts when we get an interrupt and read the encoder pins.
* - Reading: 11 is either a bounce back to start, or the final reading:
Expand All @@ -36,7 +37,8 @@ limitations under the License.
* - "encoder" is set to xxxx1111.
* - Reading: 01 or 10:
* - If "encoder" is currently xxxx1111, set it to 1101 or 1110, appropriately.
* - If "encoder" is xxxx00xy, you'd either bounced or moved to the next position, which means we get closer to detent. No effect.
* - If "encoder" is xxxx00xy, you'd either bounced or moved to the next position, which means
* we get closer to detent. No effect.
* - Reading: 00: we are in the middle. AND encoder with xxxx0011
*/

Expand All @@ -63,60 +65,44 @@ limitations under the License.
#include <wiring.h>
#endif

// The Pin map below is copyright by the Arduino people. I include it here so I can remember stuff as I code.
// ATMEL ATMEGA8 & 168 / ARDUINO
// //
// // +-\/-+
// // PC6 1| |28 PC5 (AI 5)
// // (D 0) PD0 2| |27 PC4 (AI 4)
// // (D 1) PD1 3| |26 PC3 (AI 3)
// // (D 2) PD2 4| |25 PC2 (AI 2)
// // PWM+ (D 3) PD3 5| |24 PC1 (AI 1)
// // (D 4) PD4 6| |23 PC0 (AI 0)
// // VCC 7| |22 GND
// // GND 8| |21 AREF
// // PB6 9| |20 AVCC
// // PB7 10| |19 PB5 (D 13)
// // PWM+ (D 5) PD5 11| |18 PB4 (D 12)
// // PWM+ (D 6) PD6 12| |17 PB3 (D 11) PWM
// // (D 7) PD7 13| |16 PB2 (D 10) PWM
// // (D 8) PB0 14| |15 PB1 (D 9) PWM
// // +----+
//
// const static uint8_t A0 = 14;
// const static uint8_t A1 = 15;
// const static uint8_t A2 = 16;
// const static uint8_t A3 = 17;
// const static uint8_t A4 = 18;
// const static uint8_t A5 = 19;
// const static uint8_t A6 = 20;
// const static uint8_t A7 = 21;
//
// Macros to find pins:
// #define digitalPinToPort(P) ( pgm_read_byte( digital_pin_to_port_PGM + (P) ) )
// #define digitalPinToBitMask(P) ( pgm_read_byte( digital_pin_to_bit_mask_PGM + (P) ) )
// #define digitalPinToTimer(P) ( pgm_read_byte( digital_pin_to_timer_PGM + (P) ) )
// #define analogInPinToBit(P) (P)
// #define portOutputRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_output_PGM + (P))) )
// #define portInputRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_input_PGM + (P))) )
// #define portModeRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_mode_PGM + (P))) )

/*
struct encoder {
volatile uint8_t* port;
uint8_t bitA;
uint8_t bitB;
uint8_t turning; // Flag to keep track of turning state
int8_t clicks; // Counter to indicate cumulative clicks in either direction
int8_t direction; // indicator
char id;
encoder *next;
};*/

/* Class AdaEncoder.
* Usage:
* AdaEncoder encoderA = AdaEncoder('a', encodera_pinA, encodera_pinB);
*
* Constructor Arguments:
* - id: a single char that identifies this encoder
* - pinA: The pin on the Arduino that one side of the encoder plugs into. Turning in this
* direction means we're turning clockwise.
* - pinB: The Arduino pin connected to the encoder; this is the counterclockwise direction.
*
* Pins A and B MUST be on the same PORT!
*
* On ATmega328-based Arduinos, the pins can be any of the digital pins 0-13, or any of the
* analog pins A0-A5 (aka, 14-19). You can specify the analog pins as A0, A1, A2, ... etc.
*
* The pins must be paired in the same port. In summary this means that the two pins should
* together be grouped within a single port; ie, if you connect pinA to digital pin 9, you
* must connect pinB to digital pin 8 or 10-13. See this table for the ATmega168/328:
* Arduino Pins PORT
* ------------ ----
* Digital 0-7 D
* Digital 8-13 B
* Analog 0-5 C (== digital pins 14-19)
*
* ATMEGA2560 Pin Change Interrupts
Arduino Arduino Arduino
Pin* PORT PCINT Pin PORT PCINT Pin PORT PCINT
A8 PK0 16 10 PB4 4 SS PB0 0
A9 PK1 17 11 PB5 5 SCK PB1 1
A10 PK2 18 12 PB6 6 MOSI PB2 2
A11 PK3 19 13 PB7 7 MISO PB3 3
A12 PK4 20 14 PJ1 10
A13 PK5 21 15 PJ0 9
A14 PK6 22 0 PE0 8 - this one is a little odd.*
A15 PK7 23
* Note: Arduino Pin 0 is PE0 (PCINT8), which is RX0. Also, it is the only other
pin on another port on PCI1. It is not supported by this library.
*/
class AdaEncoder : public CallBackInterface {
public:
AdaEncoder(char _id, uint8_t _pinA, uint8_t _pinB) {
Expand All @@ -130,8 +116,8 @@ class AdaEncoder : public CallBackInterface {
addEncoder(_id, _pinA, _pinB);

}
int8_t query(); // BUG under pre-0.7 versions (had uint8_t)
int8_t getClicks(); // BUG under pre-0.7 versions (had uint8_t)
int8_t query();
int8_t getClicks();
char getID();

static AdaEncoder *getFirstEncoder();
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4 changes: 2 additions & 2 deletions Examples/MyEncoder/MyEncoder.ino
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Expand Up @@ -32,8 +32,8 @@ ByteBuffer printBuffer(200);

#define ENCA_a 2
#define ENCA_b 3
#define ENCB_a A3
#define ENCB_b A4
#define ENCB_a A0
#define ENCB_b A1

AdaEncoder encoderA = AdaEncoder('a', ENCA_a, ENCA_b);
AdaEncoder encoderB = AdaEncoder('b', ENCB_a, ENCB_b);
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27 changes: 27 additions & 0 deletions README
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@@ -1 +1,28 @@
README for AdaEncoder

Note that you MUST connect the two pins for your rotary encoder to 2 pins on the same PORT
on the ATmega chip. If you do not, your sketch will simply reset. I should probably remove
this restriction one day.

These are the PORTs on the ATmega328:
* Arduino Pins PORT
* ------------ ----
* Digital 0-7 D
* Digital 8-13 B
* Analog 0-5 C (== digital pins 14-19)

ATMEGA2560 Pin Change Interrupts, pins and PORTs:

Arduino Arduino Arduino
Pin* PORT PCINT Pin PORT PCINT Pin PORT PCINT
A8 PK0 16 10 PB4 4 SS PB0 0
A9 PK1 17 11 PB5 5 SCK PB1 1
A10 PK2 18 12 PB6 6 MOSI PB2 2
A11 PK3 19 13 PB7 7 MISO PB3 3
A12 PK4 20 14 PJ1 10
A13 PK5 21 15 PJ0 9
A14 PK6 22 0 PE0 8 - this one is a little odd.*
A15 PK7 23

* Note: Arduino Pin 0 is PE0 (PCINT8), which is RX0. Also, it is the only other
pin on another port on PCI1. Therefore, this pin is not supported by this library.
3 changes: 3 additions & 0 deletions RELEASE_NOTES
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Expand Up @@ -5,6 +5,9 @@
AdaEncoder - A library for reading Lady Ada's or Sparkfun's rotary encoder.
Should work for any rotary encoder with 2 pins (4 states).

Version 0.9-rc1 Sun Feb 15 06:11:58 CST 2015
Fixes for the ATmega2560. This had not been working at all on most pins.

Version 0.8-rc2 Thu Jul 31 12:15:01 CDT 2014
License for much of my Arduino work is now covered by the Apache 2.0 license. I just
want to put my code out there. I was inspired by the following Ted talk:
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53 changes: 53 additions & 0 deletions Technical_Notes
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@@ -0,0 +1,53 @@
// The Pin map below is copyright by the Arduino people. I include it here so I can remember stuff as I code.
// ATMEL ATMEGA8 & 168 / ARDUINO
// //
// // +-\/-+
// // PC6 1| |28 PC5 (AI 5)
// // (D 0) PD0 2| |27 PC4 (AI 4)
// // (D 1) PD1 3| |26 PC3 (AI 3)
// // (D 2) PD2 4| |25 PC2 (AI 2)
// // PWM+ (D 3) PD3 5| |24 PC1 (AI 1)
// // (D 4) PD4 6| |23 PC0 (AI 0)
// // VCC 7| |22 GND
// // GND 8| |21 AREF
// // PB6 9| |20 AVCC
// // PB7 10| |19 PB5 (D 13)
// // PWM+ (D 5) PD5 11| |18 PB4 (D 12)
// // PWM+ (D 6) PD6 12| |17 PB3 (D 11) PWM
// // (D 7) PD7 13| |16 PB2 (D 10) PWM
// // (D 8) PB0 14| |15 PB1 (D 9) PWM
// // +----+
//
// const static uint8_t A0 = 14;
// const static uint8_t A1 = 15;
// const static uint8_t A2 = 16;
// const static uint8_t A3 = 17;
// const static uint8_t A4 = 18;
// const static uint8_t A5 = 19;
// const static uint8_t A6 = 20;
// const static uint8_t A7 = 21;
//
// Macros to find pins:
// #define digitalPinToPort(P) ( pgm_read_byte( digital_pin_to_port_PGM + (P) ) )
// #define digitalPinToBitMask(P) ( pgm_read_byte( digital_pin_to_bit_mask_PGM + (P) ) )
// #define digitalPinToTimer(P) ( pgm_read_byte( digital_pin_to_timer_PGM + (P) ) )
// #define analogInPinToBit(P) (P)
// #define portOutputRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_output_PGM + (P))) )
// #define portInputRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_input_PGM + (P))) )
// #define portModeRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_mode_PGM + (P))) )

/*
struct encoder {
volatile uint8_t* port;

uint8_t bitA;
uint8_t bitB;

uint8_t turning; // Flag to keep track of turning state
int8_t clicks; // Counter to indicate cumulative clicks in either direction
int8_t direction; // indicator

char id;

encoder *next;
};*/

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