Bohdan Kondratenko

Encoder.h

					
/*************************************************
 * Work with incremental Encoders (Functions require interrupts from a Timer/Counter)
 *************************************************/

#ifndef _ENCODER_H_
#define _ENCODER_H_

#include <xc.h>
#include "main.h"
#include "PIN_avr.h"
#include "UART_avr.h"

/* Clockwise rotation = "right"
 *  Counterclockwise rotation = "left"
 *  byte values - to be defined
 */
typedef enum
{
  R_TICK = 0b01,
  L_TICK = 0b10,
  NO_TICK = 0b11
} enc_direction;

typedef struct
{
  pin_t pin1;
  pin_t pin2;

  my_bool pin1_state;
  my_bool pin2_state; // current state of a pin (needed??)

  my_bool tick_registered;

  enc_direction dir; // a byte to save state of encoder pins: 0b0000 00xx

  uint8_t ticks_RIGHT;     // Amount of ticks to process right
  uint8_t ticks_LEFT;      // Amount of ticks to process left
  
} encoder_t;

/**************************** FUNCTION PROTOTYPES ****************************/
void init_encoder(encoder_t* Encoder, pin_t _pin1, pin_t _pin2);
void update_enc_state(encoder_t* Encoder);
void print_enc_state(encoder_t* Encoder);

#endif // _ENCODER_H_