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ze.vana
Joined: 11 Jun 2011
Posts: 15
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| Rotary Encoder final |
 Posted: Sun Sep 04, 2011 8:14 am |
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Here in my Country there are not dsPIC or PICs with QEI MODULATE ,then I decided to do
that project. This is ROTARY ENCODER'S final version with 32 bits, he measures counterclockwise
and anti-counterclockwise rotations. I've tested it with industrial TTL encoders (Heidenhein and Sick
2500 pulse/revolution , both from Germany) used in CNC machines, and I can guarantee, it makes
measurements super fast, without losing position.
First project:
http://www.ccsinfo.com/forum/viewtopic.php?. I’ve copied the flex_lcd from this Forum, I hope the author does not mind, this Forum has helped me a lot, thanks all you guys!
Email [email protected]
| Code: |
#include <18F4520.h>
#fuses HS,NOWDT,NOPROTECT,NOLVP
#use delay(clock=40M)
#use RS232(baud=9600, parity=N, bits=8,xmit=pin_c6, rcv=pin_c7)
#include <flex_lcd.c>
#define tog1 (pin_d6)
#define led (pin_d0)//#define led (pin_d7)em casa é o d0
//#define DIR_1 (pin_d0)
//#define ZERO_2 input(pin_C3)//REFERENC input
#define DIR_2 (pin_d1)
#define ZERO input(pin_d2)
#define MENOS input(pin_d3)
int1 referen=0;
char signal;
int16 tmr0;
int16 tmr0xn=0;
int32 result0=0,real;
#bit pir0=0x0ff2.2 //timer0 overflow
int16 tmr1;
int16 tmr1xn=0;
int32 result1=0;
#bit pir1=0x0f9e.0 //timer1 overflow
int1 stopped;
int8 zerado = 0;
int16 tmr1H,tmr1L,tmr0H,tmr0L;//see line 129
int32 MAX=0,MIN=200,MEDIA,differen;//see line 122
#INT_TIMER2
void intt2_isr()
{
set_timer2(0);
tmr1=GET_TIMER1(); //get counter UP value
tmr0=GET_TIMER0(); //get counter DOWN value
// differen= result1 - real;
if(pir1==1)
{
tmr1xn++;
pir1=0;
}
if(pir0==1)
{
tmr0xn++;
pir0=0;
}
//--auto zero-------------------------- //positive
if(differen > 200000 && stopped==1 && zerado != 1 && signal== 43 && real < 65000)//zerar 1
{ //see line 131
result1= media;
set_timer1(media);
set_timer0(0);
tmr0xn=0;
tmr1xn=0;
zerado=1;
} //positive
if(differen > 200000 && stopped==1 && zerado != 2 && signal== 43 && real < 65000)//zerar 2
{ //see line 150
result1= media;
set_timer1(media);
set_timer0(0);
tmr0xn=0;
tmr1xn=0;
zerado=2;
}
//----auto zero--end--------------------
/*
if(referen==0 && zero_2==1)
{
result1= 0;
set_timer1(0);
set_timer0(0);
tmr0xn=0;
tmr1xn=0;
referen=1;
}
*/
}
#INT_TIMER3
void ext3_isr()
{
SET_TIMER3(0);
min=max;
if(real < min)
{
min= real;
}
if(real > max )
{
MAX =real;
}
if(max > min )
{
media = min;
}
else
{
media= max;
}
}
void main(){
set_tris_a(0xff);
set_tris_b(0xff);
set_tris_c(0xff);
SET_TRIS_D(0x00);
output_d(0x00);
//TIMER0 16 bits as counter /DOWN
SETUP_TIMER_0(RTCC_EXT_H_TO_L|RTCC_DIV_1);
SET_TIMER0(0);
DISABLE_INTERRUPTS ( GLOBAL );
// TIMER1 16 bits as counter /UP
SETUP_TIMER_1(T1_EXTERNAL | T1_DIV_BY_1 );
ext_int_edge(H_TO_L);
set_timer1(0);
//TIMER2 INTERNAL
SETUP_TIMER_2( T2_DIV_BY_1,0xc0,2);
set_timer2(0);
enable_interrupts(int_timer2);
enable_interrupts(global);
//TIMER3 INTERNAL
SETUP_TIMER_3(T3_INTERNAL |T3_DIV_BY_4); // TIMER3 INTERNAL
SET_TIMER3(1000);
enable_interrupts(INT_TIMER3 );
enable_interrupts(global);
lcd_init();//It must be here or else you got instability.
stopped=1;
tmr1L=0; tmr1H=100;tmr0L=0;tmr0H=100;
while(true)
{
tmr1L=GET_TIMER1(); //get timer0/1 initial value
tmr0L=GET_TIMER0(); //see line 150
differen= result1 + result0;//value to zero encoder
result0=(65536 * tmr0xn) + tmr0;//gets 32 bits timer0/1
result1=(65536 * tmr1xn) + tmr1;
if(result1 >= result0)
{
real= result1 -result0;// get plus real value
signal='+';
}
else
{
real= result0 -result1;// get minus real value
signal='-';
}
printf(LCD_PUTC"\f\%c%Lu %Lu\n",signal,real,differen );
printf(LCD_PUTC "\n1:%Lu 0:%Lu",result1,result0 );
//printf("\f r:%lu t1:%lutmr1xn:%lu", result0 ,tmr0,tmr0xn);tests
//printf("\f %u",signal );
delay_ms(100);
tmr1H=GET_TIMER1(); // get timer0/1 final value
tmr0H=GET_TIMER0(); //see line 119
if(tmr1H == tmr1L && tmr0H == tmr0L)// if all equal, encoder is stopped
{ //see line 129
delay_ms(700);
stopped=1;//flag
output_high led;
}
else
{
stopped=0;
output_low led;
}
}
}
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quadro
Joined: 09 Feb 2012
Posts: 4
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| Posted: Thu Feb 09, 2012 7:43 am |
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Thanks for very useful code.
I'm working on position and speed reading, but I'm using 18f4431.
18f4431 has some disadvantages (program memory low, price high...).
I have a lot of 18f46k20. Your code is a big advantage for me. Thanks. |
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ze.vana
Joined: 11 Jun 2011
Posts: 15
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| Posted: Thu Feb 09, 2012 3:00 pm |
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Thanks for appreciating.
Well I have received some questions on how it works, then as my english is not so good. And I think this code could be a little difficult to understand, I am putting the basic code.
The used additional Hardware I can send by email for who want.
BASIC CODE:
| Code: |
//BASIC CODE
#include <18F4520.h> //<18F452colt.h> or coltbootloader
#fuses HS,NOWDT,NOPROTECT,NOLVP
#use delay(clock=40M)
#include <flex_lcd.c>
//encoder--------------------------------------------encoder-----
int16 T0,T1,R; //float R; //R is the result from T1-T0
//--------------------------
void print_lcd(void){
T1= GET_TIMER1(); //get counter UP value
T0= GET_TIMER0(); //get counter DOWN value
R= T1-T0; //R is the result from Timer1-Timer0
printf(LCD_PUTC"\f\REAL:%Lu \n",R);
printf(LCD_PUTC"\nR=T1:%Lu-T0:%Lu",t1,t0 );
delay_ms(200);
if(t0 > t1){ //Tmr0 never can be grater than Tmr1,
SET_TIMER0(0); //if so reset Timers
SET_TIMER1(0);
}
}
//#int_timer2
void timer_t2()
{
set_timer2(250);
// lcd_init();
// delay_ms(100);
// print_lcd();
}
//encoder------------end--------------------------encoder--------
void main (void)
{
set_tris_a(0xff);
set_tris_b(0x00);
set_tris_c(0xff);
set_tris_d(0xff);
//TIMER0 16 bits as counter /DOWN
SETUP_TIMER_0(RTCC_EXT_H_TO_L|RTCC_DIV_1);
SET_TIMER0(0);
// TIMER1 16 bits as counter /UP
SETUP_TIMER_1(T1_EXTERNAL | T1_DIV_BY_1 );
set_timer1(0);
lcd_init();
delay_ms(500);
while(true)
{
print_lcd();
}
} |
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