decoding quadrature encoders

[mytekcontrols]

I don't know if this will help or not, but I made some changes to some earlier code I posted which was aimed at the 18F series. Besides there being a few flaws with the syntax of the rotate function in the original code, I just didn't like some aspects of it.

So here is an example of what I am now using to check an encoder's direction and movement (within Interrupt Service Routine):

chk_encoder
;Read latest input from ENCODER & put the value in NEW.
    clrf    _newenc         ; clear "new" encoder bit pair storage,
    btfsc   _ENCA           ; and transfer state of encoder bits.
    bsf     _newenc,0
    btfsc   _ENCB
    bsf     _newenc,1

;Compare previous encoder inputs (OLD) with latest ones (NEW).

    movf _newenc,W		;Move the contents of NEW to TEMP and OLD to W
   movwf   _tmpenc      	;in order to compare them with XOR.
   movf    _oldenc,W     
   xorwf   _tmpenc,F    	;XOR previous inputs (in W) with latest inputs 
                         	;(in TEMP) to see if they are equal.
   btfsc   STATUS,Z        ;Test result and skip next line if zero flag clear.

    goto    restore      	;Result = zero.  Previous inputs equal latest 
                         	;inputs.  Rotary encoder did not move. Return
                         	;from interrupt.

;Result is a non-zero value.  Rotary encoder moved.  Determine direction.  

    bsf     _ENCDRnew       ; flag that encoder value has changed
    bcf	STATUS,C            ;Clear the carry bit in the status register and
   rlcf     _oldenc,F     	;left shift it into OLD to align bit 1 of OLD
                         	;with bit 0 of NEW.
   movf    _newenc,W     	;Move the contents of NEW to W in order to XOR.
   xorwf   _oldenc,F    	;XOR previous inputs (in OLD) with latest
                         	;inputs (in W) to determine CW or CCW.
   btfsc   _oldenc,1     	;Test bit 1 of result (in OLD).  Skip next line
                         	;if it is 0 (direction is CCW).
   goto    encoder_up      ;Bit is 1 (direction is CW).  Go around Down
                         	;and increment counter.
encoder_down
    bcf     _direnc         ; clear direction bit = CCW (count down)
    goto    countdown

encoder_up
    bsf     _direnc         ; set direction bit = CW (count up)
;drops into countup part of routine

In this first section:

;Read latest input from ENCODER & put the value in NEW.
    clrf    _newenc         ; clear "new" encoder bit pair storage,
    btfsc   _ENCA           ; and transfer state of encoder bits.
    bsf     _newenc,0
    btfsc   _ENCB
    bsf     _newenc,1

We are using aliases for the actual encoder "A" and "B" inputs. By doing this , it makes your code more transportable to different devices and/or board configurations.

These aliases would have been earlier equated as follows:

ENCA    VAR PORTC.4 ; any port, any bit
ENCB    VAR PORTC.5 ; any port, any bit

Also if your counter is going backwards from the desired direction, all you have to do is swap the previous assignments:

ENCB    VAR PORTC.4 ; any port, any bit
ENCA    VAR PORTC.5 ; any port, any bit

And here is the code that determines if the encoder has moved or not:

;Compare previous encoder inputs (OLD) with latest ones (NEW).

    movf _newenc,W		;Move the contents of NEW to TEMP and OLD to W
   movwf   _tmpenc      	;in order to compare them with XOR.
   movf    _oldenc,W     
   xorwf   _tmpenc,F    	;XOR previous inputs (in W) with latest inputs 
                         	;(in TEMP) to see if they are equal.
   btfsc   STATUS,Z        ;Test result and skip next line if zero flag clear.

    goto    restore      	;Result = zero.  Previous inputs equal latest 
                         	;inputs.  Rotary encoder did not move. Return
                         	;from interrupt.

Here is where we determine the encoder's direction of travel:

;Result is a non-zero value.  Rotary encoder moved.  Determine direction.  

    bsf     _ENCDRnew       ; flag that encoder value has changed
    bcf	STATUS,C            ;Clear the carry bit in the status register and
   rlcf     _oldenc,F     	;left shift it into OLD to align bit 1 of OLD
                         	;with bit 0 of NEW.
   movf    _newenc,W     	;Move the contents of NEW to W in order to XOR.
   xorwf   _oldenc,F    	;XOR previous inputs (in OLD) with latest
                         	;inputs (in W) to determine CW or CCW.
   btfsc   _oldenc,1     	;Test bit 1 of result (in OLD).  Skip next line
                         	;if it is 0 (direction is CCW).
   goto    encoder_up      ;Bit is 1 (direction is CW).  Go around Down
                         	;and increment counter.

Besides determining which counter routine to execute (countup or countdown), a direction bit (direnc) is also assigned that can be accessed by the main PBP program and used to determine, or display the last known direction of the encoder.

encoder_down
    bcf     _direnc         ; clear direction bit = CCW (count down)
    goto    countdown

encoder_up
    bsf     _direnc         ; set direction bit = CW (count up)
;drops into countup part of routine

Lastly, be sure to include this as part of your ISR "restore" code:

restore
   	movf 	_newenc,W       ; update encoder OLD to equal NEW
   	movwf   _oldenc

In order to determine if an encoder change has occured within your PBP program just check and then clear the ENCDRnew bit.

And here are the equates for some of the variables I am using:

newenc var byte
oldenc var byte
tmpenc var byte
direnc var bit
ENCDRnew var bit

I hope this helps and doesn't just confuse the situation,

[Luciano]

I hope this helps and doesn't just confuse the situation,

Michael utilizes a timer interrupt to sample the encoder.

I utilize the interrupt-on-pin change for the A/B encoder signals.

These are two different approaches.

Luciano

[mytekcontrols]

Luciano is absolutely correct, and I apologize for the confusion I might have caused.

The "encoder check" code I posted is indeed part of a timer interrupt sampled encoder situation. It was actually meant as a continuation for the following thread: http://www.picbasic.co.uk/forum/showthread.php?t=1886 which is a discussion that started out to solve a problem with using indirect addressing in an ASM IRQ. And later delved into the details of a timer based 6 digit rotary encoder interrupt routine.

Sometimes in my rush to release information that's about to pop my head open, I forget where I am. Perhaps topic #46 of this forum can be moved to where it belongs - Lester?