Quad Encoder Problem

[Ioannis]

Are you sure this code does work on both directions?

Should I be setting Old_Bits to New_Bits in the 'DoneRotEnc' label for the first 3 of 4 interrupts related to an IOC?

' ***************************************************************
' [IOC - interrupt handler]
' ***************************************************************
RotEncAdjust:
    New_Bits = PORTA & (%00000011)

    IF New_Bits = Old_Bits Then DoneRotEnc

    ' Increment ISR counter (since quad encoder throws 4 interrupts
    ' for every single detent), only want to update MotorRPM when counter
    ' reaches 4 (i.e. a single detent 'click')
    ISRCounter = ISRCounter + 1
    IF ISRCounter < 4 THEN DoneRotEnc

    RotEncDir = New_Bits.1 ^ Old_Bits.0
    IF RotEncDir = 1 Then
        ; CW rotation - increase speed but only to a max of 'MaxDuty'
        IF MotorRPM < MaxDuty then MotorRPM = MotorRPM + 1
    Else
        ' CCW rotation - decrease speed to a min of 0
        IF MotorRPM > 0 Then MotorRPM = MotorRPM - 1
    EndIF

    ValueDirty = 1                   ; Set dirty flag
    ISRCounter = 0                   ; Reset ISR entry counter
    TimeToSave = 50000               ; Set value to begin countdown to EEPROM save

DoneRotEnc:
    Old_Bits = New_Bits

    IOCAF.0 = 0                     ' Clear interrupt flags
    IOCAF.1 = 0

@ INT_RETURN

By the time that ISRCounter is 4, both outputs of the encoder will be at 0. So the RotEncDir will be 0 too and only the ELSE expression will be executed.

Maybe I am missing something here?

Ioannis

[RossWaddell]

I have to admit, Ioannis, the code was grabbed from an example here and implemented on my side using a Grayhill encoder which only triggered the interrupt once per detent. Works perfectly with that device, With the CUI ACZ11, I added the check on the ISRCounter but it **does** work - both CW & CCW rotations are captured correctly.

[RossWaddell]

I tried CCW rotation again last night and it does seem to get confused every once in a while - either decrements by 2 or sometimes even increments. Doesn't happen often enough to be too much of a problem, but I would like to make the code as efficient as possible.

Not sure what else I can do in the ISR, though. If I only need one edge to check the rotation direction then I could do as Henrik suggested and turn off 2 of the edge interrupts; that way, it would only hit the ISR twice. I could do the RotEncDir determination on the first interrupt then set a flag to ignore the 2nd interrupt, then reset those after the 2nd.

[Ioannis]

I stil cannot see how this piece of code can be true:

RotEncDir = New_Bits.1 ^ Old_Bits.0
    IF RotEncDir = 1 Then

If you follow what Henrik has posted on that pulse train diagram at #21, you will see that after the above XOR, the IF RotEncDir = 1 statement will always fail and the ELSE will be executed.

Ioannis

[RossWaddell]

The New_Bits will be the same for A & B, but the Old_Bits should still have PORTA.0 (B pin of encoder) as 1 for the last falling edge interrupt, won't it?

[Ioannis]

I don't think so after the 4 step counter. At that moment both will be zero.

Ioannis

[RossWaddell]

But experimentally it works, both for CW & CCW. I'd love to optimize this code for full quad cycle encoders like the CUI ACZ11 one I'm using, but I'm at a loss as to what to change (other than trying Henrik's suggestion of reducing the number of edges to 2 from 4).