My rotary encoder adventures

[HenrikOlsson]

You have turned off the WDT (for speed I suppose) but forgot to tell PBP about it so no speed gained.

Anyway, try this as your encoder logic and see if it beats 26us.

New_Encoder 	VAR BYTE
Old_Encoder     VAR BYTE
Test            VAR BYTE
Enc1_counter    VAR WORD

BlinkLED1           VAR LatB.5         ' Switch these ON/OFF to determine time
BlinkLED2           VAR LatB.4 

MainLoop:    
    BlinkLED1 = 1                       ' Top of LOOP on Logic 2 probe
    BlinkLED2 = 0

    New_Encoder = PortA & %00000011                 ' Read encoder signals on RA0 and RA1
    Test = New_Encoder ^ Old_Encoder                ' Bitwise XOR current state with previous state to see if any pins changed.
        
    IF Test.0 = 1 THEN                              ' Edge detected on channel A?
        IF Old_Encoder.0 ^ Old_Encoder.1 THEN       ' If Old_Encoder is 0 or 3 we count up, otherwise we count down.
            Enc1_counter = Enc1_counter + 1
        ELSE
            Enc1_counter = Enc1_counter - 1
        ENDIF
        GOTO MainLoop        
    ENDIF

    IF Test.1 = 1 THEN                              ' Edge detected on channel B?
        IF Old_Encoder.0 ^/ Old_Encoder.1 THEN      ' If Old_Encoder is 1 or 2 we count up, otherwise we count down.
            Enc1_counter = Enc1_counter + 1
        ELSE
            Enc1_counter = Enc1_counter - 1
        ENDIF
        Goto MainLoop
    ENDIF

    BlinkLED1 = 0                       ' Bottom of IFs on Logic 2 probe
    BlinkLED2 = 1
    
    ' Other stuff here...
    
    Goto MainLoop

EDIT: Oh, the timing measurment will not work properly since we're jumping back to mainloop before flipping the LEDs but you can fix that.