hardware counting while software runs

[sayzer]

Here I have a sample code for rotary encoder using two Timer modules in counter mode.

Reference Signal of encoder is connected to Timer0, and one of pulse signals is connected to Timer1.

'Edit: the code is for 16F877-20Mhz.

@ DEVICE PIC16F877, HS_OSC
@ DEVICE PIC16F877, WDT_ON
@ DEVICE PIC16F877, PROTECT_OFF
@ DEVICE PIC16F877, CPD_OFF
@ DEVICE PIC16F877, PWRT_ON
@ DEVICE PIC16F877, BOD_ON


DEFINE OSC 20

'=======Add tris registers here... =========
'I skipped the part where you need to set your registers.....
'..
'...
'....
'========Timer0 Settings - 8bit===================
OPTION_REG = %00111000  
' Set 1:1 prescaler & assign to WDT
' Set TMR0 clock to external input on RA4/T0CKI. 
' Connect Rerefence signal of encoder to this pin.
' Increment on high-to-low transition on RA4/T0CKI pin

'=====Timer1 settings  - 16Bit ====================
T1CON = %00000111   ' 1:1 in counter mode. 
'RC0 = Encoder input (RC0/T1OSO/T1CKI (on rising edge). 
'Connect One of the pulse signals of encoder to this pin.)
INTCON.7 = 0        ' Disable interrupts

Encoder         var word    
RefPoint        var word    
RefBit          var word    
TourNo          var word   

Encoder     = 0
TMR1L       = 0     ' Clear TMR counter
TMR1H       = 0
Refpoint    = 0
Refbit      = 0
TMR0        = 0
Tourno      = 0


Start:
    LCDOUT $fe,1,"Encoder:",DEC4 Encoder
    LCDOUT $fe,$c0,"Tour   :",DEC4 Tourno
    
    Encoder.highbyte  = TMR1H    'Load Lower byte of Timer1.
    Encoder.lowbyte = TMR1L      'Load Higher byte of Timer1.
 
    Refpoint = TMR0              'Load TMRO value.

    if Refbit + 1 = Refpoint then   ' Check: Do we have an increment?If yes, then 
        Tourno = Tourno + 1         ' Add up tour numbers.   
        TMR1H = 0                   ' Since the encoder completed one tour, clear timer1 Lower byte. 
        TMR1L = 0                   ' Since the encoder completed one tour, clear timer1 Higher byte.
        Encoder = 0                 ' Since the encoder completed one tour, clear timer1 holder, too.
    endif

    RefBit = Refpoint               ' Make eqaul before the next TMR0 assignment
    
    
    
Goto start