Hallo Zusammen!
In einem Projekt habe ich ein Beispiel-Sketch von Nick Gammon zur Auswertung eines Rotary Encoders auf einem AVR-Board (Arduino Nano) implementiert. Der Programmschnipsel nutzt basierend auf Interrupts die "commands" CLI() und SEI() zum aktivieren/deaktivieren der Interrupts, sowie zum Auslesen von PortPin Status den Befehl PIND.
Nun würde ich diesen Sketch gerne auf den neuen GIGA übertragen. Da Mbed OS CLI() und SEI() nicht kennt, wäre meine Frage, ob ich diese Befehle einfach so wie folgt ersetzten kann:
SEI() -> interrupts (); ?
CLI() -> noInterrrupts(); ?
Und ob es beim GIGA (Mbed OS) eine Alternative zur PinStatus-Abfrage mittels PIND gibt?
Ich würde mich über eure Hilfe sehr freuen, da ich noch blutiger Anfänger bin.
Nachfolgend das Beispiel, um welches es sich handelt:
/*******Interrupt-based Rotary Encoder Sketch*******
by Simon Merrett, based on insight from Oleg Mazurov, Nick Gammon, rt, Steve Spence
*/
static int pinA = 2; // Our first hardware interrupt pin is digital pin 2
static int pinB = 3; // Our second hardware interrupt pin is digital pin 3
volatile byte aFlag = 0; // let's us know when we're expecting a rising edge on pinA to signal that the encoder has arrived at a detent
volatile byte bFlag = 0; // let's us know when we're expecting a rising edge on pinB to signal that the encoder has arrived at a detent (opposite direction to when aFlag is set)
volatile byte encoderPos = 0; //this variable stores our current value of encoder position. Change to int or uin16_t instead of byte if you want to record a larger range than 0-255
volatile byte oldEncPos = 0; //stores the last encoder position value so we can compare to the current reading and see if it has changed (so we know when to print to the serial monitor)
volatile byte reading = 0; //somewhere to store the direct values we read from our interrupt pins before checking to see if we have moved a whole detent
void setup() {
pinMode(pinA, INPUT); // set pinA as an input, pulled HIGH to the logic voltage (5V or 3.3V for most cases)
pinMode(pinB, INPUT); // set pinB as an input, pulled HIGH to the logic voltage (5V or 3.3V for most cases)
attachInterrupt(0,PinA,RISING); // set an interrupt on PinA, looking for a rising edge signal and executing the "PinA" Interrupt Service Routine (below)
attachInterrupt(1,PinB,RISING); // set an interrupt on PinB, looking for a rising edge signal and executing the "PinB" Interrupt Service Routine (below)
Serial.begin(115200); // start the serial monitor link
}
void PinA(){
cli(); //stop interrupts happening before we read pin values
reading = PIND & 0xC; // read all eight pin values then strip away all but pinA and pinB's values
if(reading == B00001100 && aFlag) { //check that we have both pins at detent (HIGH) and that we are expecting detent on this pin's rising edge
if (encoderPos > 0) encoderPos=encoderPos-5; //decrement the encoder's position count
bFlag = 0; //reset flags for the next turn
aFlag = 0; //reset flags for the next turn
}
else if (reading == B00000100) bFlag = 1; //signal that we're expecting pinB to signal the transition to detent from free rotation
sei(); //restart interrupts
}
void PinB(){
cli(); //stop interrupts happening before we read pin values
reading = PIND & 0xC; //read all eight pin values then strip away all but pinA and pinB's values
if (reading == B00001100 && bFlag) { //check that we have both pins at detent (HIGH) and that we are expecting detent on this pin's rising edge
if (encoderPos < 180) encoderPos=encoderPos+5; //increment the encoder's position count
bFlag = 0; //reset flags for the next turn
aFlag = 0; //reset flags for the next turn
}
else if (reading == B00001000) aFlag = 1; //signal that we're expecting pinA to signal the transition to detent from free rotation
sei(); //restart interrupts
}
void loop(){
if(oldEncPos != encoderPos) {
Serial.println(encoderPos);
oldEncPos = encoderPos;
}
}
