quadEncoder

Encoding quadrature Encoder

developed for an TI TM4C microcontroller

should be useable with little changed with every other microcontroller

setup

//ENCODER
#define ENCODER_FL_PORT_A     GPIO_PORTD_BASE
#define ENCODER_FL_PORT_B     GPIO_PORTD_BASE
#define ENCODER_FL_A          GPIO_PIN_2
#define ENCODER_FL_B          GPIO_PIN_3

typedef struct
{
    //wheel encoder (counts since last read out)
    int32_t    wheelFL_c;
} ECU_Internal_t;

ECU_Internal_t                ECU_Internal;
EncoderStatus_t               EncoderStatus[4];

setupEncoderHardware(&EncoderStatus[0], ENCODER_VEHICLE_COUNT_DOWN,   ENCODER_FL_PORT_A, ENCODER_FL_PORT_B, ENCODER_FL_A, ENCODER_FL_B, &ECU_Internal.wheelFL_c);

&ECU_Internal.wheelFL_c is an pointer to an int32_t variable where the counts of the encoder are stored

readout

// has to be called to readout the encoder status
// has to be called with an adequate sampling frequency, regarding the maximum encoder 'speed'
// for example from an timer ISR
decodeEncoder_FromISR(&EncoderStatus[0]);

To readout the counts since the last readout, just use the value in ECU_Internal.wheelFL_c. After each readout ECU_Internal.wheelFL_c should be set to zero