From c92f7f9480f3f3172f0aa078e2c709737c62303d Mon Sep 17 00:00:00 2001
From: John Hodge <tpg@ucc.asn.au>
Date: Tue, 21 Mar 2023 21:28:01 +0800
Subject: [PATCH] Arduino - Optimisation to the constant-force prototype,
probably less buggy now?
---
.../test_r2_constantforce.ino | 49 +++++++++++++------
1 file changed, 33 insertions(+), 16 deletions(-)
diff --git a/Arduino/test_r2_constantforce/test_r2_constantforce.ino b/Arduino/test_r2_constantforce/test_r2_constantforce.ino
index 1d90acb..7e4db82 100644
--- a/Arduino/test_r2_constantforce/test_r2_constantforce.ino
+++ b/Arduino/test_r2_constantforce/test_r2_constantforce.ino
@@ -36,8 +36,8 @@
// NOTE: DIR=0 is positive encoder (on CH1)
-const int INPUT_ENC1A = 2;
-const int INPUT_ENC1B = 3;
+#define INPUT_ENC1A 2
+#define INPUT_ENC1B 3
const int OUTPUT_VREF1 = 5; // D5
const int OUTPUT_VREF2 = 6; // D6
const int OUTPUT_MOT_ON = 9;
@@ -46,7 +46,6 @@ const int OUTPUT_CLK1 = 13;
const int INPUT_VREF1 = 15; // A1
const int INPUT_POT1 = 18;
-volatile int last_1;
volatile int val_1;
int ctrl_phase_1; // Current "phase" of the controller (0-3)
@@ -75,14 +74,13 @@ void step_once_1(int dir) {
void setup()
{
Serial.begin(9600);
- pinMode(OUTPUT_VREF1, OUTPUT);
+ pinMode(OUTPUT_VREF1, OUTPUT);
pinMode(OUTPUT_MOT_ON, OUTPUT);
pinMode(OUTPUT_DIR1, OUTPUT);
pinMode(OUTPUT_CLK1, OUTPUT);
// pinMode(PIN_LED, OUTPUT);
-
- attachInterrupt(0, isr_enc1, CHANGE);
- attachInterrupt(1, isr_enc1, CHANGE);
+
+ init_isr_enc1();
// Set output current to 50%
analogWrite(OUTPUT_VREF1, 128);
@@ -230,18 +228,38 @@ void loop()
}
}
-const int E = -99;
-const int GREY_MAPPING[16] = {
- 0, -1, 1, E,
- 1, 0, E, -1,
- -1, E, 0, 1,
- E, 1, -1, 0,
+const char E = -99;
+// Mapping of transitions of the two encoder state bits to relative encoder counts
+// - low bits are current value
+// - high bits are previous value
+const char GREY_MAPPING[16] = {
+ 0, -1, 1, E,
+ 1, 0, E, -1,
+ -1, E, 0, 1,
+ E, 1, -1, 0,
};
+
+uint8_t pinmask_ENC1A;
+uint8_t pinmask_ENC1B;
+volatile uint8_t *pinport_ENC1A;
+volatile uint8_t *pinport_ENC1B;
+void init_isr_enc1() {
+ pinmask_ENC1A = digitalPinToBitMask(INPUT_ENC1A);
+ pinmask_ENC1B = digitalPinToBitMask(INPUT_ENC1B);
+ pinport_ENC1A = portInputRegister(digitalPinToPort(INPUT_ENC1A));
+ pinport_ENC1B = portInputRegister(digitalPinToPort(INPUT_ENC1B));
+ attachInterrupt(0, isr_enc1, CHANGE);
+ attachInterrupt(1, isr_enc1, CHANGE);
+}
+volatile char last_1;
void isr_enc1() {
- int v = digitalRead(INPUT_ENC1A) * 2 + digitalRead(INPUT_ENC1B);
+ uint8_t pinValue_ENC1A = (*pinport_ENC1A & pinmask_ENC1A) != 0;
+ uint8_t pinValue_ENC1B = (*pinport_ENC1B & pinmask_ENC1B) != 0;
+
+ char v = (char)pinValue_ENC1A << 1 + (char)pinValue_ENC1B;
if( v != last_1 ) {
- int adj = GREY_MAPPING[last_1 * 4 + v];
+ char adj = GREY_MAPPING[ (char)(last_1 << 2) + v ];
if(adj == E) {
}
else {
@@ -250,4 +268,3 @@ void isr_enc1() {
last_1 = v;
}
}
-
--
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