Bascom and AVR, Encoders

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Bascom and AVR, Encoders

Encoders are a special type of rotary switches. Most encoder have an A and B output, that switches as the encoder is turned:

Encoders come in two variants: contacting and optical. A contacting encoder has switches that close or open as the encoder is turned. As the switches are contacting, you must consider contact bounce. Read more on contact bounce if you need to. Contacting encoders often have detents that 'click' through an entire A/B cycle per detent. Optical encoders have a slotted disc with two led/photo-transistor combinations. These sensors are arranged around the disc such that when the disc is turned, the A/B pattern is output. Take an old-fashioned computer mouse apart and you'll understand. Contacting encoders usually have three pins: the centre pin goes to Ground, the other two are A and B that switch to Ground. So, reading the switches involves no more than connecting them to two AT90S2313 inputs. I always use 10k pull-ups on these input pins. Optical encoders often have pull-up resistors built-in. (Check the datasheet!) They have a power-supply, a Ground and A/B pins. Sometimes they have an 'index' output, a pin that switches independently of A/B. Optical encoders have a transistor that does the switching, so you need not worry about contact bounce. Both type of encoders sometimes have an extra switch that is operated by pushing the shaft. This can be a nice sort of 'Enter' button. Let us start with attaching a contacting or optical encoder to the AT90S2313:

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Bascom and AVR, Encoders

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And begin with a simple program that continuously reads the A/B switches: test-encoder.bas
$regfile = "2313def.dat" $crystal = 4000000 Config Pind.6 = Output Config Pind.2 = Input Config Pind.3 = Input Const Debouncetime = 25

Dim Wtime As Byte Dim Encounter As Integer

Cls Wtime = 100 Encounter = 0 Set Portd.2 Set Portd.3 Do Cls Lcd Pind.2 ; " " ; Pind.3 Waitms Wtime Loop End In the Do Loop, the state of Pind.2 and Pind.3 are displayed on the LCD.

Using a contacting encoder

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Bascom and AVR, Encoders

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I started with a Bourns ECW1J-B24-AC0024 contacting encoder. Such an encoder has contact bounce:

although it is not much. The datasheet states a conservative maximum of 5 milliseconds when turning the encoder at 15 rpm. I used a debounce time of 1 millisecond in the following program: encoder-bourns-ecw1j.bas
$regfile = "2313def.dat" $crystal = 4000000 Cha Alias Pind.2 Chb Alias Pind.3 Config Cha = Input Config Chb = Input Config Pind.6 = Output Config Int0 = Falling Const Debouncetime = 1 Dim Wtime As Byte Dim Encounter As Integer Set Chb On Int0 Getencoder Cls Wtime = 100 Encounter = 0 Enable Interrupts Enable Int0 Do Set Portd.6 Waitms Wtime Upperline Lcd "encounter: " ; Encounter ; " Reset Portd.6 Waitms Wtime Loop

"

Getencoder: Waitms Debouncetime If Cha = 0 Then If Chb = 0 Then Incr Encounter Else Decr Encounter End If Gifr = 64 Return End Pin Portd.2 is Alias'ed to Cha, Portd.3 to Chb. Both are configured to Input. Int0 is configured to occur on trailing edges of Cha input. Debouncetime is set to 1 millisecond.

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Bascom and AVR, Encoders

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In the Do Loop the Led is switched on and off and the value of encounter is put on the Lcd. In the interrupt routine Getencoder, a debouncetime is executed, a check is done on Cha (must be low) and if Chb is low, encounter is incremented, else decremented.

Formally, the check on Cha = 0 in the interruptroutine is not necessary; we are in the interrupt routine >because< Cha went from high to low! I have found this check to be useful however, especially with contacting encoders that sometimes 'jitter' between two A/B states. Using an optical encoder I also tried a HP, now Agilent 500 cycles-per-revolution, TTL-output, HEDS-5700 optical encoder: (This type is not on Agilent's web-site anymore, try: HEDS-550 for a similar type) Optical encoders do not have contact bounce:

(note the time-base setting) encoder-hp-heds-5700.bas

$regfile = "2313def.dat" $crystal = 4000000 Cha Alias Pind.2 Chb Alias Pind.3 Config Chb = Input Config Pind.6 = Output Config Int0 = Falling Dim Wtime As Byte Dim Encounter As Integer Set Chb On Int0 Getencoder Cls Wtime = 100 Encounter = 0 Enable Interrupts Enable Int0 Do Set Portd.6 Waitms Wtime Upperline Lcd "encounter: " ; Encounter ; " Reset Portd.6 Waitms Wtime Loop

"

Getencoder: If Chb = 0 Then Incr Encounter Else Decr Encounter Gifr = 64

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Return End In the interrupt routine, the debounce is omitted as well as the Cha = 0 check.

A 'special' encoder I have tested an ALPS contacting encoder, that does not have an A/B output, but instead an A output that pulses closed when turned left (B is then open) and a B output that pulses closed when turned right (A is then open). I could not find this type on the ALPS web-site. This type of encoder is the easiest to use: both A and B output can be connected to an interrupt pin: encoder-alps-special.bas
$regfile = "2313def.dat" $crystal = 4000000 Config Pind.6 = Output Config Int0 = Falling Config Int1 = Falling Dim Wtime As Byte Dim Encounter As Integer Const Debouncetime = 5 On Int0 Encodera On Int1 Encoderb Cls Wtime = 100 Encounter = 0 Enable Interrupts Enable Int0 Enable Int1 Do Set Portd.6 Waitms Wtime Upperline Lcd "encounter: " ; Encounter ; " Reset Portd.6 Waitms Wtime Loop Encodera: Waitms Debouncetime Incr Encounter Gifr = 64 Return Encoderb: Waitms Debouncetime Decr Encounter Gifr = 128 Return End Both Int0 and Int1 is used. I used a debouncetime of 5 milliseconds. The interrupt routines only have an increment or decrement, no Cha or Chb testing is required. Note the Gifr = 64/128. Read more on this.

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TOC

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