rotary_encoder/main.c

===== Description =====

This project shows how to use an incremental rotary encoder. It prints out the last values read from the encoder. All it does is blink the System LED every second.

Additionally this demo also implements debugging via the USB port and the Netcruzer USB Terminal App. During the program various debug messages are written, which will be displayed on the "Netcruzer USB Terminal" (running on a PC connected to the target board's USB port). This demo also monitors the USB port for Debug messages send to us.
If "hi" is received, it replies with "Hello"
Use the "Netcruzer USB Terminal" App to send and receive USB Debug messages. It can be downloaded here: https://netcruzer.com/usbterminal/

===== Required Hardware =====

The project requires a SBC66 Netcruzer board with an USB Port (not USB Host).

===== Building Project =====

This project is located in the "src/demos/template/rotary_encoder" folder of the Netcruzer Download. To compile for Netcruzer Board, open this project in MPLAB X, and select the "Project Configuration" for desired board. For example "SBC66ZL_R1" for the SBC66ZL Revision 1 board. For details click here

===== Programming Board =====

After compiling (build), the board can be programmed via the USB Bootloader or a PIC Programmer. USB Programming is simplified when using the SBC board together with a Prototype Board.

===== File History =====

2014-01-08, David H. (DH):

• Initial version

#define THIS_IS_MAIN_FILE   //Uniquely identifies this as the file with the main application entry function main()

// Includes /////////////////////////////////////
#include "HardwareProfile.h"    //Required for all Netcruzer projects
#include "nz_encIncRot.h"       //Rotary Encoder driver
#include "nz_interrupt.h"
#include <ports.h>

//Add debugging, and define debugging level. Is a DEBUG_LEVEL_xx define. Set to DEBUG_LEVEL_OFF to disable.
#define MY_DEBUG_LEVEL   DEBUG_LEVEL_INFO
#include "nz_debug.h"

// Variables ////////////////////////////////////
static WORD tmrFlashLed = 0;        //Timer for flashing system LED
ENCROT_INFO objEncRot;              //Rotary Encoder object
BYTE        bufGet;                 //Pointer to last value read from encoder buffer


void __attribute__((interrupt,no_auto_psv)) _CNInterrupt(void)
{
    intOnChangeClearIF();   //Clear "interrupt on change" IF (interrupt flag)
    rotinc_task(&objEncRot);
}


int main(void) {
    WORD encVal;

    //Default initialization. All ports inputs. All analog features disabled. Tick 1ms
    nzSysInitDefault();

    debugPutString("\nThis is a test debug message from rotary_encoder.c demo");

    DIR_SYSLED = OUTPUT_PIN;    //Set System LED port as outputs

    bufGet = 0;

    //Initialize rotary encoder for using port 8 (old port name X8) as channel A, and port 7 (old port name X7) as channel B
    rotinc_init(&objEncRot, 8, 7);

    //Configure the interrupt on change for encoder channel A (Port 8 - old port name X8) only!
    intOnChangeConfig(INT_ENABLE|INT_PRI_4);    //Enable Interrupt on chagne at Int Priority level 4
    intOnChangeClearIF();                       //Clear "interrupt on change" IF (interrupt flag)
    intOnChangeEnablePort(8);                   //Enable "interrupt on change" for Channel A = Port 8 (old port name X8)

    //Main loop
    while(1)
    {
        nzSysTaskDefault();     //Main netcruzer task, call in main loop.

        //Print out last values read by encoder. The times are in multiples of ENC_INC_ROT_RESOLUTION.
        //The default ENC_INC_ROT_RESOLUTION is 16us, so a value of 10 will be 10x16=160us
        while (bufGet != objEncRot.put) {
            //Get next encoder value, and update the last value we read from the buffer
            encVal = objEncRot.buf[bufGet];
            bufGet++;
            if (bufGet >= ENC_INC_ROT_BUFSIZE)
                bufGet = 0;

            //Encoder is being turned forward (Clock Wise)
            if (encVal & 0x8000) {
                debugPutString("\nF = ");
            }
            //Encoder is being turned backwards (Counter Clock Wise)
            else {
                debugPutString("\nB = ");
            }
            debugPutWord(encVal & 0x7fff);  //Print lower 15-bits. Bit 16 contains direction!
            //printf("\nT = %d", objEncRot.buf[bufGet]);
        }

        //Flash system LED every 500ms
        if (tick16TestTmr(tmrFlashLed)) {
            tick16UpdateTmrMS(tmrFlashLed, 500); //Update timer to expire in 10ms again
            LAT_SYSLED = !LAT_SYSLED;       //Toggle System LED
        }
    }//end while
}

#if defined(HAS_NZ_DEBUGGING)

void debugService(void) {
    //Check if a debug message was received
    if (cbufHasWholePacket(CIRBUF_RX_DEBUG)) {
        //'hi' - Reply with "Hello" on a new line
        if (cbufPacketStrcmp(CIRBUF_RX_DEBUG, "hi") == 0) {
            debugPutString("\nHello Mate");
        }
        //Add custom debug message processing
        else if (cbufPacketStrcmp(CIRBUF_RX_DEBUG, "...") == 0) {
            //..... Do something
        }

        //Remove received packet. If it was not processed above, it is lost!
        cbufRemovePacket(CIRBUF_RX_DEBUG);
    }
}
#endif