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@ELIXIR(misawa)

ATTiny85 で　ロータリーエンコーダーデコーダー

Last updated at Posted at 2018-12-05

追記：XIAO ESP32-C3でBLEロータリーエンコーダデバイスを作る方法はこちらです。

Arduino/ATTiny85で簡単にI2Cデバイスを作ることができると知りました。
デバイスとなるarduinoは

#include <Wire.h>
Wire.begin(I2C_ADDR);

でI2Cデバイスとして認識されるようになります。簡単だ。。
あとはマスター側からデータが送られてきたときのイベントを
Wire.onReceive(receiveEvent);
マスター側から送信要求が送られてきたときのイベントを
Wire.onRequest(requestEvent);
に渡すようにして、あとは要求に従ってデバイス側でセンシングした内容などを送りつけたりすればI2Cデバイス完成です。

手始めにI2Cでロータリーエンコーダーの値を検出するデバイスを作ってみました。
動画
ソースはこちらにあります

//---------------------------
// Rotary decoder for Tyny85
//---------------------------
// Board:Attiny Core
#include <EEPROM.h>

#define ENC_EPROM_ADDR_I2CADR (0)  // 1(reserved)
#define ENC_EPROM_ADDR_IsLoop (1)  // 1
#define ENC_EPROM_ADDR_EncVal (4)  // 4
#define ENC_EPROM_ADDR_EncMin (8)  // 4
#define ENC_EPROM_ADDR_EncMax (12) // 4
template <class T> int EEPROM_readAnything(int ee, T& value)
{
    byte* p = (byte*)(void*)&value;
    int i;
    for (i = 0; i < sizeof(value); i++)
    *p++ = EEPROM.read(ee++);
    return i;
}
template <class T> int EEPROM_writeAnything(int ee, const T& value)
{
    const byte* p = (const byte*)(const void*)&value;
    int i;
    for (i = 0; i < sizeof(value); i++)
    EEPROM.write(ee++, *p++);
    return i;
}
  
class Tyny85RotEnc{
public:
private:
  volatile int mPinb = 0;
  volatile int mEncVal = 0;
  volatile byte mBtnState = 0;
  volatile bool mIsDirty = false;
  volatile int mDeltaSum = 0;
  volatile uint32_t mOldMillis=0;
  volatile uint32_t mEncRotDeltaMillis=0;
  byte mPBEnc0;
  byte mPBEnc1;
  byte mPBBtn;
  byte mPBMask;
  int32_t mEncOld;
  int32_t mEncMin = 0;
  int32_t mEncMax = 255;
  bool mIsLoop = false;
  uint32_t mSpeedAcc = 5;
  uint32_t mDeltaMillis=0;
  uint32_t mSpeedupMillis=3;
  uint32_t mChatterMillis=1;

public:
  int GetValue(){ return mEncVal; }
  bool GetBtn(){ return (mBtnState&1)?true:false; }
  bool GetBtnTrg(){ return (mBtnState&2)?true:false; }
  bool GetBtnRel(){ return (mBtnState&4)?true:false; }
  bool FlushBtn(){ return mBtnState&=0B001; } // clear trg&rel
  uint32_t GetEncRotDeltaMillis(){ return mEncRotDeltaMillis; }
  void SetEncMin(int32_t _min=0){ mEncMin = _min; }
  void SetEncMax(int32_t _max=255){ mEncMax = _max; }
  void SetLoop(bool _isLoop=true){ mIsLoop = _isLoop; }
  
  Tyny85RotEnc(byte _enc0, byte _enc1, byte _btn){
    mPBEnc0 = _enc0;
    mPBEnc1 = _enc1;
    mPBBtn = _btn;
    mPBMask = (1<<mPBEnc0)|(1<<mPBEnc1)|(1<<mPBBtn);
  }

  void SetDefaultValue(int32_t _defVal, int32_t _valMin=0, int32_t _valMax=255, bool _isLoop=false){
    mEncOld = mEncVal = _defVal;
    mEncMin = _valMin;
    mEncMax = _valMax;
    mIsLoop = _isLoop;
    mDeltaSum = 0;
    mIsDirty = true;
    EEPROM_writeAnything(ENC_EPROM_ADDR_EncVal,_defVal); //4
    EEPROM_writeAnything(ENC_EPROM_ADDR_EncMin,_valMin); //4
    EEPROM_writeAnything(ENC_EPROM_ADDR_EncMax,_valMax); //4
    EEPROM_writeAnything(ENC_EPROM_ADDR_IsLoop,_isLoop); //1
  }
  void RestoreDefaultValue(){
    EEPROM_readAnything(ENC_EPROM_ADDR_EncVal,mEncVal); //4
    EEPROM_readAnything(ENC_EPROM_ADDR_EncMin,mEncMin); //4
    EEPROM_readAnything(ENC_EPROM_ADDR_EncMax,mEncMax); //4
    EEPROM_readAnything(ENC_EPROM_ADDR_IsLoop,mIsLoop); //1
    mEncOld = mEncVal;
    mDeltaSum = 0;
    mIsDirty = true;
  }

  void setup() {
    pinMode(mPBBtn, INPUT_PULLUP);
    pinMode(mPBEnc0, INPUT_PULLUP);
    pinMode(mPBEnc1, INPUT_PULLUP);
    // Configure pin change interrupts on Enc0,1, and Btn
    PCMSK |= mPBMask;
    GIMSK = 1 << PCIE;     // Enable pin change interrupts
    GIFR = 1 << PCIF;      // Clear pin change interrupt flag.
    //  sei(); //turn interrupts on
  }

  void loop(uint32_t _deltaMillis) {
    mDeltaMillis += _deltaMillis;
    if(mIsDirty){
    noInterrupts();
      mIsDirty = false;
      mEncVal+=mDeltaSum;
      mDeltaSum = 0;
      mDeltaMillis = 0;
      if(mIsLoop){
        if(mEncVal<mEncMin){
          mEncVal+=(mEncMax+1);
        }else if(mEncVal>mEncMax){
          mEncVal-=(mEncMax+1);
        }
      }
      mEncVal = max(min(mEncVal,mEncMax),mEncMin);
      mEncOld = mEncVal;
    interrupts();
    }
  }

  void IsrImpl(){
//    noInterrupts();
    uint32_t nowMillis = millis();
    uint32_t intDeltaMillis = nowMillis - mOldMillis;
    volatile int newPinb = PINB;
    bool dirtyEnc = UpdateRotEnc(mPinb,newPinb,intDeltaMillis); // PB1,3 and 4
    if(dirtyEnc){
      mEncRotDeltaMillis = intDeltaMillis;
      mOldMillis = nowMillis;
    }
    mIsDirty |= dirtyEnc;
    mPinb = newPinb;
//    interrupts();
  }

  bool UpdateRotEnc(int _oldPINB, int _newPINB, unsigned long _deltaMillis){
    bool isDirtyEnc = false;    
    int portReading = _newPINB & mPBMask; // EncA,B and Btn
    int portReadingOld = _oldPINB & mPBMask; // EncA,B and Btn
    if(portReading != portReadingOld){
      int addVal = 0;
      int rotState = ((portReading & (1 << mPBEnc0))?1:0) | ((portReading & (1 << mPBEnc1))?2:0);
      int rotStateOld = ((portReadingOld & (1 << mPBEnc0))?1:0) | ((portReadingOld & (1 << mPBEnc1))?2:0);
      if((rotStateOld==0B11)&&(mChatterMillis < _deltaMillis)){
        if(rotState==0B01){
          addVal = -1;
        } else if(rotState==0B10){
          addVal = 1;
        }
        if(addVal!=0){
          if(mSpeedupMillis > _deltaMillis){
            addVal *= mSpeedAcc;
          }        
          mDeltaSum += addVal;
          isDirtyEnc = true;
        }
      }
      bool btn = (portReading & (1 << mPBBtn));
      bool btnOld = (portReadingOld & (1 << mPBBtn));
      if(btn!=btnOld){
        mBtnState = (mBtnState&0B110)|(!btn?1:0); // on
        mBtnState |= (!btn && btnOld)?(1<<1):0;  // trg:on
        mBtnState |= (btn && !btnOld)?(1<<2):0;  // rel:trg:on
      }
    }
    return isDirtyEnc;
  }

  void Reset(){
    RestoreDefaultValue();
  }

  void SetAccel(uint8_t _accel=5, uint8_t _timeSpan=2){
    mSpeedAcc = (uint32_t)_accel;
    mSpeedupMillis = (uint32_t)_timeSpan;
  }
};

//---------------------------
// I2C device
//     --------
//  RST|1    8|VCC
// EncA|2    7|SCL
// EncB|3    6|EncBtn
//  GND|4    5|SDA
//     --------
//---------------------------
#include <Wire.h>
#include "Tiny85RotaryEncDef.h"

Tyny85RotEnc rotEnc = Tyny85RotEnc(ENC_ENC0,ENC_ENC1,ENC_BUTTON);
uint32_t oldMillis;
volatile uint8_t v_cmd;
volatile uint8_t v_params[ENC_CMD_PARAM_SIZE];
unsigned long m_delayMillis=0;

void setup() {
  // put your setup code here, to run once:
  oldMillis = millis();
  rotEnc.setup();
  rotEnc.SetDefaultValue(128,0,255,true);
//  rotEnc.restoreDefaultValue();

  Wire.begin(ENC_I2C_ADDR);
  Wire.onReceive(receiveEvent);
  Wire.onRequest(requestEvent);
}

void loop(){
  uint32_t nowMillis = millis();
  uint32_t deltaMillis = nowMillis - oldMillis;
  oldMillis = nowMillis;
  rotEnc.loop(deltaMillis);
  if(m_delayMillis>0){
    delay(m_delayMillis);
  }
}

ISR (PCINT0_vect) {
  rotEnc.IsrImpl();
}

void receiveEvent(int howMany) {
//  noInterrupts();
  if(Wire.available()){
    v_cmd = Wire.read();
    int i=0;
    while (Wire.available()||(i<ENC_CMD_PARAM_SIZE-1)){
      v_params[i] = Wire.read();
      i++;
    }
    while (Wire.available()){
      uint8_t dmy = Wire.read();
    }
  }
  switch(v_cmd){
    case ENC_CMD_INIT:   req_ENC_CMD_INIT();  break;
    case ENC_CMD_ACCEL:  req_ENC_CMD_ACCEL(v_params[0]);  break;
    case ENC_CMD_LOOP:   req_ENC_CMD_LOOP(v_params[0]);  break;
  }
//  interrupts();
}

void requestEvent(){
//  noInterrupts();
  uint8_t data = v_cmd;
  switch(v_cmd){
    case ENC_REQ_GET_VAL_U8:
      req_ENC_REQ_GET_VAL_U8();
      break;
    case ENC_REQ_GET_VAL_INT32:
      req_ENC_REQ_GET_VAL_INT32();
      break;
    case ENC_REQ_GET_BTN:
    case ENC_REQ_GET_BTN_NO_FLUSH:
      req_ENC_REQ_GET_BTN(v_cmd==ENC_REQ_GET_BTN);
      break;
    case ENC_REQ_GET_SPD:
      req_ENC_ENC_REQ_GET_SPD();
      break;
  }
  if(v_cmd==ENC_REQ_GET_VAL_U8){
  }else if((v_cmd==ENC_REQ_GET_BTN)||(v_cmd==ENC_REQ_GET_BTN_NO_FLUSH)){
  }
 // interrupts();
}

void req_ENC_CMD_INIT(){
  rotEnc.Reset(); // Trg,Relを消去
}
void req_ENC_CMD_ACCEL(uint8_t spd){
  rotEnc.SetAccel(spd);
}
void req_ENC_CMD_LOOP(uint8_t _isLoop){
  rotEnc.SetLoop(_isLoop);
}
void req_ENC_REQ_GET_VAL_U8(){
    uint8_t data = (uint8_t)(rotEnc.GetValue()&0xff);
    Wire.write(data);
}
void req_ENC_REQ_GET_VAL_INT32(){
    uint32_t data = (uint32_t)(rotEnc.GetValue()&0xff);
    Wire_write32(data);
}
void req_ENC_REQ_GET_BTN(bool _flush){
    uint8_t data = rotEnc.GetBtn() ? 1:0;
    data |= rotEnc.GetBtnTrg() ? (1<<1):0;
    data |= rotEnc.GetBtnRel() ? (1<<2):0;
    if(v_cmd==ENC_REQ_GET_BTN){
      rotEnc.FlushBtn(); // Flush Trg and Rel
    }
    Wire.write(data);
}
void req_ENC_ENC_REQ_GET_SPD(){
    uint32_t sm = rotEnc.GetEncRotDeltaMillis();
    Wire_write32(sm);
}

#ifndef _TINY85ROTARYENCDEF_H_
#define _TINY85ROTARYENCDEF_H_

#define ENC_I2C_ADDR (0x38) // 7bit
#define ENC_CMD_PARAM_SIZE (4)

#define ENC_BUTTON (1)
#define ENC_ENC0 (3)
#define ENC_ENC1 (4)

#define ENC_CMD_INIT (0x01) // 1:Init
#define ENC_CMD_ACCEL (0x02) // 1:ChangeSPeedUpRate
#define ENC_CMD_LOOP (0x03) // 1:SetLoop
#define ENC_CMD_INVERT (0x04) // 1:SetInvert
#define ENC_REQ_GET_VAL_U8 (0x10) // 1:GetU8
#define ENC_REQ_GET_VAL_INT32 (0x11) // 4:GetInt32
#define ENC_REQ_GET_BTN (0x12) // 1:GetBtn/Trg/Rel and flush
#define ENC_REQ_GET_BTN_NO_FLUSH (0x13) // 1:GetBtn/Trg/Rel and no flush
#define ENC_REQ_GET_SPD (0x14) // 4:GetU32

uint8_t getParamNum(uint8_t _cmd){
  uint8_t ret = 1; // default
  switch(_cmd){
    case ENC_REQ_GET_VAL_INT32:
    case ENC_REQ_GET_SPD:
      ret = 4;
      break;
  }
  return ret;
}

#endif // _TINY85ROTARYENCDEF_H_

ピン８本のうちリセット以外のピンは使い切っているので、まるで既製品みたいです（笑）
スクリーンショット 2018-12-05 19.28.58.png

・・・I2Cのロータリーエンコーダー用デコーダー、需要はあると思うので普通にパーツ屋さんで安く売っているのかなと思ったのですが、見つけることができませんでした。
こんなのあるよ！とか情報がありましたら教えてください.

IMG_6164.jpg

IMG_6165.jpg

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