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PlatformIO package of the Teensy core framework compatible with GCC 10 & C++20
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framework-arduinoteensy-cxx20/libraries/Encoder/Encoder.h

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  1. /* Encoder Library, for measuring quadrature encoded signals

  2.  * http://www.pjrc.com/teensy/td_libs_Encoder.html

  3.  * Copyright (c) 2011,2013 PJRC.COM, LLC - Paul Stoffregen <paul@pjrc.com>

  4.  *

  5.  * Version 1.2 - fix -2 bug in C-only code

  6.  * Version 1.1 - expand to support boards with up to 60 interrupts

  7.  * Version 1.0 - initial release

  8.  * 

  9.  * Permission is hereby granted, free of charge, to any person obtaining a copy

  10.  * of this software and associated documentation files (the "Software"), to deal

  11.  * in the Software without restriction, including without limitation the rights

  12.  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell

  13.  * copies of the Software, and to permit persons to whom the Software is

  14.  * furnished to do so, subject to the following conditions:

  15.  * 

  16.  * The above copyright notice and this permission notice shall be included in

  17.  * all copies or substantial portions of the Software.

  18.  * 

  19.  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR

  20.  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,

  21.  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE

  22.  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER

  23.  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,

  24.  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN

  25.  * THE SOFTWARE.

  26.  */

  27. 

  28. 

  29. #ifndef Encoder_h_

  30. #define Encoder_h_

  31. 

  32. #if defined(ARDUINO) && ARDUINO >= 100

  33. #include "Arduino.h"

  34. #elif defined(WIRING)

  35. #include "Wiring.h"

  36. #else

  37. #include "WProgram.h"

  38. #include "pins_arduino.h"

  39. #endif

  40. 

  41. #include "utility/direct_pin_read.h"

  42. 

  43. #if defined(ENCODER_USE_INTERRUPTS) || !defined(ENCODER_DO_NOT_USE_INTERRUPTS)

  44. #define ENCODER_USE_INTERRUPTS

  45. #define ENCODER_ARGLIST_SIZE CORE_NUM_INTERRUPT

  46. #include "utility/interrupt_pins.h"

  47. #ifdef ENCODER_OPTIMIZE_INTERRUPTS

  48. #include "utility/interrupt_config.h"

  49. #endif

  50. #else

  51. #define ENCODER_ARGLIST_SIZE 0

  52. #endif

  53. 

  54. 

  55. 

  56. // All the data needed by interrupts is consolidated into this ugly struct

  57. // to facilitate assembly language optimizing of the speed critical update.

  58. // The assembly code uses auto-incrementing addressing modes, so the struct

  59. // must remain in exactly this order.

  60. typedef struct {

  61. 	volatile IO_REG_TYPE * pin1_register;

  62. 	volatile IO_REG_TYPE * pin2_register;

  63. 	IO_REG_TYPE            pin1_bitmask;

  64. 	IO_REG_TYPE            pin2_bitmask;

  65. 	uint8_t                state;

  66. 	int32_t                position;

  67. } Encoder_internal_state_t;

  68. 

  69. class Encoder

  70. {

  71. public:

  72. 	Encoder(uint8_t pin1, uint8_t pin2) {

  73. 		#ifdef INPUT_PULLUP

  74. 		pinMode(pin1, INPUT_PULLUP);

  75. 		pinMode(pin2, INPUT_PULLUP);

  76. 		#else

  77. 		pinMode(pin1, INPUT);

  78. 		digitalWrite(pin1, HIGH);

  79. 		pinMode(pin2, INPUT);

  80. 		digitalWrite(pin2, HIGH);

  81. 		#endif

  82. 		encoder.pin1_register = PIN_TO_BASEREG(pin1);

  83. 		encoder.pin1_bitmask = PIN_TO_BITMASK(pin1);

  84. 		encoder.pin2_register = PIN_TO_BASEREG(pin2);

  85. 		encoder.pin2_bitmask = PIN_TO_BITMASK(pin2);

  86. 		encoder.position = 0;

  87. 		// allow time for a passive R-C filter to charge

  88. 		// through the pullup resistors, before reading

  89. 		// the initial state

  90. 		delayMicroseconds(2000);

  91. 		uint8_t s = 0;

  92. 		if (DIRECT_PIN_READ(encoder.pin1_register, encoder.pin1_bitmask)) s |= 1;

  93. 		if (DIRECT_PIN_READ(encoder.pin2_register, encoder.pin2_bitmask)) s |= 2;

  94. 		encoder.state = s;

  95. #ifdef ENCODER_USE_INTERRUPTS

  96. 		interrupts_in_use = attach_interrupt(pin1, &encoder);

  97. 		interrupts_in_use += attach_interrupt(pin2, &encoder);

  98. #endif

  99. 		//update_finishup();  // to force linker to include the code (does not work)

  100. 	}

  101. 

  102. 

  103. #ifdef ENCODER_USE_INTERRUPTS

  104. 	inline int32_t read() {

  105. 		if (interrupts_in_use < 2) {

  106. 			noInterrupts();

  107. 			update(&encoder);

  108. 		} else {

  109. 			noInterrupts();

  110. 		}

  111. 		int32_t ret = encoder.position;

  112. 		interrupts();

  113. 		return ret;

  114. 	}

  115. 	inline int32_t readAndReset() {

  116. 		if (interrupts_in_use < 2) {

  117. 			noInterrupts();

  118. 			update(&encoder);

  119. 		} else {

  120. 			noInterrupts();

  121. 		}

  122. 		int32_t ret = encoder.position;

  123. 		encoder.position = 0;

  124. 		interrupts();

  125. 		return ret;

  126. 	}

  127. 	inline void write(int32_t p) {

  128. 		noInterrupts();

  129. 		encoder.position = p;

  130. 		interrupts();

  131. 	}

  132. #else

  133. 	inline int32_t read() {

  134. 		update(&encoder);

  135. 		return encoder.position;

  136. 	}

  137. 	inline int32_t readAndReset() {

  138. 		update(&encoder);

  139. 		int32_t ret = encoder.position;

  140. 		encoder.position = 0;

  141. 		return ret;

  142. 	}

  143. 	inline void write(int32_t p) {

  144. 		encoder.position = p;

  145. 	}

  146. #endif

  147. private:

  148. 	Encoder_internal_state_t encoder;

  149. #ifdef ENCODER_USE_INTERRUPTS

  150. 	uint8_t interrupts_in_use;

  151. #endif

  152. public:

  153. 	static Encoder_internal_state_t * interruptArgs[ENCODER_ARGLIST_SIZE];

  154. 

  155. //                           _______         _______       

  156. //               Pin1 ______|       |_______|       |______ Pin1

  157. // negative <---         _______         _______         __      --> positive

  158. //               Pin2 __|       |_______|       |_______|   Pin2

  159. 

  160. 		//	new	new	old	old

  161. 		//	pin2	pin1	pin2	pin1	Result

  162. 		//	----	----	----	----	------

  163. 		//	0	0	0	0	no movement

  164. 		//	0	0	0	1	+1

  165. 		//	0	0	1	0	-1

  166. 		//	0	0	1	1	+2  (assume pin1 edges only)

  167. 		//	0	1	0	0	-1

  168. 		//	0	1	0	1	no movement

  169. 		//	0	1	1	0	-2  (assume pin1 edges only)

  170. 		//	0	1	1	1	+1

  171. 		//	1	0	0	0	+1

  172. 		//	1	0	0	1	-2  (assume pin1 edges only)

  173. 		//	1	0	1	0	no movement

  174. 		//	1	0	1	1	-1

  175. 		//	1	1	0	0	+2  (assume pin1 edges only)

  176. 		//	1	1	0	1	-1

  177. 		//	1	1	1	0	+1

  178. 		//	1	1	1	1	no movement

  179. /*

  180. 	// Simple, easy-to-read "documentation" version :-)

  181. 	//

  182. 	void update(void) {

  183. 		uint8_t s = state & 3;

  184. 		if (digitalRead(pin1)) s |= 4;

  185. 		if (digitalRead(pin2)) s |= 8;

  186. 		switch (s) {

  187. 			case 0: case 5: case 10: case 15:

  188. 				break;

  189. 			case 1: case 7: case 8: case 14:

  190. 				position++; break;

  191. 			case 2: case 4: case 11: case 13:

  192. 				position--; break;

  193. 			case 3: case 12:

  194. 				position += 2; break;

  195. 			default:

  196. 				position -= 2; break;

  197. 		}

  198. 		state = (s >> 2);

  199. 	}

  200. */

  201. 

  202. public:

  203. 	// update() is not meant to be called from outside Encoder,

  204. 	// but it is public to allow static interrupt routines.

  205. 	// DO NOT call update() directly from sketches.

  206. 	static void update(Encoder_internal_state_t *arg) {

  207. #if defined(__AVR__)

  208. 		// The compiler believes this is just 1 line of code, so

  209. 		// it will inline this function into each interrupt

  210. 		// handler.  That's a tiny bit faster, but grows the code.

  211. 		// Especially when used with ENCODER_OPTIMIZE_INTERRUPTS,

  212. 		// the inline nature allows the ISR prologue and epilogue

  213. 		// to only save/restore necessary registers, for very nice

  214. 		// speed increase.

  215. 		asm volatile (

  216. 			"ld	r30, X+"		"\n\t"

  217. 			"ld	r31, X+"		"\n\t"

  218. 			"ld	r24, Z"			"\n\t"	// r24 = pin1 input

  219. 			"ld	r30, X+"		"\n\t"

  220. 			"ld	r31, X+"		"\n\t"

  221. 			"ld	r25, Z"			"\n\t"  // r25 = pin2 input

  222. 			"ld	r30, X+"		"\n\t"  // r30 = pin1 mask

  223. 			"ld	r31, X+"		"\n\t"	// r31 = pin2 mask

  224. 			"ld	r22, X"			"\n\t"	// r22 = state

  225. 			"andi	r22, 3"			"\n\t"

  226. 			"and	r24, r30"		"\n\t"

  227. 			"breq	L%=1"			"\n\t"	// if (pin1)

  228. 			"ori	r22, 4"			"\n\t"	//	state |= 4

  229. 		"L%=1:"	"and	r25, r31"		"\n\t"

  230. 			"breq	L%=2"			"\n\t"	// if (pin2)

  231. 			"ori	r22, 8"			"\n\t"	//	state |= 8

  232. 		"L%=2:" "ldi	r30, lo8(pm(L%=table))"	"\n\t"

  233. 			"ldi	r31, hi8(pm(L%=table))"	"\n\t"

  234. 			"add	r30, r22"		"\n\t"

  235. 			"adc	r31, __zero_reg__"	"\n\t"

  236. 			"asr	r22"			"\n\t"

  237. 			"asr	r22"			"\n\t"

  238. 			"st	X+, r22"		"\n\t"  // store new state

  239. 			"ld	r22, X+"		"\n\t"

  240. 			"ld	r23, X+"		"\n\t"

  241. 			"ld	r24, X+"		"\n\t"

  242. 			"ld	r25, X+"		"\n\t"

  243. 			"ijmp"				"\n\t"	// jumps to update_finishup()

  244. 			// TODO move this table to another static function,

  245. 			// so it doesn't get needlessly duplicated.  Easier

  246. 			// said than done, due to linker issues and inlining

  247. 		"L%=table:"				"\n\t"

  248. 			"rjmp	L%=end"			"\n\t"	// 0

  249. 			"rjmp	L%=plus1"		"\n\t"	// 1

  250. 			"rjmp	L%=minus1"		"\n\t"	// 2

  251. 			"rjmp	L%=plus2"		"\n\t"	// 3

  252. 			"rjmp	L%=minus1"		"\n\t"	// 4

  253. 			"rjmp	L%=end"			"\n\t"	// 5

  254. 			"rjmp	L%=minus2"		"\n\t"	// 6

  255. 			"rjmp	L%=plus1"		"\n\t"	// 7

  256. 			"rjmp	L%=plus1"		"\n\t"	// 8

  257. 			"rjmp	L%=minus2"		"\n\t"	// 9

  258. 			"rjmp	L%=end"			"\n\t"	// 10

  259. 			"rjmp	L%=minus1"		"\n\t"	// 11

  260. 			"rjmp	L%=plus2"		"\n\t"	// 12

  261. 			"rjmp	L%=minus1"		"\n\t"	// 13

  262. 			"rjmp	L%=plus1"		"\n\t"	// 14

  263. 			"rjmp	L%=end"			"\n\t"	// 15

  264. 		"L%=minus2:"				"\n\t"

  265. 			"subi	r22, 2"			"\n\t"

  266. 			"sbci	r23, 0"			"\n\t"

  267. 			"sbci	r24, 0"			"\n\t"

  268. 			"sbci	r25, 0"			"\n\t"

  269. 			"rjmp	L%=store"		"\n\t"

  270. 		"L%=minus1:"				"\n\t"

  271. 			"subi	r22, 1"			"\n\t"

  272. 			"sbci	r23, 0"			"\n\t"

  273. 			"sbci	r24, 0"			"\n\t"

  274. 			"sbci	r25, 0"			"\n\t"

  275. 			"rjmp	L%=store"		"\n\t"

  276. 		"L%=plus2:"				"\n\t"

  277. 			"subi	r22, 254"		"\n\t"

  278. 			"rjmp	L%=z"			"\n\t"

  279. 		"L%=plus1:"				"\n\t"

  280. 			"subi	r22, 255"		"\n\t"

  281. 		"L%=z:"	"sbci	r23, 255"		"\n\t"

  282. 			"sbci	r24, 255"		"\n\t"

  283. 			"sbci	r25, 255"		"\n\t"

  284. 		"L%=store:"				"\n\t"

  285. 			"st	-X, r25"		"\n\t"

  286. 			"st	-X, r24"		"\n\t"

  287. 			"st	-X, r23"		"\n\t"

  288. 			"st	-X, r22"		"\n\t"

  289. 		"L%=end:"				"\n"

  290. 		: : "x" (arg) : "r22", "r23", "r24", "r25", "r30", "r31");

  291. #else

  292. 		uint8_t p1val = DIRECT_PIN_READ(arg->pin1_register, arg->pin1_bitmask);

  293. 		uint8_t p2val = DIRECT_PIN_READ(arg->pin2_register, arg->pin2_bitmask);

  294. 		uint8_t state = arg->state & 3;

  295. 		if (p1val) state |= 4;

  296. 		if (p2val) state |= 8;

  297. 		arg->state = (state >> 2);

  298. 		switch (state) {

  299. 			case 1: case 7: case 8: case 14:

  300. 				arg->position++;

  301. 				return;

  302. 			case 2: case 4: case 11: case 13:

  303. 				arg->position--;

  304. 				return;

  305. 			case 3: case 12:

  306. 				arg->position += 2;

  307. 				return;

  308. 			case 6: case 9:

  309. 				arg->position -= 2;

  310. 				return;

  311. 		}

  312. #endif

  313. 	}

  314. private:

  315. /*

  316. #if defined(__AVR__)

  317. 	// TODO: this must be a no inline function

  318. 	// even noinline does not seem to solve difficult

  319. 	// problems with this.  Oh well, it was only meant

  320. 	// to shrink code size - there's no performance

  321. 	// improvement in this, only code size reduction.

  322. 	__attribute__((noinline)) void update_finishup(void) {

  323. 		asm volatile (

  324. 			"ldi	r30, lo8(pm(Ltable))"	"\n\t"

  325. 			"ldi	r31, hi8(pm(Ltable))"	"\n\t"

  326. 		"Ltable:"				"\n\t"

  327. 			"rjmp	L%=end"			"\n\t"	// 0

  328. 			"rjmp	L%=plus1"		"\n\t"	// 1

  329. 			"rjmp	L%=minus1"		"\n\t"	// 2

  330. 			"rjmp	L%=plus2"		"\n\t"	// 3

  331. 			"rjmp	L%=minus1"		"\n\t"	// 4

  332. 			"rjmp	L%=end"			"\n\t"	// 5

  333. 			"rjmp	L%=minus2"		"\n\t"	// 6

  334. 			"rjmp	L%=plus1"		"\n\t"	// 7

  335. 			"rjmp	L%=plus1"		"\n\t"	// 8

  336. 			"rjmp	L%=minus2"		"\n\t"	// 9

  337. 			"rjmp	L%=end"			"\n\t"	// 10

  338. 			"rjmp	L%=minus1"		"\n\t"	// 11

  339. 			"rjmp	L%=plus2"		"\n\t"	// 12

  340. 			"rjmp	L%=minus1"		"\n\t"	// 13

  341. 			"rjmp	L%=plus1"		"\n\t"	// 14

  342. 			"rjmp	L%=end"			"\n\t"	// 15

  343. 		"L%=minus2:"				"\n\t"

  344. 			"subi	r22, 2"			"\n\t"

  345. 			"sbci	r23, 0"			"\n\t"

  346. 			"sbci	r24, 0"			"\n\t"

  347. 			"sbci	r25, 0"			"\n\t"

  348. 			"rjmp	L%=store"		"\n\t"

  349. 		"L%=minus1:"				"\n\t"

  350. 			"subi	r22, 1"			"\n\t"

  351. 			"sbci	r23, 0"			"\n\t"

  352. 			"sbci	r24, 0"			"\n\t"

  353. 			"sbci	r25, 0"			"\n\t"

  354. 			"rjmp	L%=store"		"\n\t"

  355. 		"L%=plus2:"				"\n\t"

  356. 			"subi	r22, 254"		"\n\t"

  357. 			"rjmp	L%=z"			"\n\t"

  358. 		"L%=plus1:"				"\n\t"

  359. 			"subi	r22, 255"		"\n\t"

  360. 		"L%=z:"	"sbci	r23, 255"		"\n\t"

  361. 			"sbci	r24, 255"		"\n\t"

  362. 			"sbci	r25, 255"		"\n\t"

  363. 		"L%=store:"				"\n\t"

  364. 			"st	-X, r25"		"\n\t"

  365. 			"st	-X, r24"		"\n\t"

  366. 			"st	-X, r23"		"\n\t"

  367. 			"st	-X, r22"		"\n\t"

  368. 		"L%=end:"				"\n"

  369. 		: : : "r22", "r23", "r24", "r25", "r30", "r31");

  370. 	}

  371. #endif

  372. */

  373. 

  374. 

  375. #ifdef ENCODER_USE_INTERRUPTS

  376. 	// this giant function is an unfortunate consequence of Arduino's

  377. 	// attachInterrupt function not supporting any way to pass a pointer

  378. 	// or other context to the attached function.

  379. 	static uint8_t attach_interrupt(uint8_t pin, Encoder_internal_state_t *state) {

  380. 		switch (pin) {

  381. 		#ifdef CORE_INT0_PIN

  382. 			case CORE_INT0_PIN:

  383. 				interruptArgs[0] = state;

  384. 				attachInterrupt(0, isr0, CHANGE);

  385. 				break;

  386. 		#endif

  387. 		#ifdef CORE_INT1_PIN

  388. 			case CORE_INT1_PIN:

  389. 				interruptArgs[1] = state;

  390. 				attachInterrupt(1, isr1, CHANGE);

  391. 				break;

  392. 		#endif

  393. 		#ifdef CORE_INT2_PIN

  394. 			case CORE_INT2_PIN:

  395. 				interruptArgs[2] = state;

  396. 				attachInterrupt(2, isr2, CHANGE);

  397. 				break;

  398. 		#endif

  399. 		#ifdef CORE_INT3_PIN

  400. 			case CORE_INT3_PIN:

  401. 				interruptArgs[3] = state;

  402. 				attachInterrupt(3, isr3, CHANGE);

  403. 				break;

  404. 		#endif

  405. 		#ifdef CORE_INT4_PIN

  406. 			case CORE_INT4_PIN:

  407. 				interruptArgs[4] = state;

  408. 				attachInterrupt(4, isr4, CHANGE);

  409. 				break;

  410. 		#endif

  411. 		#ifdef CORE_INT5_PIN

  412. 			case CORE_INT5_PIN:

  413. 				interruptArgs[5] = state;

  414. 				attachInterrupt(5, isr5, CHANGE);

  415. 				break;

  416. 		#endif

  417. 		#ifdef CORE_INT6_PIN

  418. 			case CORE_INT6_PIN:

  419. 				interruptArgs[6] = state;

  420. 				attachInterrupt(6, isr6, CHANGE);

  421. 				break;

  422. 		#endif

  423. 		#ifdef CORE_INT7_PIN

  424. 			case CORE_INT7_PIN:

  425. 				interruptArgs[7] = state;

  426. 				attachInterrupt(7, isr7, CHANGE);

  427. 				break;

  428. 		#endif

  429. 		#ifdef CORE_INT8_PIN

  430. 			case CORE_INT8_PIN:

  431. 				interruptArgs[8] = state;

  432. 				attachInterrupt(8, isr8, CHANGE);

  433. 				break;

  434. 		#endif

  435. 		#ifdef CORE_INT9_PIN

  436. 			case CORE_INT9_PIN:

  437. 				interruptArgs[9] = state;

  438. 				attachInterrupt(9, isr9, CHANGE);

  439. 				break;

  440. 		#endif

  441. 		#ifdef CORE_INT10_PIN

  442. 			case CORE_INT10_PIN:

  443. 				interruptArgs[10] = state;

  444. 				attachInterrupt(10, isr10, CHANGE);

  445. 				break;

  446. 		#endif

  447. 		#ifdef CORE_INT11_PIN

  448. 			case CORE_INT11_PIN:

  449. 				interruptArgs[11] = state;

  450. 				attachInterrupt(11, isr11, CHANGE);

  451. 				break;

  452. 		#endif

  453. 		#ifdef CORE_INT12_PIN

  454. 			case CORE_INT12_PIN:

  455. 				interruptArgs[12] = state;

  456. 				attachInterrupt(12, isr12, CHANGE);

  457. 				break;

  458. 		#endif

  459. 		#ifdef CORE_INT13_PIN

  460. 			case CORE_INT13_PIN:

  461. 				interruptArgs[13] = state;

  462. 				attachInterrupt(13, isr13, CHANGE);

  463. 				break;

  464. 		#endif

  465. 		#ifdef CORE_INT14_PIN

  466. 			case CORE_INT14_PIN:

  467. 				interruptArgs[14] = state;

  468. 				attachInterrupt(14, isr14, CHANGE);

  469. 				break;

  470. 		#endif

  471. 		#ifdef CORE_INT15_PIN

  472. 			case CORE_INT15_PIN:

  473. 				interruptArgs[15] = state;

  474. 				attachInterrupt(15, isr15, CHANGE);

  475. 				break;

  476. 		#endif

  477. 		#ifdef CORE_INT16_PIN

  478. 			case CORE_INT16_PIN:

  479. 				interruptArgs[16] = state;

  480. 				attachInterrupt(16, isr16, CHANGE);

  481. 				break;

  482. 		#endif

  483. 		#ifdef CORE_INT17_PIN

  484. 			case CORE_INT17_PIN:

  485. 				interruptArgs[17] = state;

  486. 				attachInterrupt(17, isr17, CHANGE);

  487. 				break;

  488. 		#endif

  489. 		#ifdef CORE_INT18_PIN

  490. 			case CORE_INT18_PIN:

  491. 				interruptArgs[18] = state;

  492. 				attachInterrupt(18, isr18, CHANGE);

  493. 				break;

  494. 		#endif

  495. 		#ifdef CORE_INT19_PIN

  496. 			case CORE_INT19_PIN:

  497. 				interruptArgs[19] = state;

  498. 				attachInterrupt(19, isr19, CHANGE);

  499. 				break;

  500. 		#endif

  501. 		#ifdef CORE_INT20_PIN

  502. 			case CORE_INT20_PIN:

  503. 				interruptArgs[20] = state;

  504. 				attachInterrupt(20, isr20, CHANGE);

  505. 				break;

  506. 		#endif

  507. 		#ifdef CORE_INT21_PIN

  508. 			case CORE_INT21_PIN:

  509. 				interruptArgs[21] = state;

  510. 				attachInterrupt(21, isr21, CHANGE);

  511. 				break;

  512. 		#endif

  513. 		#ifdef CORE_INT22_PIN

  514. 			case CORE_INT22_PIN:

  515. 				interruptArgs[22] = state;

  516. 				attachInterrupt(22, isr22, CHANGE);

  517. 				break;

  518. 		#endif

  519. 		#ifdef CORE_INT23_PIN

  520. 			case CORE_INT23_PIN:

  521. 				interruptArgs[23] = state;

  522. 				attachInterrupt(23, isr23, CHANGE);

  523. 				break;

  524. 		#endif

  525. 		#ifdef CORE_INT24_PIN

  526. 			case CORE_INT24_PIN:

  527. 				interruptArgs[24] = state;

  528. 				attachInterrupt(24, isr24, CHANGE);

  529. 				break;

  530. 		#endif

  531. 		#ifdef CORE_INT25_PIN

  532. 			case CORE_INT25_PIN:

  533. 				interruptArgs[25] = state;

  534. 				attachInterrupt(25, isr25, CHANGE);

  535. 				break;

  536. 		#endif

  537. 		#ifdef CORE_INT26_PIN

  538. 			case CORE_INT26_PIN:

  539. 				interruptArgs[26] = state;

  540. 				attachInterrupt(26, isr26, CHANGE);

  541. 				break;

  542. 		#endif

  543. 		#ifdef CORE_INT27_PIN

  544. 			case CORE_INT27_PIN:

  545. 				interruptArgs[27] = state;

  546. 				attachInterrupt(27, isr27, CHANGE);

  547. 				break;

  548. 		#endif

  549. 		#ifdef CORE_INT28_PIN

  550. 			case CORE_INT28_PIN:

  551. 				interruptArgs[28] = state;

  552. 				attachInterrupt(28, isr28, CHANGE);

  553. 				break;

  554. 		#endif

  555. 		#ifdef CORE_INT29_PIN

  556. 			case CORE_INT29_PIN:

  557. 				interruptArgs[29] = state;

  558. 				attachInterrupt(29, isr29, CHANGE);

  559. 				break;

  560. 		#endif

  561. 

  562. 		#ifdef CORE_INT30_PIN

  563. 			case CORE_INT30_PIN:

  564. 				interruptArgs[30] = state;

  565. 				attachInterrupt(30, isr30, CHANGE);

  566. 				break;

  567. 		#endif

  568. 		#ifdef CORE_INT31_PIN

  569. 			case CORE_INT31_PIN:

  570. 				interruptArgs[31] = state;

  571. 				attachInterrupt(31, isr31, CHANGE);

  572. 				break;

  573. 		#endif

  574. 		#ifdef CORE_INT32_PIN

  575. 			case CORE_INT32_PIN:

  576. 				interruptArgs[32] = state;

  577. 				attachInterrupt(32, isr32, CHANGE);

  578. 				break;

  579. 		#endif

  580. 		#ifdef CORE_INT33_PIN

  581. 			case CORE_INT33_PIN:

  582. 				interruptArgs[33] = state;

  583. 				attachInterrupt(33, isr33, CHANGE);

  584. 				break;

  585. 		#endif

  586. 		#ifdef CORE_INT34_PIN

  587. 			case CORE_INT34_PIN:

  588. 				interruptArgs[34] = state;

  589. 				attachInterrupt(34, isr34, CHANGE);

  590. 				break;

  591. 		#endif

  592. 		#ifdef CORE_INT35_PIN

  593. 			case CORE_INT35_PIN:

  594. 				interruptArgs[35] = state;

  595. 				attachInterrupt(35, isr35, CHANGE);

  596. 				break;

  597. 		#endif

  598. 		#ifdef CORE_INT36_PIN

  599. 			case CORE_INT36_PIN:

  600. 				interruptArgs[36] = state;

  601. 				attachInterrupt(36, isr36, CHANGE);

  602. 				break;

  603. 		#endif

  604. 		#ifdef CORE_INT37_PIN

  605. 			case CORE_INT37_PIN:

  606. 				interruptArgs[37] = state;

  607. 				attachInterrupt(37, isr37, CHANGE);

  608. 				break;

  609. 		#endif

  610. 		#ifdef CORE_INT38_PIN

  611. 			case CORE_INT38_PIN:

  612. 				interruptArgs[38] = state;

  613. 				attachInterrupt(38, isr38, CHANGE);

  614. 				break;

  615. 		#endif

  616. 		#ifdef CORE_INT39_PIN

  617. 			case CORE_INT39_PIN:

  618. 				interruptArgs[39] = state;

  619. 				attachInterrupt(39, isr39, CHANGE);

  620. 				break;

  621. 		#endif

  622. 		#ifdef CORE_INT40_PIN

  623. 			case CORE_INT40_PIN:

  624. 				interruptArgs[40] = state;

  625. 				attachInterrupt(40, isr40, CHANGE);

  626. 				break;

  627. 		#endif

  628. 		#ifdef CORE_INT41_PIN

  629. 			case CORE_INT41_PIN:

  630. 				interruptArgs[41] = state;

  631. 				attachInterrupt(41, isr41, CHANGE);

  632. 				break;

  633. 		#endif

  634. 		#ifdef CORE_INT42_PIN

  635. 			case CORE_INT42_PIN:

  636. 				interruptArgs[42] = state;

  637. 				attachInterrupt(42, isr42, CHANGE);

  638. 				break;

  639. 		#endif

  640. 		#ifdef CORE_INT43_PIN

  641. 			case CORE_INT43_PIN:

  642. 				interruptArgs[43] = state;

  643. 				attachInterrupt(43, isr43, CHANGE);

  644. 				break;

  645. 		#endif

  646. 		#ifdef CORE_INT44_PIN

  647. 			case CORE_INT44_PIN:

  648. 				interruptArgs[44] = state;

  649. 				attachInterrupt(44, isr44, CHANGE);

  650. 				break;

  651. 		#endif

  652. 		#ifdef CORE_INT45_PIN

  653. 			case CORE_INT45_PIN:

  654. 				interruptArgs[45] = state;

  655. 				attachInterrupt(45, isr45, CHANGE);

  656. 				break;

  657. 		#endif

  658. 		#ifdef CORE_INT46_PIN

  659. 			case CORE_INT46_PIN:

  660. 				interruptArgs[46] = state;

  661. 				attachInterrupt(46, isr46, CHANGE);

  662. 				break;

  663. 		#endif

  664. 		#ifdef CORE_INT47_PIN

  665. 			case CORE_INT47_PIN:

  666. 				interruptArgs[47] = state;

  667. 				attachInterrupt(47, isr47, CHANGE);

  668. 				break;

  669. 		#endif

  670. 		#ifdef CORE_INT48_PIN

  671. 			case CORE_INT48_PIN:

  672. 				interruptArgs[48] = state;

  673. 				attachInterrupt(48, isr48, CHANGE);

  674. 				break;

  675. 		#endif

  676. 		#ifdef CORE_INT49_PIN

  677. 			case CORE_INT49_PIN:

  678. 				interruptArgs[49] = state;

  679. 				attachInterrupt(49, isr49, CHANGE);

  680. 				break;

  681. 		#endif

  682. 		#ifdef CORE_INT50_PIN

  683. 			case CORE_INT50_PIN:

  684. 				interruptArgs[50] = state;

  685. 				attachInterrupt(50, isr50, CHANGE);

  686. 				break;

  687. 		#endif

  688. 		#ifdef CORE_INT51_PIN

  689. 			case CORE_INT51_PIN:

  690. 				interruptArgs[51] = state;

  691. 				attachInterrupt(51, isr51, CHANGE);

  692. 				break;

  693. 		#endif

  694. 		#ifdef CORE_INT52_PIN

  695. 			case CORE_INT52_PIN:

  696. 				interruptArgs[52] = state;

  697. 				attachInterrupt(52, isr52, CHANGE);

  698. 				break;

  699. 		#endif

  700. 		#ifdef CORE_INT53_PIN

  701. 			case CORE_INT53_PIN:

  702. 				interruptArgs[53] = state;

  703. 				attachInterrupt(53, isr53, CHANGE);

  704. 				break;

  705. 		#endif

  706. 		#ifdef CORE_INT54_PIN

  707. 			case CORE_INT54_PIN:

  708. 				interruptArgs[54] = state;

  709. 				attachInterrupt(54, isr54, CHANGE);

  710. 				break;

  711. 		#endif

  712. 		#ifdef CORE_INT55_PIN

  713. 			case CORE_INT55_PIN:

  714. 				interruptArgs[55] = state;

  715. 				attachInterrupt(55, isr55, CHANGE);

  716. 				break;

  717. 		#endif

  718. 		#ifdef CORE_INT56_PIN

  719. 			case CORE_INT56_PIN:

  720. 				interruptArgs[56] = state;

  721. 				attachInterrupt(56, isr56, CHANGE);

  722. 				break;

  723. 		#endif

  724. 		#ifdef CORE_INT57_PIN

  725. 			case CORE_INT57_PIN:

  726. 				interruptArgs[57] = state;

  727. 				attachInterrupt(57, isr57, CHANGE);

  728. 				break;

  729. 		#endif

  730. 		#ifdef CORE_INT58_PIN

  731. 			case CORE_INT58_PIN:

  732. 				interruptArgs[58] = state;

  733. 				attachInterrupt(58, isr58, CHANGE);

  734. 				break;

  735. 		#endif

  736. 		#ifdef CORE_INT59_PIN

  737. 			case CORE_INT59_PIN:

  738. 				interruptArgs[59] = state;

  739. 				attachInterrupt(59, isr59, CHANGE);

  740. 				break;

  741. 		#endif

  742. 			default:

  743. 				return 0;

  744. 		}

  745. 		return 1;

  746. 	}

  747. #endif // ENCODER_USE_INTERRUPTS

  748. 

  749. 

  750. #if defined(ENCODER_USE_INTERRUPTS) && !defined(ENCODER_OPTIMIZE_INTERRUPTS)

  751. 	#ifdef CORE_INT0_PIN

  752. 	static void isr0(void) { update(interruptArgs[0]); }

  753. 	#endif

  754. 	#ifdef CORE_INT1_PIN

  755. 	static void isr1(void) { update(interruptArgs[1]); }

  756. 	#endif

  757. 	#ifdef CORE_INT2_PIN

  758. 	static void isr2(void) { update(interruptArgs[2]); }

  759. 	#endif

  760. 	#ifdef CORE_INT3_PIN

  761. 	static void isr3(void) { update(interruptArgs[3]); }

  762. 	#endif

  763. 	#ifdef CORE_INT4_PIN

  764. 	static void isr4(void) { update(interruptArgs[4]); }

  765. 	#endif

  766. 	#ifdef CORE_INT5_PIN

  767. 	static void isr5(void) { update(interruptArgs[5]); }

  768. 	#endif

  769. 	#ifdef CORE_INT6_PIN

  770. 	static void isr6(void) { update(interruptArgs[6]); }

  771. 	#endif

  772. 	#ifdef CORE_INT7_PIN

  773. 	static void isr7(void) { update(interruptArgs[7]); }

  774. 	#endif

  775. 	#ifdef CORE_INT8_PIN

  776. 	static void isr8(void) { update(interruptArgs[8]); }

  777. 	#endif

  778. 	#ifdef CORE_INT9_PIN

  779. 	static void isr9(void) { update(interruptArgs[9]); }

  780. 	#endif

  781. 	#ifdef CORE_INT10_PIN

  782. 	static void isr10(void) { update(interruptArgs[10]); }

  783. 	#endif

  784. 	#ifdef CORE_INT11_PIN

  785. 	static void isr11(void) { update(interruptArgs[11]); }

  786. 	#endif

  787. 	#ifdef CORE_INT12_PIN

  788. 	static void isr12(void) { update(interruptArgs[12]); }

  789. 	#endif

  790. 	#ifdef CORE_INT13_PIN

  791. 	static void isr13(void) { update(interruptArgs[13]); }

  792. 	#endif

  793. 	#ifdef CORE_INT14_PIN

  794. 	static void isr14(void) { update(interruptArgs[14]); }

  795. 	#endif

  796. 	#ifdef CORE_INT15_PIN

  797. 	static void isr15(void) { update(interruptArgs[15]); }

  798. 	#endif

  799. 	#ifdef CORE_INT16_PIN

  800. 	static void isr16(void) { update(interruptArgs[16]); }

  801. 	#endif

  802. 	#ifdef CORE_INT17_PIN

  803. 	static void isr17(void) { update(interruptArgs[17]); }

  804. 	#endif

  805. 	#ifdef CORE_INT18_PIN

  806. 	static void isr18(void) { update(interruptArgs[18]); }

  807. 	#endif

  808. 	#ifdef CORE_INT19_PIN

  809. 	static void isr19(void) { update(interruptArgs[19]); }

  810. 	#endif

  811. 	#ifdef CORE_INT20_PIN

  812. 	static void isr20(void) { update(interruptArgs[20]); }

  813. 	#endif

  814. 	#ifdef CORE_INT21_PIN

  815. 	static void isr21(void) { update(interruptArgs[21]); }

  816. 	#endif

  817. 	#ifdef CORE_INT22_PIN

  818. 	static void isr22(void) { update(interruptArgs[22]); }

  819. 	#endif

  820. 	#ifdef CORE_INT23_PIN

  821. 	static void isr23(void) { update(interruptArgs[23]); }

  822. 	#endif

  823. 	#ifdef CORE_INT24_PIN

  824. 	static void isr24(void) { update(interruptArgs[24]); }

  825. 	#endif

  826. 	#ifdef CORE_INT25_PIN

  827. 	static void isr25(void) { update(interruptArgs[25]); }

  828. 	#endif

  829. 	#ifdef CORE_INT26_PIN

  830. 	static void isr26(void) { update(interruptArgs[26]); }

  831. 	#endif

  832. 	#ifdef CORE_INT27_PIN

  833. 	static void isr27(void) { update(interruptArgs[27]); }

  834. 	#endif

  835. 	#ifdef CORE_INT28_PIN

  836. 	static void isr28(void) { update(interruptArgs[28]); }

  837. 	#endif

  838. 	#ifdef CORE_INT29_PIN

  839. 	static void isr29(void) { update(interruptArgs[29]); }

  840. 	#endif

  841. 	#ifdef CORE_INT30_PIN

  842. 	static void isr30(void) { update(interruptArgs[30]); }

  843. 	#endif

  844. 	#ifdef CORE_INT31_PIN

  845. 	static void isr31(void) { update(interruptArgs[31]); }

  846. 	#endif

  847. 	#ifdef CORE_INT32_PIN

  848. 	static void isr32(void) { update(interruptArgs[32]); }

  849. 	#endif

  850. 	#ifdef CORE_INT33_PIN

  851. 	static void isr33(void) { update(interruptArgs[33]); }

  852. 	#endif

  853. 	#ifdef CORE_INT34_PIN

  854. 	static void isr34(void) { update(interruptArgs[34]); }

  855. 	#endif

  856. 	#ifdef CORE_INT35_PIN

  857. 	static void isr35(void) { update(interruptArgs[35]); }

  858. 	#endif

  859. 	#ifdef CORE_INT36_PIN

  860. 	static void isr36(void) { update(interruptArgs[36]); }

  861. 	#endif

  862. 	#ifdef CORE_INT37_PIN

  863. 	static void isr37(void) { update(interruptArgs[37]); }

  864. 	#endif

  865. 	#ifdef CORE_INT38_PIN

  866. 	static void isr38(void) { update(interruptArgs[38]); }

  867. 	#endif

  868. 	#ifdef CORE_INT39_PIN

  869. 	static void isr39(void) { update(interruptArgs[39]); }

  870. 	#endif

  871. 	#ifdef CORE_INT40_PIN

  872. 	static void isr40(void) { update(interruptArgs[40]); }

  873. 	#endif

  874. 	#ifdef CORE_INT41_PIN

  875. 	static void isr41(void) { update(interruptArgs[41]); }

  876. 	#endif

  877. 	#ifdef CORE_INT42_PIN

  878. 	static void isr42(void) { update(interruptArgs[42]); }

  879. 	#endif

  880. 	#ifdef CORE_INT43_PIN

  881. 	static void isr43(void) { update(interruptArgs[43]); }

  882. 	#endif

  883. 	#ifdef CORE_INT44_PIN

  884. 	static void isr44(void) { update(interruptArgs[44]); }

  885. 	#endif

  886. 	#ifdef CORE_INT45_PIN

  887. 	static void isr45(void) { update(interruptArgs[45]); }

  888. 	#endif

  889. 	#ifdef CORE_INT46_PIN

  890. 	static void isr46(void) { update(interruptArgs[46]); }

  891. 	#endif

  892. 	#ifdef CORE_INT47_PIN

  893. 	static void isr47(void) { update(interruptArgs[47]); }

  894. 	#endif

  895. 	#ifdef CORE_INT48_PIN

  896. 	static void isr48(void) { update(interruptArgs[48]); }

  897. 	#endif

  898. 	#ifdef CORE_INT49_PIN

  899. 	static void isr49(void) { update(interruptArgs[49]); }

  900. 	#endif

  901. 	#ifdef CORE_INT50_PIN

  902. 	static void isr50(void) { update(interruptArgs[50]); }

  903. 	#endif

  904. 	#ifdef CORE_INT51_PIN

  905. 	static void isr51(void) { update(interruptArgs[51]); }

  906. 	#endif

  907. 	#ifdef CORE_INT52_PIN

  908. 	static void isr52(void) { update(interruptArgs[52]); }

  909. 	#endif

  910. 	#ifdef CORE_INT53_PIN

  911. 	static void isr53(void) { update(interruptArgs[53]); }

  912. 	#endif

  913. 	#ifdef CORE_INT54_PIN

  914. 	static void isr54(void) { update(interruptArgs[54]); }

  915. 	#endif

  916. 	#ifdef CORE_INT55_PIN

  917. 	static void isr55(void) { update(interruptArgs[55]); }

  918. 	#endif

  919. 	#ifdef CORE_INT56_PIN

  920. 	static void isr56(void) { update(interruptArgs[56]); }

  921. 	#endif

  922. 	#ifdef CORE_INT57_PIN

  923. 	static void isr57(void) { update(interruptArgs[57]); }

  924. 	#endif

  925. 	#ifdef CORE_INT58_PIN

  926. 	static void isr58(void) { update(interruptArgs[58]); }

  927. 	#endif

  928. 	#ifdef CORE_INT59_PIN

  929. 	static void isr59(void) { update(interruptArgs[59]); }

  930. 	#endif

  931. #endif

  932. };

  933. 

  934. #if defined(ENCODER_USE_INTERRUPTS) && defined(ENCODER_OPTIMIZE_INTERRUPTS)

  935. #if defined(__AVR__)

  936. #if defined(INT0_vect) && CORE_NUM_INTERRUPT > 0

  937. ISR(INT0_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(0)]); }

  938. #endif

  939. #if defined(INT1_vect) && CORE_NUM_INTERRUPT > 1

  940. ISR(INT1_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(1)]); }

  941. #endif

  942. #if defined(INT2_vect) && CORE_NUM_INTERRUPT > 2

  943. ISR(INT2_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(2)]); }

  944. #endif

  945. #if defined(INT3_vect) && CORE_NUM_INTERRUPT > 3

  946. ISR(INT3_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(3)]); }

  947. #endif

  948. #if defined(INT4_vect) && CORE_NUM_INTERRUPT > 4

  949. ISR(INT4_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(4)]); }

  950. #endif

  951. #if defined(INT5_vect) && CORE_NUM_INTERRUPT > 5

  952. ISR(INT5_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(5)]); }

  953. #endif

  954. #if defined(INT6_vect) && CORE_NUM_INTERRUPT > 6

  955. ISR(INT6_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(6)]); }

  956. #endif

  957. #if defined(INT7_vect) && CORE_NUM_INTERRUPT > 7

  958. ISR(INT7_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(7)]); }

  959. #endif

  960. #endif // AVR

  961. #if defined(attachInterrupt)

  962. // Don't intefere with other libraries or sketch use of attachInterrupt()

  963. // https://github.com/PaulStoffregen/Encoder/issues/8

  964. #undef attachInterrupt

  965. #endif

  966. #endif // ENCODER_OPTIMIZE_INTERRUPTS

  967. 

  968. 

  969. #endif