void encoder_init(void)
{
/* initialize interrupts for external quadrature encoders */
PCICR |= BV(PCIE0) | BV(PCIE1); /* enable int0 (pin change 0-7) and int1 (pin change 8-14) */
EICRA |= BV(ISC00) | BV(ISC10); /* int on both rising and falling edge */
PCMSK0 |= BV(PCINT4); /* enable pin change INT4 (PB4) Left */
PCMSK1 |= BV(PCINT12); /* enable pin change INT12 (PC4) Right */
PB_PULL_UP (ENC_L_A_PORT, ENC_L_A); /* pull-up required according to datasheet */
PB_PULL_UP (ENC_L_B_PORT, ENC_L_B);
PB_PULL_UP (ENC_R_A_PORT, ENC_R_A);
PB_PULL_UP (ENC_R_B_PORT, ENC_R_B);
/* reset variables */
pid_ticks_l = 0;
pid_ticks_r = 0;
}
void button_init(void)
{
PB_PULL_UP (PORTD, PD7); /* enable pull-up resistor */
button_update();
}
