grating ruler reading head

This is a low-cost (￥30), high-resolution (2048 subdivision) grating read head (integrated limit check), which can be used as a controller to control the motor to achieve closed-loop control (can control motion such as grbl, linuxCNC, etc. The controller outputs the direction and pulse signals driven by the stepper motor and connects to the encoder interface of the main control of the machine. The machine then performs position closed-loop control. This way the control precision is higher. However, it has not been implemented yet. I can only say With only such hardware conditions, this project can also be used as a data collector for external motion control. If CAN is used, the speed is slower. The uploaded position data can only reach 12K. If UART or SPI is used, the data transmission speed is fast. It may be unstable, depending on the demand). Since STC32G does not have an FPU and the floating point calculation is slow, the PID is currently converted into an integer for processing (this project implements an integer position PID that can be calculated once in 8us, but it is very restricted and cannot be controlled. The overflow cannot be less than 1). If there is an FPU at the back, the STC32F series with a main frequency of 72MHz can be replaced after shipment.
At present, only PCB drawing, subdivision processing, OLED simple display, and simple position PID control have been completed, and the verification and evaluation of key algorithms and related performance have been completed.
Code: https://github.com/ming-orz/linear_encoder_head
Video introduction: https://www.bilibili.com/video/BV1yM4y1r7tw/