HAN Solarboat / Mbed 2 deprecated SolarOnFoils_MainModule_20150518

version 1.0

Dependencies:   CMSIS_DSP_401 GPS MPU9150_DMP PID QuaternionMath Servo mbed

Fork of SolarOnFoils_MainModule_20150518 by Dannis Brugman

mRotaryEncoder.h@2:f6d058931b17, 2015-08-11 (annotated)

Committer:
Dannis_mbed
Date:
Tue Aug 11 08:38:55 2015 +0000
Revision:
2:f6d058931b17
Parent:
0:81b21910454e 
Test version mainmodule

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Dannis_mbed 0:81b21910454e 1 #ifndef MROTENC_H_INCLUDED
Dannis_mbed 0:81b21910454e 2 #define MROTENC_H_INCLUDED
Dannis_mbed 0:81b21910454e 3
Dannis_mbed 0:81b21910454e 4 #include "mbed.h"
Dannis_mbed 0:81b21910454e 5 #include "PinDetect.h"
Dannis_mbed 0:81b21910454e 6
Dannis_mbed 0:81b21910454e 7
Dannis_mbed 0:81b21910454e 8 /** This Class handles a rotary encoder with mechanical switches and an integrated pushbutton
Dannis_mbed 0:81b21910454e 9 * It uses two pins, one creating an interrupt on change.
Dannis_mbed 0:81b21910454e 10 * Rotation direction is determined by checking the state of the other pin.
Dannis_mbed 0:81b21910454e 11 * Additionally a pushbutton switch is detected
Dannis_mbed 0:81b21910454e 12 *
Dannis_mbed 0:81b21910454e 13 * Operating the encoder changes an internal integer value that can be read
Dannis_mbed 0:81b21910454e 14 * by Get() or the operator int() functions.
Dannis_mbed 0:81b21910454e 15 * A new value can be set by Set(value) or opperator=.
Dannis_mbed 0:81b21910454e 16 *
Dannis_mbed 0:81b21910454e 17 * Autor: Thomas Raab (Raabinator)
Dannis_mbed 0:81b21910454e 18 * Extended by Karl Zweimueller (charly)
Dannis_mbed 0:81b21910454e 19 *
Dannis_mbed 0:81b21910454e 20 * Dent steady point ! ! !
Dannis_mbed 0:81b21910454e 21 * +-----+ +-----+
Dannis_mbed 0:81b21910454e 22 * pinA (interrupt) | | | |
Dannis_mbed 0:81b21910454e 23 * --+ +-----+ +---
Dannis_mbed 0:81b21910454e 24 * +-----+ +-----+
Dannis_mbed 0:81b21910454e 25 * pinB | | | |
Dannis_mbed 0:81b21910454e 26 * ----+ +-----+ +-
Dannis_mbed 0:81b21910454e 27 * --> C.W
Dannis_mbed 0:81b21910454e 28 * CW: increases position value
Dannis_mbed 0:81b21910454e 29 * CCW: decreases position value
Dannis_mbed 0:81b21910454e 30 *
Dannis_mbed 0:81b21910454e 31 * changelog:
Dannis_mbed 0:81b21910454e 32 *
Dannis_mbed 0:81b21910454e 33 * 09. Nov. 2010
Dannis_mbed 0:81b21910454e 34 * First version published Thomas Raab raabinator
Dannis_mbed 0:81b21910454e 35 * 26.11.2010 extended by charly - pushbutton, pullmode, debounce, callback-system
Dannis_mbed 0:81b21910454e 36 * Feb2011 Changes InterruptIn to PinDetect which does the debounce of mechanical switches
Dannis_mbed 0:81b21910454e 37 *
Dannis_mbed 0:81b21910454e 38 */
Dannis_mbed 0:81b21910454e 39 class mRotaryEncoder {
Dannis_mbed 0:81b21910454e 40 public:
Dannis_mbed 0:81b21910454e 41 /** Create a mechanical rotary encoder object connected to the specified pins
Dannis_mbed 0:81b21910454e 42 *
Dannis_mbed 0:81b21910454e 43 * @param pinA Switch A of quadrature encoder
Dannis_mbed 0:81b21910454e 44 * @param pinB Switch B of quadrature encoder
Dannis_mbed 0:81b21910454e 45 * @param pinSW Pin for push-button switch
Dannis_mbed 0:81b21910454e 46 * @param pullmode mode for pinA pinB and pinSW like DigitalIn.mode
Dannis_mbed 0:81b21910454e 47 * @param debounceTime_us time in micro-seconds to wait for bouncing of mechanical switches to end
Dannis_mbed 0:81b21910454e 48 */
Dannis_mbed 0:81b21910454e 49 mRotaryEncoder(PinName pinA, PinName pinB, PinName pinSW, PinMode pullMode=PullUp, int debounceTime_us=1000);
Dannis_mbed 0:81b21910454e 50
Dannis_mbed 0:81b21910454e 51 /** destroy object
Dannis_mbed 0:81b21910454e 52 *
Dannis_mbed 0:81b21910454e 53 */
Dannis_mbed 0:81b21910454e 54 ~mRotaryEncoder();
Dannis_mbed 0:81b21910454e 55
Dannis_mbed 0:81b21910454e 56 /** Get the actual value of the rotary position
Dannis_mbed 0:81b21910454e 57 *
Dannis_mbed 0:81b21910454e 58 * @return position int value of position
Dannis_mbed 0:81b21910454e 59 */
Dannis_mbed 0:81b21910454e 60 int Get(void);
Dannis_mbed 0:81b21910454e 61 inline operator int() {
Dannis_mbed 0:81b21910454e 62 return Get();
Dannis_mbed 0:81b21910454e 63 }
Dannis_mbed 0:81b21910454e 64
Dannis_mbed 0:81b21910454e 65 /** Set the current position value
Dannis_mbed 0:81b21910454e 66 *
Dannis_mbed 0:81b21910454e 67 * @param value the new position to set
Dannis_mbed 0:81b21910454e 68 *
Dannis_mbed 0:81b21910454e 69 */
Dannis_mbed 0:81b21910454e 70 void Set(int value);
Dannis_mbed 0:81b21910454e 71 inline mRotaryEncoder& operator= ( int value ) {
Dannis_mbed 0:81b21910454e 72 Set(value);
Dannis_mbed 0:81b21910454e 73 return *this;
Dannis_mbed 0:81b21910454e 74 }
Dannis_mbed 0:81b21910454e 75
Dannis_mbed 0:81b21910454e 76 /** attach a function to be called when switch is pressed
Dannis_mbed 0:81b21910454e 77 *
Dannis_mbed 0:81b21910454e 78 * keep this function short, as no interrrupts can occour within
Dannis_mbed 0:81b21910454e 79 *
Dannis_mbed 0:81b21910454e 80 * @param fptr Pointer to callback-function
Dannis_mbed 0:81b21910454e 81 */
Dannis_mbed 0:81b21910454e 82 void attachSW(void (*fptr)(void)) {
Dannis_mbed 0:81b21910454e 83 m_pinSW->attach_deasserted(fptr);
Dannis_mbed 0:81b21910454e 84 }
Dannis_mbed 0:81b21910454e 85
Dannis_mbed 0:81b21910454e 86 template<typename T>
Dannis_mbed 0:81b21910454e 87 /** attach an object member function to be called when switch is pressed
Dannis_mbed 0:81b21910454e 88 *
Dannis_mbed 0:81b21910454e 89 * @param tptr pointer to object
Dannis_mbed 0:81b21910454e 90 * @param mprt pointer ro member function
Dannis_mbed 0:81b21910454e 91 *
Dannis_mbed 0:81b21910454e 92 */
Dannis_mbed 0:81b21910454e 93 void attachSW(T* tptr, void (T::*mptr)(void)) {
Dannis_mbed 0:81b21910454e 94 if ((mptr != NULL) && (tptr != NULL)) {
Dannis_mbed 0:81b21910454e 95 m_pinSW->attach_deasserted(tptr, mptr);
Dannis_mbed 0:81b21910454e 96 }
Dannis_mbed 0:81b21910454e 97 }
Dannis_mbed 0:81b21910454e 98
Dannis_mbed 0:81b21910454e 99 /** callback-System for rotation of shaft
Dannis_mbed 0:81b21910454e 100 *
Dannis_mbed 0:81b21910454e 101 * attach a function to be called when the shaft is rotated
Dannis_mbed 0:81b21910454e 102 * keep this function short, as no interrrupts can occour within
Dannis_mbed 0:81b21910454e 103 *
Dannis_mbed 0:81b21910454e 104 * @param fprt Pointer to callback-function
Dannis_mbed 0:81b21910454e 105 */
Dannis_mbed 0:81b21910454e 106 void attachROT(void (*fptr)(void)) {
Dannis_mbed 0:81b21910454e 107 rotIsr.attach(fptr);
Dannis_mbed 0:81b21910454e 108 }
Dannis_mbed 0:81b21910454e 109
Dannis_mbed 0:81b21910454e 110
Dannis_mbed 0:81b21910454e 111 template<typename T>
Dannis_mbed 0:81b21910454e 112 /** attach an object member function to be called when shaft is rotated
Dannis_mbed 0:81b21910454e 113 *
Dannis_mbed 0:81b21910454e 114 * @param tptr pointer to object
Dannis_mbed 0:81b21910454e 115 * @param mprt pointer ro member function
Dannis_mbed 0:81b21910454e 116 *
Dannis_mbed 0:81b21910454e 117 */
Dannis_mbed 0:81b21910454e 118 void attachROT(T* tptr, void (T::*mptr)(void)) {
Dannis_mbed 0:81b21910454e 119 if ((mptr != NULL) && (tptr != NULL)) {
Dannis_mbed 0:81b21910454e 120 rotIsr.attach(tptr, mptr);
Dannis_mbed 0:81b21910454e 121 }
Dannis_mbed 0:81b21910454e 122 }
Dannis_mbed 0:81b21910454e 123
Dannis_mbed 0:81b21910454e 124 /** callback-System for rotation of shaft CW
Dannis_mbed 0:81b21910454e 125 *
Dannis_mbed 0:81b21910454e 126 * attach a function to be called when the shaft is rotated clockwise
Dannis_mbed 0:81b21910454e 127 * keep this function short, as no interrrupts can occour within
Dannis_mbed 0:81b21910454e 128 *
Dannis_mbed 0:81b21910454e 129 * @param fprt Pointer to callback-function
Dannis_mbed 0:81b21910454e 130 */
Dannis_mbed 0:81b21910454e 131 void attachROTCW(void (*fptr)(void)) {
Dannis_mbed 0:81b21910454e 132 rotCWIsr.attach(fptr);
Dannis_mbed 0:81b21910454e 133 }
Dannis_mbed 0:81b21910454e 134
Dannis_mbed 0:81b21910454e 135
Dannis_mbed 0:81b21910454e 136 template<typename T>
Dannis_mbed 0:81b21910454e 137 /** attach an object member function to be called when shaft is rotated clockwise
Dannis_mbed 0:81b21910454e 138 *
Dannis_mbed 0:81b21910454e 139 * @param tptr pointer to object
Dannis_mbed 0:81b21910454e 140 * @param mprt pointer ro member function
Dannis_mbed 0:81b21910454e 141 *
Dannis_mbed 0:81b21910454e 142 */
Dannis_mbed 0:81b21910454e 143 void attachROTCW(T* tptr, void (T::*mptr)(void)) {
Dannis_mbed 0:81b21910454e 144 if ((mptr != NULL) && (tptr != NULL)) {
Dannis_mbed 0:81b21910454e 145 rotCWIsr.attach(tptr, mptr);
Dannis_mbed 0:81b21910454e 146 }
Dannis_mbed 0:81b21910454e 147 }
Dannis_mbed 0:81b21910454e 148
Dannis_mbed 0:81b21910454e 149 /** callback-System for rotation of shaft CCW
Dannis_mbed 0:81b21910454e 150 *
Dannis_mbed 0:81b21910454e 151 * attach a function to be called when the shaft is rotated counterclockwise
Dannis_mbed 0:81b21910454e 152 * keep this function short, as no interrrupts can occour within
Dannis_mbed 0:81b21910454e 153 *
Dannis_mbed 0:81b21910454e 154 * @param fprt Pointer to callback-function
Dannis_mbed 0:81b21910454e 155 */
Dannis_mbed 0:81b21910454e 156 void attachROTCCW(void (*fptr)(void)) {
Dannis_mbed 0:81b21910454e 157 rotCCWIsr.attach(fptr);
Dannis_mbed 0:81b21910454e 158 }
Dannis_mbed 0:81b21910454e 159
Dannis_mbed 0:81b21910454e 160
Dannis_mbed 0:81b21910454e 161 template<typename T>
Dannis_mbed 0:81b21910454e 162 /** attach an object member function to be called when shaft is rotated CCW
Dannis_mbed 0:81b21910454e 163 *
Dannis_mbed 0:81b21910454e 164 * @param tptr pointer to object
Dannis_mbed 0:81b21910454e 165 * @param mprt pointer ro member function
Dannis_mbed 0:81b21910454e 166 *
Dannis_mbed 0:81b21910454e 167 */
Dannis_mbed 0:81b21910454e 168 void attachROTCCW(T* tptr, void (T::*mptr)(void)) {
Dannis_mbed 0:81b21910454e 169 if ((mptr != NULL) && (tptr != NULL)) {
Dannis_mbed 0:81b21910454e 170 rotCCWIsr.attach(tptr, mptr);
Dannis_mbed 0:81b21910454e 171 }
Dannis_mbed 0:81b21910454e 172 }
Dannis_mbed 0:81b21910454e 173
Dannis_mbed 0:81b21910454e 174 private:
Dannis_mbed 0:81b21910454e 175 PinDetect *m_pinA;
Dannis_mbed 0:81b21910454e 176 DigitalIn *m_pinB;
Dannis_mbed 0:81b21910454e 177 volatile int m_position;
Dannis_mbed 0:81b21910454e 178
Dannis_mbed 0:81b21910454e 179 int m_debounceTime_us;
Dannis_mbed 0:81b21910454e 180
Dannis_mbed 0:81b21910454e 181
Dannis_mbed 0:81b21910454e 182 PinDetect *m_pinSW;
Dannis_mbed 0:81b21910454e 183
Dannis_mbed 0:81b21910454e 184 void rise(void);
Dannis_mbed 0:81b21910454e 185 void fall(void);
Dannis_mbed 0:81b21910454e 186
Dannis_mbed 0:81b21910454e 187 protected:
Dannis_mbed 0:81b21910454e 188 /**
Dannis_mbed 0:81b21910454e 189 * Callback system.
Dannis_mbed 0:81b21910454e 190 * @ingroup INTERNALS
Dannis_mbed 0:81b21910454e 191 */
Dannis_mbed 0:81b21910454e 192 /**
Dannis_mbed 0:81b21910454e 193 * rotated any direction
Dannis_mbed 0:81b21910454e 194 */
Dannis_mbed 0:81b21910454e 195 FunctionPointer rotIsr;
Dannis_mbed 0:81b21910454e 196 /**
Dannis_mbed 0:81b21910454e 197 * clockwise rotated
Dannis_mbed 0:81b21910454e 198 */
Dannis_mbed 0:81b21910454e 199 FunctionPointer rotCWIsr;
Dannis_mbed 0:81b21910454e 200
Dannis_mbed 0:81b21910454e 201 /**
Dannis_mbed 0:81b21910454e 202 * counterclockwise rotated
Dannis_mbed 0:81b21910454e 203 */
Dannis_mbed 0:81b21910454e 204 FunctionPointer rotCCWIsr;
Dannis_mbed 0:81b21910454e 205
Dannis_mbed 0:81b21910454e 206
Dannis_mbed 0:81b21910454e 207 };
Dannis_mbed 0:81b21910454e 208
Dannis_mbed 0:81b21910454e 209
Dannis_mbed 0:81b21910454e 210 #endif