Diff: mRotaryEncoder.h

Revision:

0:81b21910454e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mRotaryEncoder.h	Tue Jun 23 13:55:28 2015 +0000
@@ -0,0 +1,210 @@
+#ifndef MROTENC_H_INCLUDED
+#define MROTENC_H_INCLUDED
+
+#include "mbed.h"
+#include "PinDetect.h"
+
+
+/** This Class handles a rotary encoder with mechanical switches and an integrated pushbutton
+ * It uses two pins, one creating an interrupt on change.
+ * Rotation direction is determined by checking the state of the other pin.
+ * Additionally a pushbutton switch is detected
+ *
+ * Operating the encoder changes an internal integer value that can be read
+ * by Get() or the operator int() functions.
+ * A new value can be set by Set(value) or opperator=.
+ *
+ * Autor: Thomas Raab (Raabinator)
+ * Extended by Karl Zweimueller (charly)
+ *
+ * Dent steady point     !     !     !
+ *                    +-----+     +-----+
+ * pinA (interrupt)   |     |     |     |
+ *                  --+     +-----+     +---
+ *                      +-----+     +-----+
+ * pinB                 |     |     |     |
+ *                  ----+     +-----+     +-
+ *                           --> C.W
+ * CW:  increases position value
+ * CCW: decreases position value
+ *
+ * changelog:
+ *
+ * 09. Nov. 2010
+ *     First version published Thomas Raab raabinator
+ * 26.11.2010 extended by charly - pushbutton, pullmode, debounce, callback-system
+ * Feb2011 Changes InterruptIn to PinDetect which does the debounce of mechanical switches
+ *
+ */
+class mRotaryEncoder {
+public:
+    /** Create a mechanical rotary encoder object connected to the specified pins
+    *
+    * @param pinA Switch A of quadrature encoder
+    * @param pinB Switch B of quadrature encoder
+    * @param pinSW Pin for push-button switch
+    * @param pullmode mode for pinA pinB and pinSW like DigitalIn.mode
+    * @param debounceTime_us time in micro-seconds to wait for bouncing of mechanical switches to end
+    */
+    mRotaryEncoder(PinName pinA, PinName pinB, PinName pinSW, PinMode pullMode=PullUp, int debounceTime_us=1000);
+
+    /** destroy object
+    *
+    */
+    ~mRotaryEncoder();
+
+    /** Get the actual value of the rotary position
+    *
+    * @return position int value of position
+    */
+    int Get(void);
+    inline operator int() {
+        return Get();
+    }
+
+    /** Set the current position value
+    *
+    * @param value the new position to set
+    *
+    */
+    void Set(int value);
+    inline mRotaryEncoder& operator= ( int  value ) {
+        Set(value);
+        return *this;
+    }
+
+    /** attach a function to be called when switch is pressed
+    *
+    * keep this function short, as no interrrupts can occour within
+    *
+    * @param fptr Pointer to callback-function
+    */
+    void attachSW(void (*fptr)(void)) {
+        m_pinSW->attach_deasserted(fptr);
+    }
+
+    template<typename T>
+    /** attach an object member function to be called when switch is pressed
+    *
+    * @param tptr pointer to object
+    * @param mprt pointer ro member function
+    *
+    */
+    void attachSW(T* tptr, void (T::*mptr)(void)) {
+        if ((mptr != NULL) && (tptr != NULL)) {
+            m_pinSW->attach_deasserted(tptr, mptr);
+        }
+    }
+
+    /**  callback-System for rotation of shaft
+    *
+    *  attach a function to be called when the shaft is rotated
+    *  keep this function short, as no interrrupts can occour within
+    *
+    * @param fprt Pointer to callback-function
+    */
+    void attachROT(void (*fptr)(void)) {
+        rotIsr.attach(fptr);
+    }
+
+
+    template<typename T>
+    /** attach an object member function to be called when shaft is rotated
+    *
+    * @param tptr pointer to object
+    * @param mprt pointer ro member function
+    *
+    */
+    void attachROT(T* tptr, void (T::*mptr)(void)) {
+        if ((mptr != NULL) && (tptr != NULL)) {
+            rotIsr.attach(tptr, mptr);
+        }
+    }
+
+   /**  callback-System for rotation of shaft CW
+    *
+    *  attach a function to be called when the shaft is rotated clockwise
+    *  keep this function short, as no interrrupts can occour within
+    *
+    * @param fprt Pointer to callback-function
+    */
+    void attachROTCW(void (*fptr)(void)) {
+        rotCWIsr.attach(fptr);
+    }
+
+
+    template<typename T>
+    /** attach an object member function to be called when shaft is rotated clockwise
+    *
+    * @param tptr pointer to object
+    * @param mprt pointer ro member function
+    *
+    */
+    void attachROTCW(T* tptr, void (T::*mptr)(void)) {
+        if ((mptr != NULL) && (tptr != NULL)) {
+            rotCWIsr.attach(tptr, mptr);
+        }
+    }
+
+   /**  callback-System for rotation of shaft CCW
+    *
+    *  attach a function to be called when the shaft is rotated counterclockwise
+    *  keep this function short, as no interrrupts can occour within
+    *
+    * @param fprt Pointer to callback-function
+    */
+    void attachROTCCW(void (*fptr)(void)) {
+        rotCCWIsr.attach(fptr);
+    }
+
+
+    template<typename T>
+    /** attach an object member function to be called when shaft is rotated CCW
+    *
+    * @param tptr pointer to object
+    * @param mprt pointer ro member function
+    *
+    */
+    void attachROTCCW(T* tptr, void (T::*mptr)(void)) {
+        if ((mptr != NULL) && (tptr != NULL)) {
+            rotCCWIsr.attach(tptr, mptr);
+        }
+    }    
+
+private:
+    PinDetect       *m_pinA;
+    DigitalIn       *m_pinB;
+    volatile int    m_position;
+
+    int             m_debounceTime_us;
+
+
+    PinDetect       *m_pinSW;
+
+    void rise(void);
+    void fall(void);
+
+protected:
+    /**
+      * Callback system.
+      * @ingroup INTERNALS
+      */
+    /**
+     * rotated any direction
+    */
+    FunctionPointer rotIsr;
+    /**
+     * clockwise rotated
+    */
+    FunctionPointer rotCWIsr;
+
+    /**
+     * counterclockwise rotated
+    */    
+    FunctionPointer rotCCWIsr;
+
+
+};
+
+
+#endif