Encoder.h

00001 
00002 
00003 #ifndef ENCODER_H_
00004 #define ENCODER_H_
00005 
00006 #include <cstdlib>
00007 #include "mbed.h" 
00008 
00009 
00010 /**
00011  * This class implements a driver to read the quadrature
00012  * encoder counter of the STM32 microcontroller.
00013  */
00014    
00015   
00016 class Encoder {
00017     
00018     public:
00019         
00020                         Encoder(PinName& hallsensor);
00021         virtual         ~Encoder();
00022         uint8_t         reset();                // Reset pulse count to 49000, return 0 when not resetted or 1 when resetted
00023         uint32_t        read();                 // Return Pulses 196000 pulses per Rotation(Pedals)
00024         float           readAngle();            // Return Angle in Radiants 
00025         float           readFrequency();         // Return Drehzahl der pedale in rad/s
00026         float           readAcceleration();     // Return Acceleration of pedale in rad/s^2
00027         float           readRPM();              // Return Drehzahl in RPM 
00028         void            ResetInterrupt();      
00029         operator short();
00030         
00031         
00032     private:
00033         
00034         TIM_TypeDef*        TIM;
00035         InterruptIn         HallSensor;
00036         PinName             hallsensor;
00037         Ticker              ticker;
00038         void                calculateFrequency(); // Fucntion, which calculate the frequency every 5ms
00039         
00040         const static float  PI = 3.141592654;
00041         const static float  dt = 0.005; // 5ms 
00042         uint8_t             resetOn;
00043         float               frequency;
00044         float               acceleration;
00045         
00046 };
00047 
00048 #endif /* ENCODER_COUNTER_H_ */