Diff: QEI.h

Revision:

0:26f0e94f01e0

Child:

2:0f8684aeeef3

diff -r 000000000000 -r 26f0e94f01e0 QEI.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/QEI.h	Fri Feb 15 12:22:33 2019 +0000
@@ -0,0 +1,127 @@
+#ifndef QEI_h
+#define QEI_h
+
+#ifdef TARGET_LPC1549
+
+#include "qei_api.h"
+#include "mbed.h"
+
+class QEI
+{
+public:
+    enum Dirction
+    {
+        forward,
+        reverse
+    };
+    
+    enum Encoding
+    {
+        X2_ENCODING,
+        X4_ENCODING
+    };
+    
+    enum SignalMode
+    {
+        QUADRATURE_ENCODER,
+        DIRECTION_CLOCK_ENCODER
+    };
+    
+    enum IrqType
+    {
+        INT_INT = 0,    // pulse was detected
+        TIM_INT,        // velocity timer overflow
+        VELC_INT,       // velocity is less than compare velocity
+        DIR_INT,        // change dirction
+        ERR_INT,        // encoder phase error
+        ENCLK_INT,      // encoder clock pulse detected
+        POS0_INT,       // position is equal to the compare value (Ch 0)
+        POS1_INT,       // (Ch 1)
+        POS2_INT,       // (Ch 2)
+        REV0_INT,       // index is equal to the compare value (Ch 0)
+        POS0REV_INT,    // POS0_INT && REV0_INT
+        POS1REV_INT,    // (Ch 1)
+        POS2REV_INT,    // (Ch 2)
+        REV1_INT,       // (Ch 1)
+        REV2_INT,       // (Ch 2)
+        MAXPOS_INT,     // position value is more than MAXPOS or less than 0
+        
+        IrqCnt
+    };
+    
+public:
+    QEI(PinName phaseA, 
+        PinName phaseB, 
+        PinName index, 
+        uint32_t pulsePerRotation, 
+        Encoding encoding = X4_ENCODING,
+        SignalMode signalMode = QUADRATURE_ENCODER);
+    ~QEI();
+        
+    void reset();
+    
+    // set parameter
+    
+    void setMaxPos(uint32_t num);
+    void setInvertDirection(bool isInvert);
+    void setInvertIndex(bool isInvert);
+    void setSignalMode(SignalMode signalMode);
+    void setEncoding(Encoding encoding);
+    
+    void setVelocityTimerPeriod_us(uint32_t us);
+    
+    
+    // get value
+    //int getPhase(Channel channel);
+    int getDirection();
+    uint32_t getIndex();
+    double getRotation();
+    double getRPM();
+    double getRPS();
+
+    bool getInvertDirection();
+    bool getInvertIndex();
+    
+    // Interrupts
+    /*
+    uint32_t getInterrupts();
+    uint32_t getInterruptStatus();
+    void setInterrupts(uint32_t symbol);
+    void clearInterrupts(uint32_t symbol);
+    void setInterruptStatus(uint32_t symbol);
+    void clearInterruptStatus(uint32_t symbol);
+    */
+    
+    void attach(Callback<void()> func, IrqType type = INT_INT);
+    
+    template<typename T>
+    void attach(T *obj, void (T::*method)(), IrqType type = INT_INT) {
+        attach(callback(obj, method), type);
+    }
+    
+    template<typename T>
+    void attach(T *obj, void (*method)(T*), IrqType type = INT_INT)
+    {
+        attach(callback(obj, method), type);
+    }
+
+protected:
+    uint32_t getPosition();
+    uint32_t getVelocity();
+    uint32_t getPCLK() { return _qei.PCLK; }
+
+protected:
+    PinName _phaseA, _phaseB, _index;
+    Encoding _encoding;
+    SignalMode _signalMode;
+    
+    qei_t _qei;
+    Callback<void()> _irq[IrqCnt];
+    
+    //int PPR;
+    //int PCLK;
+};
+
+#endif //TARGET_LPC1549
+
+#endif //QEI_h