Feike van Veen
Minor test serial map
Diff: QEI.h
- Revision:
- 1:e567b2f1aebf
- Parent:
- 0:5c2ad81551aa
diff -r 5c2ad81551aa -r e567b2f1aebf QEI.h
--- a/QEI.h Thu Sep 02 16:48:55 2010 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,244 +0,0 @@
-/**
- * @author Aaron Berk
- *
- * @section LICENSE
- *
- * Copyright (c) 2010 ARM Limited
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- *
- * @section DESCRIPTION
- *
- * Quadrature Encoder Interface.
- *
- * A quadrature encoder consists of two code tracks on a disc which are 90
- * degrees out of phase. It can be used to determine how far a wheel has
- * rotated, relative to a known starting position.
- *
- * Only one code track changes at a time leading to a more robust system than
- * a single track, because any jitter around any edge won't cause a state
- * change as the other track will remain constant.
- *
- * Encoders can be a homebrew affair, consisting of infrared emitters/receivers
- * and paper code tracks consisting of alternating black and white sections;
- * alternatively, complete disk and PCB emitter/receiver encoder systems can
- * be bought, but the interface, regardless of implementation is the same.
- *
- * +-----+ +-----+ +-----+
- * Channel A | ^ | | | | |
- * ---+ ^ +-----+ +-----+ +-----
- * ^ ^
- * ^ +-----+ +-----+ +-----+
- * Channel B ^ | | | | | |
- * ------+ +-----+ +-----+ +-----
- * ^ ^
- * ^ ^
- * 90deg
- *
- * The interface uses X2 encoding by default which calculates the pulse count
- * based on reading the current state after each rising and falling edge of
- * channel A.
- *
- * +-----+ +-----+ +-----+
- * Channel A | | | | | |
- * ---+ +-----+ +-----+ +-----
- * ^ ^ ^ ^ ^
- * ^ +-----+ ^ +-----+ ^ +-----+
- * Channel B ^ | ^ | ^ | ^ | ^ | |
- * ------+ ^ +-----+ ^ +-----+ +--
- * ^ ^ ^ ^ ^
- * ^ ^ ^ ^ ^
- * Pulse count 0 1 2 3 4 5 ...
- *
- * This interface can also use X4 encoding which calculates the pulse count
- * based on reading the current state after each rising and falling edge of
- * either channel.
- *
- * +-----+ +-----+ +-----+
- * Channel A | | | | | |
- * ---+ +-----+ +-----+ +-----
- * ^ ^ ^ ^ ^
- * ^ +-----+ ^ +-----+ ^ +-----+
- * Channel B ^ | ^ | ^ | ^ | ^ | |
- * ------+ ^ +-----+ ^ +-----+ +--
- * ^ ^ ^ ^ ^ ^ ^ ^ ^ ^
- * ^ ^ ^ ^ ^ ^ ^ ^ ^ ^
- * Pulse count 0 1 2 3 4 5 6 7 8 9 ...
- *
- * It defaults
- *
- * An optional index channel can be used which determines when a full
- * revolution has occured.
- *
- * If a 4 pules per revolution encoder was used, with X4 encoding,
- * the following would be observed.
- *
- * +-----+ +-----+ +-----+
- * Channel A | | | | | |
- * ---+ +-----+ +-----+ +-----
- * ^ ^ ^ ^ ^
- * ^ +-----+ ^ +-----+ ^ +-----+
- * Channel B ^ | ^ | ^ | ^ | ^ | |
- * ------+ ^ +-----+ ^ +-----+ +--
- * ^ ^ ^ ^ ^ ^ ^ ^ ^ ^
- * ^ ^ ^ ^ ^ ^ ^ ^ ^ ^
- * ^ ^ ^ +--+ ^ ^ +--+ ^
- * ^ ^ ^ | | ^ ^ | | ^
- * Index ------------+ +--------+ +-----------
- * ^ ^ ^ ^ ^ ^ ^ ^ ^ ^
- * Pulse count 0 1 2 3 4 5 6 7 8 9 ...
- * Rev. count 0 1 2
- *
- * Rotational position in degrees can be calculated by:
- *
- * (pulse count / X * N) * 360
- *
- * Where X is the encoding type [e.g. X4 encoding => X=4], and N is the number
- * of pulses per revolution.
- *
- * Linear position can be calculated by:
- *
- * (pulse count / X * N) * (1 / PPI)
- *
- * Where X is encoding type [e.g. X4 encoding => X=44], N is the number of
- * pulses per revolution, and PPI is pulses per inch, or the equivalent for
- * any other unit of displacement. PPI can be calculated by taking the
- * circumference of the wheel or encoder disk and dividing it by the number
- * of pulses per revolution.
- */
-
-#ifndef QEI_H
-#define QEI_H
-
-/**
- * Includes
- */
-#include "mbed.h"
-
-/**
- * Defines
- */
-#define PREV_MASK 0x1 //Mask for the previous state in determining direction
-//of rotation.
-#define CURR_MASK 0x2 //Mask for the current state in determining direction
-//of rotation.
-#define INVALID 0x3 //XORing two states where both bits have changed.
-
-/**
- * Quadrature Encoder Interface.
- */
-class QEI {
-
-public:
-
- typedef enum Encoding {
-
- X2_ENCODING,
- X4_ENCODING
-
- } Encoding;
-
- /**
- * Constructor.
- *
- * Reads the current values on channel A and channel B to determine the
- * initial state.
- *
- * Attaches the encode function to the rise/fall interrupt edges of
- * channels A and B to perform X4 encoding.
- *
- * Attaches the index function to the rise interrupt edge of channel index
- * (if it is used) to count revolutions.
- *
- * @param channelA mbed pin for channel A input.
- * @param channelB mbed pin for channel B input.
- * @param index mbed pin for optional index channel input,
- * (pass NC if not needed).
- * @param pulsesPerRev Number of pulses in one revolution.
- * @param encoding The encoding to use. Uses X2 encoding by default. X2
- * encoding uses interrupts on the rising and falling edges
- * of only channel A where as X4 uses them on both
- * channels.
- */
- QEI(PinName channelA, PinName channelB, PinName index, int pulsesPerRev, Encoding encoding = X2_ENCODING);
-
- /**
- * Reset the encoder.
- *
- * Sets the pulses and revolutions count to zero.
- */
- void reset(void);
-
- /**
- * Read the state of the encoder.
- *
- * @return The current state of the encoder as a 2-bit number, where:
- * bit 1 = The reading from channel B
- * bit 2 = The reading from channel A
- */
- int getCurrentState(void);
-
- /**
- * Read the number of pulses recorded by the encoder.
- *
- * @return Number of pulses which have occured.
- */
- int getPulses(void);
-
- /**
- * Read the number of revolutions recorded by the encoder on the index channel.
- *
- * @return Number of revolutions which have occured on the index channel.
- */
- int getRevolutions(void);
-
-private:
-
- /**
- * Update the pulse count.
- *
- * Called on every rising/falling edge of channels A/B.
- *
- * Reads the state of the channels and determines whether a pulse forward
- * or backward has occured, updating the count appropriately.
- */
- void encode(void);
-
- /**
- * Called on every rising edge of channel index to update revolution
- * count by one.
- */
- void index(void);
-
- Encoding encoding_;
-
- InterruptIn channelA_;
- InterruptIn channelB_;
- InterruptIn index_;
-
- int pulsesPerRev_;
- int prevState_;
- int currState_;
-
- volatile int pulses_;
- volatile int revolutions_;
-
-};
-
-#endif /* QEI_H */