Revision 1:cecfd2d4d286, committed 2021-01-13

Comitter:

WiredHome

Date:

Wed Jan 13 20:12:03 2021 +0000

Parent:

0:5c2ad81551aa

Commit message:

Functional version suitable for testing

Changed in this revision

diff -r 5c2ad81551aa -r cecfd2d4d286 QEI.cpp
--- a/QEI.cpp	Thu Sep 02 16:48:55 2010 +0000
+++ b/QEI.cpp	Wed Jan 13 20:12:03 2021 +0000
@@ -3,6 +3,15 @@
  *
  * @section LICENSE
  *
+ * Derivative work created in Jan 2021 by D.Smart, which 
+ * has the following changes:
+ *  + Update for MBED OS 6 ('callback' added to member ISRs)
+ *  + Added counter for non-grey-code transitions
+ *  + Added set functions to initialize counts to known values
+ *  + Added get functions for error counters
+ *
+ * No copyright claim is being made on these changes.
+ *
  * Copyright (c) 2010 ARM Limited
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
@@ -137,6 +146,7 @@
 
     pulses_       = 0;
     revolutions_  = 0;
+    invalid_      = 0;
     pulsesPerRev_ = pulsesPerRev;
     encoding_     = encoding;
 
@@ -151,28 +161,43 @@
     //X2 encoding uses interrupts on only channel A.
     //X4 encoding uses interrupts on      channel A,
     //and on channel B.
-    channelA_.rise(this, &QEI::encode);
-    channelA_.fall(this, &QEI::encode);
+    channelA_.rise(callback(this, &QEI::encode));
+    channelA_.fall(callback(this, &QEI::encode));
 
     //If we're using X4 encoding, then attach interrupts to channel B too.
     if (encoding == X4_ENCODING) {
-        channelB_.rise(this, &QEI::encode);
-        channelB_.fall(this, &QEI::encode);
+        channelB_.rise(callback(this, &QEI::encode));
+        channelB_.fall(callback(this, &QEI::encode));
     }
     //Index is optional.
     if (index !=  NC) {
-        index_.rise(this, &QEI::index);
+        index_.rise(callback(this, &QEI::index));
     }
 
 }
 
+void QEI::setPulses(int newCount) {
+    pulses_     = newCount;
+}
+
+void QEI::setRevolutions(int newRevs) {
+    revolutions_    = newRevs;
+}
+
 void QEI::reset(void) {
 
     pulses_      = 0;
     revolutions_ = 0;
+    invalid_     = 0;
 
 }
 
+int QEI::getInvalidCount(void) {
+    int r = invalid_;
+    invalid_ = 0;
+    return r;
+}
+
 int QEI::getCurrentState(void) {
 
     return currState_;
@@ -260,6 +285,9 @@
             pulses_--;
 
         }
+        else {
+            invalid_++;
+        }
 
     } else if (encoding_ == X4_ENCODING) {
 

diff -r 5c2ad81551aa -r cecfd2d4d286 QEI.h
--- a/QEI.h	Thu Sep 02 16:48:55 2010 +0000
+++ b/QEI.h	Wed Jan 13 20:12:03 2021 +0000
@@ -3,6 +3,15 @@
  *
  * @section LICENSE
  *
+ * Derivative work created in Jan 2021 by D.Smart, which 
+ * has the following changes:
+ *  + Update for MBED OS 6 ('callback' added to member ISRs)
+ *  + Added counter for non-grey-code transitions
+ *  + Added set functions to initialize counts to known values
+ *  + Added get functions for error counters
+ *
+ * No copyright claim is being made on these changes.
+ *
  * Copyright (c) 2010 ARM Limited
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
@@ -195,6 +204,15 @@
     int getCurrentState(void);
 
     /**
+     * Read the number of invalid counts.
+     *
+     * @note Reading this resets the counter!
+     * 
+     * @return the number of times the gray-code transition was violated.
+     */
+    int getInvalidCount(void);
+
+    /**
      * Read the number of pulses recorded by the encoder.
      *
      * @return Number of pulses which have occured.
@@ -208,6 +226,23 @@
      */
     int getRevolutions(void);
 
+    /**
+     * Set the current pulse count in case you want to init it.
+     *
+     * @param[in] newCount is the count to set it to.
+     *
+     */
+     void setPulses(int newCount);
+
+    /**
+     * Set the current revolution count in case you want to init it.
+     *
+     * @param[in] newRevs is the count to set it to.
+     *
+     */
+    void setRevolutions(int newRevs);
+
+
 private:
 
     /**
@@ -235,6 +270,8 @@
     int          pulsesPerRev_;
     int          prevState_;
     int          currState_;
+    
+    volatile int invalid_;
 
     volatile int pulses_;
     volatile int revolutions_;