Diff: src/Encoders/encoder.cpp

Revision:

1:ceee5a608e7c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/Encoders/encoder.cpp	Thu Mar 28 07:44:42 2019 +0000
@@ -0,0 +1,204 @@
+/**
+  ******************************************************************************
+  * @file    Encoder.cpp
+  * @author  RBRO/PJ-IU
+  * @version V1.0.0
+  * @date    day-month-year
+  * @brief   This file contains the class implementations for the encoder
+  *          functionality.
+  ******************************************************************************
+ */
+
+#include <Encoders/encoder.hpp>
+
+/** \brief  Constructor for the CCounter class
+ *
+ *  Constructor method
+ *
+ *  @param f_pin       digital pin connected to encoder output    
+ */
+CCounter::CCounter(PinName f_pin)
+    :m_interrupt(f_pin)
+    ,m_count(0)
+{
+    m_interrupt.rise(mbed::callback(CCounter::staticIncrement,this));
+    m_interrupt.fall(mbed::callback(CCounter::staticIncrement,this));
+}
+
+/** \brief  Counter reset method
+ * 
+ *  
+ *  
+ */
+void CCounter::reset(){
+    m_count=0;
+}
+
+/** \brief  Counter increment method
+ * 
+ *  
+ *  
+ */
+void CCounter::increment(){
+    m_count++;
+}
+
+/** \brief  Get counts method
+ * 
+ *  
+ *  @return    counts
+ */
+int32_t CCounter::getCount(){
+    return m_count;
+}
+
+/** \brief  Get counts method
+ * 
+ *  Method attaches the increment method to an object.
+ * 
+ *  @param obj            object
+ *  
+ */
+void CCounter::staticIncrement(void* obj){
+    CCounter* self=static_cast<CCounter*>(obj);
+    self->increment();
+}
+
+/** \brief  Constructor for the CEncoder class
+ *
+ *  Constructor method
+ *
+ *  @param f_period       period value 
+ *  @param f_period_sec   period value in seconds   
+ *  @param f_cpr          counts per revolution (rise and fall edges)
+ *  @param f_pinName      digital pin connected to encoder output
+ */
+CEncoder::CEncoder(uint32_t   f_period
+                  ,float      f_period_sec
+                  ,uint32_t   f_cpr
+                  ,PinName    f_pinName)
+    :task::CTask(f_period)
+    ,m_counter(f_pinName)
+    ,m_period_sec(f_period_sec)
+    ,m_cpr(f_cpr)
+    ,m_rps(0)
+{
+}
+
+/** \brief  Get rps method
+ *
+ *  Returns the value of the rotations per second value
+ *
+ *  
+ *  @return     rps   
+ */
+float CEncoder::getSpeedRps()
+{
+    return m_rps;
+}
+
+/** \brief  Get count
+ *
+ *  Returns the value of the count
+ *
+ *  
+ *  @return     rps   
+ */
+int16_t CEncoder::getCount()
+{
+    return m_rps*m_period_sec*m_cpr;
+}
+
+
+
+/** \brief  Run method
+ *
+ *  Method executed at predefined time intervals. 
+ *  Method called each f_period
+ *
+ *  
+ */
+void CEncoder::_run()
+{
+    float l_count=m_counter.getCount();
+    m_counter.reset();
+    m_rps=l_count/m_period_sec/m_cpr;
+}
+
+/** \brief  Constructor for the CMagEncoderTime class
+ *
+ *  Constructor method
+ *
+ *  @param f_pin       digital pin connected to encoder output    
+ */
+CMagEncoderTime::CMagEncoderTime(PinName f_pin)
+    :m_interrupt(f_pin)
+{
+    m_interrupt.rise(mbed::callback(CMagEncoderTime::staticRise,this));
+    // m_interrupt.fall(mbed::callback(CMagEncoderTime::staticFall,this));
+    m_Timer.start();
+}
+
+/** \brief  Callback method  for rising edge interrupt
+ *
+ *  
+ */
+void CMagEncoderTime::riseCallback()
+{
+    m_Timer.stop();
+    m_lowTime=m_Timer.read();
+    m_Timer.reset();
+    m_Timer.start();
+}
+
+/** \brief  Callback method for rising edge interrupt
+ *
+ *  
+ */
+void CMagEncoderTime::fallCallback()
+{
+    m_Timer.stop();
+    m_highTime=m_Timer.read();
+    m_Timer.reset();
+    m_Timer.start();
+}
+
+/** \brief  Callback method for rising edge interrupt attached to pbject
+ *
+ *  @param obj        object
+ */
+void CMagEncoderTime::staticRise(void* obj)
+{
+    CMagEncoderTime* self=static_cast<CMagEncoderTime*>(obj);
+    self->riseCallback();
+}
+
+/** \brief  Callback method for rising edge interrupt attached to pbject
+ *
+ *  @param obj        object
+ *  @return     None   
+ */
+void CMagEncoderTime::staticFall(void* obj)
+{
+    CMagEncoderTime* self=static_cast<CMagEncoderTime*>(obj);
+    self->fallCallback();
+}
+
+/** \brief  Callback method for rising edge interrupt
+ *
+ *  
+ *  @return     High period value   
+ */
+float CMagEncoderTime::getHighTime()
+{
+    return m_highTime;
+}
+
+/** \brief  Callback method for rising edge interrupt
+ *
+ *  @return     Low period value   
+ */
+float CMagEncoderTime::getLowTime()
+{
+    return m_lowTime;
+}