Diff: include/Encoders/encoder.hpp

Revision:

1:ceee5a608e7c

diff -r c3e774091195 -r ceee5a608e7c include/Encoders/encoder.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/include/Encoders/encoder.hpp	Thu Mar 28 07:44:42 2019 +0000
@@ -0,0 +1,107 @@
+/**
+  ******************************************************************************
+  * @file    Encoder.hpp
+  * @author  RBRO/PJ-IU
+  * @version V1.0.0
+  * @date    day-month-year
+  * @brief   This file contains the class declaration for the encoder
+  *          functionality.
+  ******************************************************************************
+ */
+
+/* Include guard */
+#ifndef MAG_ENCODER_HPP
+#define MAG_ENCODER_HPP
+
+#include <mbed.h>
+#include<TaskManager/taskmanager.hpp>
+#include<Encoders/encoderinterface.hpp>
+
+//!  CCounter class. 
+/*!
+ * It is used for counting encoder steps.
+ */
+class CCounter
+{
+    public:
+        /* Constructor */
+        CCounter(PinName f_pin);
+        /* Reset method */
+        void reset();
+        /* Increment method */
+        void increment();
+        /* Get counts method */
+        int32_t getCount();
+        /* Increment */
+        static void staticIncrement(void* obj);
+    private:
+        /* Interrupt object */
+        InterruptIn m_interrupt;
+        /* Counts member */
+        volatile int32_t m_count;
+};
+
+//!  CEncoder class. 
+/*!
+ * It inherits class task::CTask. 
+ * It is used for computing revolustions per second.
+ */
+class CEncoder: public task::CTask, public:: encoders::IEncoderGetter
+{
+    public:
+        /* Constructor */
+        CEncoder(uint32_t    f_period
+                ,float      f_period_sec
+                ,uint32_t   f_cpr
+                ,PinName    f_pinName);
+        /* Get rotations per second */
+        virtual float getSpeedRps();
+        virtual int16_t  getCount();
+        virtual bool isAbs(){return true;}
+
+    protected:
+        /* Run method */
+        virtual void _run();
+
+        /* Counter values */
+        CCounter        m_counter;
+        /* Period in seconds */
+        const float     m_period_sec;
+        /* Value of counts per revolution */
+        const uint32_t  m_cpr;//count per revolution (rise and fall edges)
+        /* Value of rotation per second */
+        float           m_rps;
+};
+
+//!  CMagEncoderTime class. 
+/*!
+ * It is used for computing high/low periods.
+ */
+class CMagEncoderTime
+{
+    public:
+        /* Constructor */
+        CMagEncoderTime(PinName f_pin);
+        /* Callback for rising edge interrupt */
+        void riseCallback();
+        /* Callback for falling edge interrupt */
+        void fallCallback();
+        /* Callback for rising edge interrupt attached to pbject */
+        static void staticRise(void* obj);
+        /* Callback for falling edge interrupt attached to pbject */
+        static void staticFall(void* obj);
+        /* Get high time */
+        float getHighTime();
+        /* Get low time */
+        float getLowTime();
+    private:
+        /* General purpose timer */
+        Timer       m_Timer,m_fallTimer;
+        /* Digital interrupt input */
+        InterruptIn m_interrupt;
+        /* High time */
+        volatile float      m_highTime;
+        /* Low time */
+        volatile float      m_lowTime;
+};
+#endif