encoder.hpp

00001 /**
00002   ******************************************************************************
00003   * @file    Encoder.hpp
00004   * @author  RBRO/PJ-IU
00005   * @version V1.0.0
00006   * @date    day-month-year
00007   * @brief   This file contains the class declaration for the encoder
00008   *          functionality.
00009   ******************************************************************************
00010  */
00011 
00012 /* Include guard */
00013 #ifndef MAG_ENCODER_HPP
00014 #define MAG_ENCODER_HPP
00015 
00016 #include <mbed.h>
00017 #include<TaskManager/taskmanager.hpp>
00018 #include<Encoders/encoderinterface.hpp >
00019 
00020 //!  CCounter class. 
00021 /*!
00022  * It is used for counting encoder steps.
00023  */
00024 class CCounter
00025 {
00026     public:
00027         /* Constructor */
00028         CCounter(PinName f_pin);
00029         /* Reset method */
00030         void reset();
00031         /* Increment method */
00032         void increment();
00033         /* Get counts method */
00034         int32_t getCount();
00035         /* Increment */
00036         static void staticIncrement(void* obj);
00037     private:
00038         /* Interrupt object */
00039         InterruptIn m_interrupt;
00040         /* Counts member */
00041         volatile int32_t m_count;
00042 };
00043 
00044 //!  CEncoder class. 
00045 /*!
00046  * It inherits class task::CTask. 
00047  * It is used for computing revolustions per second.
00048  */
00049 class CEncoder: public task::CTask, public:: encoders::IEncoderGetter
00050 {
00051     public:
00052         /* Constructor */
00053         CEncoder(uint32_t    f_period
00054                 ,float      f_period_sec
00055                 ,uint32_t   f_cpr
00056                 ,PinName    f_pinName);
00057         /* Get rotations per second */
00058         virtual float getSpeedRps();
00059         virtual int16_t  getCount();
00060         virtual bool isAbs(){return true;}
00061 
00062     protected:
00063         /* Run method */
00064         virtual void _run();
00065 
00066         /* Counter values */
00067         CCounter        m_counter;
00068         /* Period in seconds */
00069         const float     m_period_sec;
00070         /* Value of counts per revolution */
00071         const uint32_t  m_cpr;//count per revolution (rise and fall edges)
00072         /* Value of rotation per second */
00073         float           m_rps;
00074 };
00075 
00076 //!  CMagEncoderTime class. 
00077 /*!
00078  * It is used for computing high/low periods.
00079  */
00080 class CMagEncoderTime
00081 {
00082     public:
00083         /* Constructor */
00084         CMagEncoderTime(PinName f_pin);
00085         /* Callback for rising edge interrupt */
00086         void riseCallback();
00087         /* Callback for falling edge interrupt */
00088         void fallCallback();
00089         /* Callback for rising edge interrupt attached to pbject */
00090         static void staticRise(void* obj);
00091         /* Callback for falling edge interrupt attached to pbject */
00092         static void staticFall(void* obj);
00093         /* Get high time */
00094         float getHighTime();
00095         /* Get low time */
00096         float getLowTime();
00097     private:
00098         /* General purpose timer */
00099         Timer       m_Timer,m_fallTimer;
00100         /* Digital interrupt input */
00101         InterruptIn m_interrupt;
00102         /* High time */
00103         volatile float      m_highTime;
00104         /* Low time */
00105         volatile float      m_lowTime;
00106 };
00107 #endif