This is a library for processing encoder
ENCODER_PROCESSOR.cpp
- Committer:
- benson516
- Date:
- 2017-05-08
- Revision:
- 0:6614a0ae9ae8
File content as of revision 0:6614a0ae9ae8:
/** * Note: This is a cross-platform version which is separated from hardware. * --------------------------------------------------------------------------- * This module is modified by Chun-Feng Huang for abstracting and more functionality. * Modified by: Chun-Feng Huang * E-mail: bens0516@gmail.com * */ //----------------------------------// /** * @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. */ /** * Includes */ #include "ENCODER_PROCESSOR.h" ENCODER_PROCESSOR::ENCODER_PROCESSOR(int pulsesPerRevolution_in, int size_MA_window_in, double sampling_time_in, Encoding encoding): pulsesPerRevolution(pulsesPerRevolution_in), size_MA_window(size_MA_window_in), Ts(sampling_time_in) { // is_initiated = false; // MA_window.assign(size_MA_window, 0); delta_count = 0; idx_MA_array = 0; pulses_ = 0; revolutions_ = 0; encoding_ = encoding; // Findout what the current state is. // int chanA = channelA_.read(); // int chanB = channelB_.read(); //2-bit state. encoderState_now = 0; // (chanA << 1) | (chanB); encoderState_pre = encoderState_now; // Attaching call back function //X2 encoding uses interrupts on only channel A. //X4 encoding uses interrupts on channel A and on channel B. // Unit transformation // Rotational speed count_2_rad_s = 1.0/(pulsesPerRevolution*1.0)*6.2831852/Ts/(size_MA_window*1.0); count_2_deg_s = 1.0/(pulsesPerRevolution*1.0)*360.0/Ts/(size_MA_window*1.0); // Angle count_2_rad = 1.0/(pulsesPerRevolution*1.0)*6.2831852; count_2_deg = 1.0/(pulsesPerRevolution*1.0)*360.0; } // Process control void ENCODER_PROCESSOR::reset(void) { pulses_ = 0; revolutions_ = 0; } // Encode (call Back) ///////////////////////// // +-------------+ // | X2 Encoding | // +-------------+ // // When observing states two patterns will appear: // // Counter clockwise rotation: // // 10 -> 01 -> 10 -> 01 -> ... // // Clockwise rotation: // // 11 -> 00 -> 11 -> 00 -> ... // // We consider counter clockwise rotation to be "forward" and // counter clockwise to be "backward". Therefore pulse count will increase // during counter clockwise rotation and decrease during clockwise rotation. // // +-------------+ // | X4 Encoding | // +-------------+ // // There are four possible states for a quadrature encoder which correspond to // 2-bit gray code. // // A state change is only valid if of only one bit has changed. // A state change is invalid if both bits have changed. // // Clockwise Rotation -> // (The bits are constructed as "AB") // 00 01 11 10 00 // // <- Counter Clockwise Rotation // // If we observe any valid state changes going from left to right, we have // moved one pulse clockwise [we will consider this "backward" or "negative"]. // // If we observe any valid state changes going from right to left we have // moved one pulse counter clockwise [we will consider this "forward" or // "positive"]. // // We might enter an invalid state for a number of reasons which are hard to // predict - if this is the case, it is generally safe to ignore it, update // the state and carry on, with the error correcting itself shortly after. //---------------------------------------------// // Call-back function for both pin A and pin B interupt (rise and fall) void ENCODER_PROCESSOR::IntrCB_pulseUpdate(int phase_A, int phase_B) { if (!is_initiated){ //2-bit state. encoderState_now = (phase_A << 1) | (phase_B); // AB encoderState_pre = encoderState_now; // is_initiated = true; // return; } //--------------------------------// int change = 0; //2-bit state. encoderState_now = (phase_A << 1) | (phase_B); // AB if (encoding_ == X2_ENCODING) { //11->00->11->00 is counter clockwise rotation or "forward". if ((encoderState_pre == 0x3 && encoderState_now == 0x0) || (encoderState_pre == 0x0 && encoderState_now == 0x3)) { pulses_++; } //10->01->10->01 is clockwise rotation or "backward". else if ((encoderState_pre == 0x2 && encoderState_now == 0x1) || (encoderState_pre == 0x1 && encoderState_now == 0x2)) { pulses_--; } } else{ // if (encoding_ == X4_ENCODING) { //Entered a new valid state. if (((encoderState_now ^ encoderState_pre) != INVALID) && (encoderState_now != encoderState_pre)) { // 2 bit state. // (Right hand bit of prev) XOR (left hand bit of current) // B_(n-1) xor A_n (because of the 90deg phase shift and A is leading B when rotates clockwise) // gives 0 if clockwise rotation and 1 if counter clockwise rotation. change = (encoderState_pre & PREV_MASK) ^ ((encoderState_now & CURR_MASK) >> 1); if (change == 0) { change = -1; } pulses_ -= change; } } encoderState_pre = encoderState_now; } // (Un-necessary) Call-back function for index-pin interupt void ENCODER_PROCESSOR::IntrCB_indexUpdate(void) { revolutions_++; } //---------------------------------------------// //---------------------------------------------// // Iterate at each timer interupt void ENCODER_PROCESSOR::iterateOnce(){ // Moving average: calculating the speed of the motor for feedback control // new input MA_window[idx_MA_array] = pulses_; // idx_next: Actually, it is the oldest one. size_t idx_next = idx_MA_array + 1; if(idx_next > (size_MA_window - 1) ){idx_next = 0;} // Calculate the total number of pulses within the period delta_count = (MA_window[idx_MA_array] - MA_window[idx_next]); // idx_MA_array ++; if(idx_MA_array > (size_MA_window -1) ){idx_MA_array = 0;} } //---------------------------------------------// // Get states int ENCODER_PROCESSOR::getEncoderState(void) { return encoderState_now; } int ENCODER_PROCESSOR::getPulses(void) { return pulses_; } int ENCODER_PROCESSOR::getRevolutions(void) { return revolutions_; } // Get results // Rotational speed double ENCODER_PROCESSOR::getAngularSpeed(){ return delta_count*count_2_rad_s; } double ENCODER_PROCESSOR::getAngularSpeed_deg_s(){ return delta_count*count_2_deg_s; } // Angle double ENCODER_PROCESSOR::getAngle(bool is_ranged){ // rad, if is_ranged, return 0~2*PI // int pulse_temp = this->pulses_; // if (is_ranged){ revolutions_ = pulse_temp/pulsesPerRevolution; return (pulse_temp % pulsesPerRevolution)*count_2_rad; }else{ return (pulse_temp*count_2_rad); } } double ENCODER_PROCESSOR::getAngle_deg(bool is_ranged){ // deg, if is_ranged, return 0~360 // int pulse_temp = this->pulses_; // if (is_ranged){ revolutions_ = pulse_temp/pulsesPerRevolution; return (pulse_temp % pulsesPerRevolution)*count_2_deg; }else{ return (pulse_temp*count_2_deg); } }