Fork of mRotaryEncoder for mdeb-os. uses newer version of PinDetect. Testprogram: https://os.mbed.com/users/charly/code/mRotaryEncoder_HelloWorld-os/
Dependents: mRotaryEncoder_HelloWorld-os TMC2209-Test2
mRotaryEncoder.h@12:1925aac090b7, 2021-03-16 (annotated)
- Committer:
- charly
- Date:
- Tue Mar 16 20:19:04 2021 +0000
- Revision:
- 12:1925aac090b7
- Parent:
- 11:24b34deae975
Version of mRotaryEncoder for mbed-os
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
charly | 0:562943b05e99 | 1 | #ifndef MROTENC_H_INCLUDED |
charly | 0:562943b05e99 | 2 | #define MROTENC_H_INCLUDED |
charly | 0:562943b05e99 | 3 | |
charly | 0:562943b05e99 | 4 | #include "mbed.h" |
charly | 2:f99ac9745a2c | 5 | #include "PinDetect.h" |
charly | 0:562943b05e99 | 6 | |
charly | 0:562943b05e99 | 7 | |
charly | 1:bb7b4e631dff | 8 | /** This Class handles a rotary encoder with mechanical switches and an integrated pushbutton |
charly | 0:562943b05e99 | 9 | * It uses two pins, one creating an interrupt on change. |
charly | 0:562943b05e99 | 10 | * Rotation direction is determined by checking the state of the other pin. |
charly | 0:562943b05e99 | 11 | * Additionally a pushbutton switch is detected |
charly | 0:562943b05e99 | 12 | * |
charly | 0:562943b05e99 | 13 | * Operating the encoder changes an internal integer value that can be read |
charly | 0:562943b05e99 | 14 | * by Get() or the operator int() functions. |
charly | 0:562943b05e99 | 15 | * A new value can be set by Set(value) or opperator=. |
charly | 0:562943b05e99 | 16 | * |
charly | 0:562943b05e99 | 17 | * Autor: Thomas Raab (Raabinator) |
charly | 1:bb7b4e631dff | 18 | * Extended by Karl Zweimueller (charly) |
charly | 0:562943b05e99 | 19 | * |
charly | 0:562943b05e99 | 20 | * Dent steady point ! ! ! |
charly | 0:562943b05e99 | 21 | * +-----+ +-----+ |
charly | 0:562943b05e99 | 22 | * pinA (interrupt) | | | | |
charly | 0:562943b05e99 | 23 | * --+ +-----+ +--- |
charly | 0:562943b05e99 | 24 | * +-----+ +-----+ |
charly | 0:562943b05e99 | 25 | * pinB | | | | |
charly | 0:562943b05e99 | 26 | * ----+ +-----+ +- |
charly | 0:562943b05e99 | 27 | * --> C.W |
charly | 0:562943b05e99 | 28 | * CW: increases position value |
charly | 0:562943b05e99 | 29 | * CCW: decreases position value |
charly | 0:562943b05e99 | 30 | * |
charly | 0:562943b05e99 | 31 | * changelog: |
charly | 0:562943b05e99 | 32 | * |
charly | 0:562943b05e99 | 33 | * 09. Nov. 2010 |
charly | 0:562943b05e99 | 34 | * First version published Thomas Raab raabinator |
charly | 0:562943b05e99 | 35 | * 26.11.2010 extended by charly - pushbutton, pullmode, debounce, callback-system |
charly | 5:75ddffaf3721 | 36 | * Feb2011 Changes InterruptIn to PinDetect which does the debounce of mechanical switches |
jirrick | 11:24b34deae975 | 37 | * Mar2020 Configurable detection of rise/fall events to account for different types of encoders (half as much dent points) |
charly | 0:562943b05e99 | 38 | * |
charly | 0:562943b05e99 | 39 | */ |
charly | 0:562943b05e99 | 40 | class mRotaryEncoder { |
charly | 0:562943b05e99 | 41 | public: |
charly | 0:562943b05e99 | 42 | /** Create a mechanical rotary encoder object connected to the specified pins |
charly | 0:562943b05e99 | 43 | * |
charly | 0:562943b05e99 | 44 | * @param pinA Switch A of quadrature encoder |
charly | 0:562943b05e99 | 45 | * @param pinB Switch B of quadrature encoder |
charly | 0:562943b05e99 | 46 | * @param pinSW Pin for push-button switch |
charly | 0:562943b05e99 | 47 | * @param pullmode mode for pinA pinB and pinSW like DigitalIn.mode |
charly | 0:562943b05e99 | 48 | * @param debounceTime_us time in micro-seconds to wait for bouncing of mechanical switches to end |
charly | 12:1925aac090b7 | 49 | * @param detectRise Detect rise event as new rotation. default 1 |
charly | 12:1925aac090b7 | 50 | * @param detectFall Detect fall event as new rotation. default 1 |
charly | 0:562943b05e99 | 51 | */ |
jirrick | 11:24b34deae975 | 52 | mRotaryEncoder(PinName pinA, PinName pinB, PinName pinSW, PinMode pullMode=PullUp, int debounceTime_us=1000, int detectRise=1, int detectFall=1); |
charly | 0:562943b05e99 | 53 | |
charly | 0:562943b05e99 | 54 | /** destroy object |
charly | 0:562943b05e99 | 55 | * |
charly | 0:562943b05e99 | 56 | */ |
charly | 0:562943b05e99 | 57 | ~mRotaryEncoder(); |
charly | 0:562943b05e99 | 58 | |
charly | 0:562943b05e99 | 59 | /** Get the actual value of the rotary position |
charly | 0:562943b05e99 | 60 | * |
charly | 0:562943b05e99 | 61 | * @return position int value of position |
charly | 0:562943b05e99 | 62 | */ |
charly | 0:562943b05e99 | 63 | int Get(void); |
charly | 0:562943b05e99 | 64 | inline operator int() { |
charly | 0:562943b05e99 | 65 | return Get(); |
charly | 0:562943b05e99 | 66 | } |
charly | 0:562943b05e99 | 67 | |
charly | 0:562943b05e99 | 68 | /** Set the current position value |
charly | 0:562943b05e99 | 69 | * |
charly | 0:562943b05e99 | 70 | * @param value the new position to set |
charly | 0:562943b05e99 | 71 | * |
charly | 0:562943b05e99 | 72 | */ |
charly | 0:562943b05e99 | 73 | void Set(int value); |
charly | 0:562943b05e99 | 74 | inline mRotaryEncoder& operator= ( int value ) { |
charly | 0:562943b05e99 | 75 | Set(value); |
charly | 0:562943b05e99 | 76 | return *this; |
charly | 0:562943b05e99 | 77 | } |
charly | 0:562943b05e99 | 78 | |
charly | 0:562943b05e99 | 79 | /** attach a function to be called when switch is pressed |
charly | 7:ec80fd9c0c08 | 80 | * |
charly | 0:562943b05e99 | 81 | * keep this function short, as no interrrupts can occour within |
charly | 0:562943b05e99 | 82 | * |
charly | 12:1925aac090b7 | 83 | * @param cb callback-function |
charly | 0:562943b05e99 | 84 | */ |
charly | 12:1925aac090b7 | 85 | void attachSW(Callback<void()> cb) { |
charly | 12:1925aac090b7 | 86 | m_pinSW->attach_deasserted(cb); |
charly | 0:562943b05e99 | 87 | } |
charly | 0:562943b05e99 | 88 | |
charly | 12:1925aac090b7 | 89 | // template<typename T> |
charly | 0:562943b05e99 | 90 | /** attach an object member function to be called when switch is pressed |
charly | 0:562943b05e99 | 91 | * |
charly | 0:562943b05e99 | 92 | * @param tptr pointer to object |
charly | 0:562943b05e99 | 93 | * @param mprt pointer ro member function |
charly | 0:562943b05e99 | 94 | * |
charly | 0:562943b05e99 | 95 | */ |
charly | 12:1925aac090b7 | 96 | /* void attachSW(T* tptr, void (T::*mptr)(void)) { |
charly | 0:562943b05e99 | 97 | if ((mptr != NULL) && (tptr != NULL)) { |
charly | 3:39c2fc4482be | 98 | m_pinSW->attach_deasserted(tptr, mptr); |
charly | 0:562943b05e99 | 99 | } |
charly | 0:562943b05e99 | 100 | } |
charly | 12:1925aac090b7 | 101 | */ |
charly | 0:562943b05e99 | 102 | /** callback-System for rotation of shaft |
charly | 7:ec80fd9c0c08 | 103 | * |
charly | 8:41c44b127443 | 104 | * attach a function to be called when the shaft is rotated |
charly | 0:562943b05e99 | 105 | * keep this function short, as no interrrupts can occour within |
charly | 0:562943b05e99 | 106 | * |
charly | 12:1925aac090b7 | 107 | * @param cb callback-function |
charly | 0:562943b05e99 | 108 | */ |
charly | 12:1925aac090b7 | 109 | void attachROT(Callback<void()> cb) { |
charly | 12:1925aac090b7 | 110 | rotIsr = cb; |
charly | 0:562943b05e99 | 111 | } |
charly | 0:562943b05e99 | 112 | |
charly | 0:562943b05e99 | 113 | |
charly | 12:1925aac090b7 | 114 | // template<typename T> |
charly | 8:41c44b127443 | 115 | /** attach an object member function to be called when shaft is rotated |
charly | 0:562943b05e99 | 116 | * |
charly | 0:562943b05e99 | 117 | * @param tptr pointer to object |
charly | 0:562943b05e99 | 118 | * @param mprt pointer ro member function |
charly | 0:562943b05e99 | 119 | * |
charly | 0:562943b05e99 | 120 | */ |
charly | 12:1925aac090b7 | 121 | /* void attachROT(T* tptr, void (T::*mptr)(void)) { |
charly | 0:562943b05e99 | 122 | if ((mptr != NULL) && (tptr != NULL)) { |
charly | 6:854c349157b0 | 123 | rotIsr.attach(tptr, mptr); |
charly | 0:562943b05e99 | 124 | } |
charly | 0:562943b05e99 | 125 | } |
charly | 12:1925aac090b7 | 126 | */ |
charly | 7:ec80fd9c0c08 | 127 | /** callback-System for rotation of shaft CW |
charly | 7:ec80fd9c0c08 | 128 | * |
charly | 8:41c44b127443 | 129 | * attach a function to be called when the shaft is rotated clockwise |
charly | 7:ec80fd9c0c08 | 130 | * keep this function short, as no interrrupts can occour within |
charly | 7:ec80fd9c0c08 | 131 | * |
charly | 12:1925aac090b7 | 132 | * @param cb callback-function |
charly | 7:ec80fd9c0c08 | 133 | */ |
charly | 12:1925aac090b7 | 134 | void attachROTCW(Callback<void()> cb) { |
charly | 12:1925aac090b7 | 135 | rotCWIsr = cb; |
charly | 7:ec80fd9c0c08 | 136 | } |
charly | 7:ec80fd9c0c08 | 137 | |
charly | 7:ec80fd9c0c08 | 138 | |
charly | 12:1925aac090b7 | 139 | // template<typename T> |
charly | 8:41c44b127443 | 140 | /** attach an object member function to be called when shaft is rotated clockwise |
charly | 7:ec80fd9c0c08 | 141 | * |
charly | 7:ec80fd9c0c08 | 142 | * @param tptr pointer to object |
charly | 7:ec80fd9c0c08 | 143 | * @param mprt pointer ro member function |
charly | 7:ec80fd9c0c08 | 144 | * |
charly | 7:ec80fd9c0c08 | 145 | */ |
charly | 12:1925aac090b7 | 146 | /* void attachROTCW(T* tptr, void (T::*mptr)(void)) { |
charly | 7:ec80fd9c0c08 | 147 | if ((mptr != NULL) && (tptr != NULL)) { |
charly | 7:ec80fd9c0c08 | 148 | rotCWIsr.attach(tptr, mptr); |
charly | 7:ec80fd9c0c08 | 149 | } |
charly | 7:ec80fd9c0c08 | 150 | } |
charly | 12:1925aac090b7 | 151 | */ |
charly | 7:ec80fd9c0c08 | 152 | |
charly | 7:ec80fd9c0c08 | 153 | /** callback-System for rotation of shaft CCW |
charly | 7:ec80fd9c0c08 | 154 | * |
charly | 8:41c44b127443 | 155 | * attach a function to be called when the shaft is rotated counterclockwise |
charly | 7:ec80fd9c0c08 | 156 | * keep this function short, as no interrrupts can occour within |
charly | 7:ec80fd9c0c08 | 157 | * |
charly | 7:ec80fd9c0c08 | 158 | * @param fprt Pointer to callback-function |
charly | 7:ec80fd9c0c08 | 159 | */ |
charly | 12:1925aac090b7 | 160 | void attachROTCCW(Callback<void()> cb) { |
charly | 12:1925aac090b7 | 161 | rotCCWIsr = cb; |
charly | 7:ec80fd9c0c08 | 162 | } |
charly | 7:ec80fd9c0c08 | 163 | |
charly | 7:ec80fd9c0c08 | 164 | |
charly | 12:1925aac090b7 | 165 | // template<typename T> |
charly | 8:41c44b127443 | 166 | /** attach an object member function to be called when shaft is rotated CCW |
charly | 7:ec80fd9c0c08 | 167 | * |
charly | 7:ec80fd9c0c08 | 168 | * @param tptr pointer to object |
charly | 7:ec80fd9c0c08 | 169 | * @param mprt pointer ro member function |
charly | 7:ec80fd9c0c08 | 170 | * |
charly | 7:ec80fd9c0c08 | 171 | */ |
charly | 12:1925aac090b7 | 172 | /* void attachROTCCW(T* tptr, void (T::*mptr)(void)) { |
charly | 7:ec80fd9c0c08 | 173 | if ((mptr != NULL) && (tptr != NULL)) { |
charly | 7:ec80fd9c0c08 | 174 | rotCCWIsr.attach(tptr, mptr); |
charly | 7:ec80fd9c0c08 | 175 | } |
charly | 7:ec80fd9c0c08 | 176 | } |
charly | 12:1925aac090b7 | 177 | */ |
charly | 0:562943b05e99 | 178 | |
charly | 0:562943b05e99 | 179 | private: |
charly | 5:75ddffaf3721 | 180 | PinDetect *m_pinA; |
charly | 0:562943b05e99 | 181 | DigitalIn *m_pinB; |
charly | 0:562943b05e99 | 182 | volatile int m_position; |
charly | 0:562943b05e99 | 183 | |
charly | 0:562943b05e99 | 184 | int m_debounceTime_us; |
charly | 0:562943b05e99 | 185 | |
charly | 5:75ddffaf3721 | 186 | |
charly | 2:f99ac9745a2c | 187 | PinDetect *m_pinSW; |
charly | 0:562943b05e99 | 188 | |
charly | 0:562943b05e99 | 189 | void rise(void); |
charly | 0:562943b05e99 | 190 | void fall(void); |
charly | 0:562943b05e99 | 191 | |
charly | 0:562943b05e99 | 192 | protected: |
charly | 0:562943b05e99 | 193 | /** |
charly | 0:562943b05e99 | 194 | * Callback system. |
charly | 0:562943b05e99 | 195 | * @ingroup INTERNALS |
charly | 0:562943b05e99 | 196 | */ |
charly | 8:41c44b127443 | 197 | /** |
charly | 8:41c44b127443 | 198 | * rotated any direction |
charly | 8:41c44b127443 | 199 | */ |
charly | 12:1925aac090b7 | 200 | Callback<void()> rotIsr; |
charly | 8:41c44b127443 | 201 | /** |
charly | 8:41c44b127443 | 202 | * clockwise rotated |
charly | 8:41c44b127443 | 203 | */ |
charly | 12:1925aac090b7 | 204 | Callback<void()> rotCWIsr; |
charly | 8:41c44b127443 | 205 | |
charly | 8:41c44b127443 | 206 | /** |
charly | 8:41c44b127443 | 207 | * counterclockwise rotated |
charly | 8:41c44b127443 | 208 | */ |
charly | 12:1925aac090b7 | 209 | Callback<void()> rotCCWIsr; |
charly | 0:562943b05e99 | 210 | |
charly | 0:562943b05e99 | 211 | |
charly | 0:562943b05e99 | 212 | }; |
charly | 0:562943b05e99 | 213 | |
charly | 0:562943b05e99 | 214 | |
charly | 0:562943b05e99 | 215 | #endif |