mRotaryEncoder.cpp

00001 #include "mbed.h"
00002 #include "mRotaryEncoder.h"
00003 
00004 
00005 mRotaryEncoder::mRotaryEncoder(PinName pinA, PinName pinB, PinName pinSW, PinMode pullMode, int debounceTime_us, int detectRise, int detectFall) {
00006     m_pinA = new PinDetect(pinA);                      // interrrupts on pinA
00007     m_pinB = new DigitalIn(pinB);                      // only digitalIn for pinB
00008 
00009     //set pins with internal PullUP-default
00010     m_pinA->mode(pullMode);
00011     m_pinB->mode(pullMode);
00012 
00013     // attach interrrupts on pinA
00014     if (detectRise != 0){
00015         m_pinA->attach_asserted(callback(this, &mRotaryEncoder::rise));
00016     }
00017     if (detectFall != 0){
00018         m_pinA->attach_deasserted(callback(this, &mRotaryEncoder::fall));
00019     }
00020     
00021     //start sampling pinA
00022     m_pinA->setSampleFrequency(debounceTime_us);                  // Start timers an Defaults debounce time.
00023 
00024     // Switch on pinSW
00025     m_pinSW = new PinDetect(pinSW);                 // interrupt on press switch
00026     m_pinSW->mode(pullMode);
00027     
00028     m_pinSW->setSampleFrequency(debounceTime_us);                  // Start timers an Defaults debounce time.
00029 
00030 
00031     m_position = 0;
00032 
00033     m_debounceTime_us = debounceTime_us;
00034 }
00035 
00036 mRotaryEncoder::~mRotaryEncoder() {
00037     delete m_pinA;
00038     delete m_pinB;
00039     delete m_pinSW;
00040 }
00041 
00042 int mRotaryEncoder::Get(void) {
00043     return m_position;
00044 }
00045 
00046 
00047 
00048 void mRotaryEncoder::Set(int value) {
00049     m_position = value;
00050 }
00051 
00052 
00053 void mRotaryEncoder::fall(void) {
00054     // debouncing does PinDetect for us
00055     //pinA still low?
00056     if (*m_pinA == 0) {
00057         if (*m_pinB == 1) {
00058             m_position++;
00059             if (rotCWIsr) {
00060                 rotCWIsr();
00061             }
00062         } else {
00063             m_position--;
00064             if (rotCWIsr){
00065                 rotCCWIsr();
00066             }
00067         }
00068         if (rotIsr){
00069             rotIsr();                        // call the isr for rotation
00070         }
00071     }
00072 }
00073 
00074 void mRotaryEncoder::rise(void) {
00075     //PinDetect does debouncing
00076     //pinA still high?
00077     if (*m_pinA == 1) {
00078         if (*m_pinB == 1) {
00079             m_position--;
00080             if (rotCCWIsr){
00081                 rotCCWIsr();
00082             }
00083         } else {
00084             m_position++;
00085             if (rotCWIsr){
00086                 rotCWIsr();
00087             }
00088         }
00089         if (rotIsr){
00090             rotIsr();                        // call the isr for rotation
00091         }
00092     }
00093 }
00094