Diff: rotary_encoder_abz_phase/rotary_encoder_abz_phase.cpp

Revision:

0:caf1d0bc4b90

Child:

2:4580c3869b7b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rotary_encoder_abz_phase/rotary_encoder_abz_phase.cpp	Sat Feb 06 14:24:56 2016 +0000
@@ -0,0 +1,38 @@
+#include "mbed.h"
+#include "rotary_encoder_abz_phase.hpp"
+#include "rotary_encoder_base.hpp"
+
+rotary_encoder_abz_phase::rotary_encoder_abz_phase(TIM_TypeDef* timer_type, PinName z_pin, size_t resolution) :
+        rotary_encoder_base(timer_type, TIM_ENCODERMODE_TI12, resolution),
+        z_phase_intr_(z_pin),
+        counts_in_prev_intr_(0) {
+    z_phase_intr_.fall(this, &rotary_encoder_abz_phase::intr_z_phase_first);
+}
+
+int32_t rotary_encoder_abz_phase::get_counts() const {
+    int32_t counts = timer_handler_->Instance->CNT;
+    
+    if (counts > (max_counts_ >> 1)) {
+        return counts - max_counts_;
+    }
+    return  counts;
+}
+
+void rotary_encoder_abz_phase::intr_z_phase_first() {
+    counts_in_prev_intr_ = timer_handler_->Instance->CNT;
+    z_phase_intr_.fall(this, &rotary_encoder_abz_phase::intr_z_phase);
+}
+
+void rotary_encoder_abz_phase::intr_z_phase() {
+    uint32_t counts = timer_handler_->Instance->CNT;
+    // Z相の割り込みが入る時は、前回とのカウントの差は分解能で割り切れるはず
+    int64_t error = (counts - counts_in_prev_intr_) % resolution_;
+    timer_handler_->Instance->CNT -= error;
+    
+    counts_in_prev_intr_ = counts;
+}
+
+void rotary_encoder_abz_phase::reset() {
+    counts_in_prev_intr_ = 0;
+    timer_handler_->Instance->CNT = 0;
+}