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(this, &mRotaryEncoder::rise);
00016     }
00017     if (detectFall != 0){
00018         m_pinA->attach_deasserted(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             rotCWIsr.call();
00060         } else {
00061             m_position--;
00062             rotCCWIsr.call();
00063         }
00064     rotIsr.call();                        // call the isr for rotation
00065     }
00066 }
00067 
00068 void mRotaryEncoder::rise(void) {
00069     //PinDetect does debouncing
00070     //pinA still high?
00071     if (*m_pinA == 1) {
00072         if (*m_pinB == 1) {
00073             m_position--;
00074             rotCCWIsr.call();
00075         } else {
00076             m_position++;
00077             rotCWIsr.call();
00078         }
00079     rotIsr.call();                        // call the isr for rotation
00080     }
00081 }
00082