QEIその2
Dependents: Nucleo_Motor Nucleo_Motor mbed_test_enc mbed_touteki_MR1 ... more
Fork of QEI2 by
QEIver2です。 前回のQEIよりハードウェアの節約を実現しました。 基本的にメソッドの追加などはないですが、コンストラクタに引数を追加しました。 第五引数にTimerクラスのアドレスを突っ込むことでTimerクラスの共有ができます。 また従来のQEIクラスの非効率的なTimerクラスの使い方をなくすことで、複数のQEIを使うことができました
QEI.cpp@2:6a38785d5f0c, 2015-07-21 (annotated)
- Committer:
- kikoaac
- Date:
- Tue Jul 21 08:12:12 2015 +0000
- Revision:
- 2:6a38785d5f0c
- Parent:
- 1:1f4e8614d0ed
- Child:
- 3:f285adb565b1
QEI
;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kikoaac | 1:1f4e8614d0ed | 1 | #include "QEI.h" |
kikoaac | 1:1f4e8614d0ed | 2 | |
kikoaac | 1:1f4e8614d0ed | 3 | QEI::QEI(PinName channelA, |
kikoaac | 1:1f4e8614d0ed | 4 | PinName channelB, |
kikoaac | 1:1f4e8614d0ed | 5 | PinName index, |
kikoaac | 1:1f4e8614d0ed | 6 | int pulsesPerRev, |
kikoaac | 1:1f4e8614d0ed | 7 | Encoding encoding |
kikoaac | 1:1f4e8614d0ed | 8 | ) : channelA_(channelA), channelB_(channelB), |
kikoaac | 1:1f4e8614d0ed | 9 | index_(index) { |
kikoaac | 1:1f4e8614d0ed | 10 | |
kikoaac | 1:1f4e8614d0ed | 11 | pulses_ = 0; |
kikoaac | 1:1f4e8614d0ed | 12 | revolutions_ = 0; |
kikoaac | 1:1f4e8614d0ed | 13 | pulsesPerRev_ = pulsesPerRev; |
kikoaac | 1:1f4e8614d0ed | 14 | encoding_ = encoding; |
kikoaac | 1:1f4e8614d0ed | 15 | |
kikoaac | 1:1f4e8614d0ed | 16 | //Workout what the current state is. |
kikoaac | 1:1f4e8614d0ed | 17 | int chanA = channelA_.read(); |
kikoaac | 1:1f4e8614d0ed | 18 | int chanB = channelB_.read(); |
kikoaac | 1:1f4e8614d0ed | 19 | |
kikoaac | 1:1f4e8614d0ed | 20 | //2-bit state. |
kikoaac | 1:1f4e8614d0ed | 21 | currState_ = (chanA << 1) | (chanB); |
kikoaac | 1:1f4e8614d0ed | 22 | prevState_ = currState_; |
kikoaac | 1:1f4e8614d0ed | 23 | |
kikoaac | 1:1f4e8614d0ed | 24 | channelA_.rise(this, &QEI::encode); |
kikoaac | 1:1f4e8614d0ed | 25 | channelA_.fall(this, &QEI::encode); |
kikoaac | 1:1f4e8614d0ed | 26 | |
kikoaac | 1:1f4e8614d0ed | 27 | |
kikoaac | 1:1f4e8614d0ed | 28 | if (encoding == X4_ENCODING) { |
kikoaac | 1:1f4e8614d0ed | 29 | channelB_.rise(this, &QEI::encode); |
kikoaac | 1:1f4e8614d0ed | 30 | channelB_.fall(this, &QEI::encode); |
kikoaac | 1:1f4e8614d0ed | 31 | } |
kikoaac | 1:1f4e8614d0ed | 32 | if (index != NC) { |
kikoaac | 1:1f4e8614d0ed | 33 | index_.rise(this, &QEI::index); |
kikoaac | 1:1f4e8614d0ed | 34 | } |
kikoaac | 1:1f4e8614d0ed | 35 | |
kikoaac | 1:1f4e8614d0ed | 36 | } |
kikoaac | 1:1f4e8614d0ed | 37 | void QEI::state(int i) |
kikoaac | 1:1f4e8614d0ed | 38 | { |
kikoaac | 1:1f4e8614d0ed | 39 | if(i==1) |
kikoaac | 1:1f4e8614d0ed | 40 | { |
kikoaac | 1:1f4e8614d0ed | 41 | channelA_.disable_irq(); |
kikoaac | 1:1f4e8614d0ed | 42 | channelB_.disable_irq(); |
kikoaac | 1:1f4e8614d0ed | 43 | } |
kikoaac | 1:1f4e8614d0ed | 44 | else if(i==0) |
kikoaac | 1:1f4e8614d0ed | 45 | { |
kikoaac | 1:1f4e8614d0ed | 46 | channelA_.enable_irq(); |
kikoaac | 1:1f4e8614d0ed | 47 | channelB_.enable_irq(); |
kikoaac | 1:1f4e8614d0ed | 48 | } |
kikoaac | 1:1f4e8614d0ed | 49 | } |
kikoaac | 1:1f4e8614d0ed | 50 | void QEI::reset(void) { |
kikoaac | 1:1f4e8614d0ed | 51 | |
kikoaac | 1:1f4e8614d0ed | 52 | pulses_ = 0; |
kikoaac | 1:1f4e8614d0ed | 53 | revolutions_ = 0; |
kikoaac | 1:1f4e8614d0ed | 54 | round_rev = 0; |
kikoaac | 1:1f4e8614d0ed | 55 | sumangle = angle_ =0; |
kikoaac | 1:1f4e8614d0ed | 56 | } |
kikoaac | 1:1f4e8614d0ed | 57 | void QEI::set(int pul , int rev) { |
kikoaac | 1:1f4e8614d0ed | 58 | |
kikoaac | 1:1f4e8614d0ed | 59 | pulses_ = pul; |
kikoaac | 1:1f4e8614d0ed | 60 | revolutions_ = rev; |
kikoaac | 1:1f4e8614d0ed | 61 | |
kikoaac | 1:1f4e8614d0ed | 62 | } |
kikoaac | 1:1f4e8614d0ed | 63 | int QEI::getCurrentState(void) { |
kikoaac | 1:1f4e8614d0ed | 64 | |
kikoaac | 1:1f4e8614d0ed | 65 | return currState_; |
kikoaac | 1:1f4e8614d0ed | 66 | |
kikoaac | 1:1f4e8614d0ed | 67 | } |
kikoaac | 1:1f4e8614d0ed | 68 | |
kikoaac | 1:1f4e8614d0ed | 69 | int QEI::getPulses(void) { |
kikoaac | 1:1f4e8614d0ed | 70 | |
kikoaac | 1:1f4e8614d0ed | 71 | return pulses_; |
kikoaac | 1:1f4e8614d0ed | 72 | |
kikoaac | 1:1f4e8614d0ed | 73 | } |
kikoaac | 1:1f4e8614d0ed | 74 | |
kikoaac | 1:1f4e8614d0ed | 75 | int QEI::getRevolutions(void) { |
kikoaac | 1:1f4e8614d0ed | 76 | |
kikoaac | 1:1f4e8614d0ed | 77 | return revolutions_; |
kikoaac | 1:1f4e8614d0ed | 78 | |
kikoaac | 1:1f4e8614d0ed | 79 | } |
kikoaac | 1:1f4e8614d0ed | 80 | double QEI::getAngle() |
kikoaac | 1:1f4e8614d0ed | 81 | { |
kikoaac | 1:1f4e8614d0ed | 82 | return angle_; |
kikoaac | 1:1f4e8614d0ed | 83 | } |
kikoaac | 1:1f4e8614d0ed | 84 | int QEI::getAng_rev() |
kikoaac | 1:1f4e8614d0ed | 85 | { |
kikoaac | 1:1f4e8614d0ed | 86 | return round_rev; |
kikoaac | 1:1f4e8614d0ed | 87 | } |
kikoaac | 1:1f4e8614d0ed | 88 | double QEI::getSumangle() |
kikoaac | 1:1f4e8614d0ed | 89 | { |
kikoaac | 1:1f4e8614d0ed | 90 | return sumangle; |
kikoaac | 1:1f4e8614d0ed | 91 | } |
kikoaac | 0:a24686ca50ab | 92 | |
kikoaac | 1:1f4e8614d0ed | 93 | double QEI::getRPM() |
kikoaac | 1:1f4e8614d0ed | 94 | { |
kikoaac | 1:1f4e8614d0ed | 95 | static double prev_angle; |
kikoaac | 1:1f4e8614d0ed | 96 | Mper.stop(); |
kikoaac | 1:1f4e8614d0ed | 97 | |
kikoaac | 1:1f4e8614d0ed | 98 | RPM = (sumangle - prev_angle) / Mper.read() * 60.0 / 360; |
kikoaac | 1:1f4e8614d0ed | 99 | Mper.reset(); |
kikoaac | 1:1f4e8614d0ed | 100 | Mper.start(); |
kikoaac | 1:1f4e8614d0ed | 101 | prev_angle = sumangle; |
kikoaac | 1:1f4e8614d0ed | 102 | return RPM; |
kikoaac | 1:1f4e8614d0ed | 103 | } |
kikoaac | 1:1f4e8614d0ed | 104 | double QEI::getRPS() |
kikoaac | 1:1f4e8614d0ed | 105 | { |
kikoaac | 1:1f4e8614d0ed | 106 | static double prev_angle; |
kikoaac | 1:1f4e8614d0ed | 107 | Rper.stop(); |
kikoaac | 1:1f4e8614d0ed | 108 | |
kikoaac | 1:1f4e8614d0ed | 109 | RPS = (sumangle - prev_angle) / Rper.read() / 360; |
kikoaac | 1:1f4e8614d0ed | 110 | Rper.reset(); |
kikoaac | 1:1f4e8614d0ed | 111 | Rper.start(); |
kikoaac | 1:1f4e8614d0ed | 112 | prev_angle = sumangle; |
kikoaac | 1:1f4e8614d0ed | 113 | return RPS; |
kikoaac | 1:1f4e8614d0ed | 114 | } |
kikoaac | 1:1f4e8614d0ed | 115 | double QEI::getRPMS() |
kikoaac | 1:1f4e8614d0ed | 116 | { static double prev_angle; |
kikoaac | 1:1f4e8614d0ed | 117 | MSper.stop(); |
kikoaac | 1:1f4e8614d0ed | 118 | |
kikoaac | 1:1f4e8614d0ed | 119 | RPMS = (sumangle - prev_angle) / (double)MSper.read_ms() / 360; |
kikoaac | 1:1f4e8614d0ed | 120 | MSper.reset(); |
kikoaac | 1:1f4e8614d0ed | 121 | MSper.start(); |
kikoaac | 1:1f4e8614d0ed | 122 | prev_angle = sumangle; |
kikoaac | 1:1f4e8614d0ed | 123 | return RPMS; |
kikoaac | 1:1f4e8614d0ed | 124 | } |
kikoaac | 1:1f4e8614d0ed | 125 | double QEI::getRPUS() |
kikoaac | 1:1f4e8614d0ed | 126 | { static double prev_angle; |
kikoaac | 1:1f4e8614d0ed | 127 | USper.stop(); |
kikoaac | 1:1f4e8614d0ed | 128 | |
kikoaac | 1:1f4e8614d0ed | 129 | RPUS = (sumangle - prev_angle) / (double)USper.read_us() / 360; |
kikoaac | 1:1f4e8614d0ed | 130 | USper.reset(); |
kikoaac | 1:1f4e8614d0ed | 131 | USper.start(); |
kikoaac | 1:1f4e8614d0ed | 132 | prev_angle = sumangle; |
kikoaac | 1:1f4e8614d0ed | 133 | return RPUS; |
kikoaac | 1:1f4e8614d0ed | 134 | } |
kikoaac | 1:1f4e8614d0ed | 135 | void QEI::encode(void) { |
kikoaac | 2:6a38785d5f0c | 136 | NVIC_DisableIRQ( I2C_IRQn ) ; |
kikoaac | 1:1f4e8614d0ed | 137 | int change = 0; |
kikoaac | 1:1f4e8614d0ed | 138 | int chanA = channelA_.read(); |
kikoaac | 1:1f4e8614d0ed | 139 | int chanB = channelB_.read(); |
kikoaac | 2:6a38785d5f0c | 140 | //printf("QEI\n"); |
kikoaac | 1:1f4e8614d0ed | 141 | currState_ = (chanA << 1) | (chanB); |
kikoaac | 1:1f4e8614d0ed | 142 | |
kikoaac | 1:1f4e8614d0ed | 143 | if (encoding_ == X2_ENCODING) { |
kikoaac | 1:1f4e8614d0ed | 144 | |
kikoaac | 1:1f4e8614d0ed | 145 | if ((prevState_ == 0x3 && currState_ == 0x0) || |
kikoaac | 1:1f4e8614d0ed | 146 | (prevState_ == 0x0 && currState_ == 0x3)) { |
kikoaac | 1:1f4e8614d0ed | 147 | |
kikoaac | 1:1f4e8614d0ed | 148 | pulses_++; |
kikoaac | 1:1f4e8614d0ed | 149 | angle_pulses++; |
kikoaac | 1:1f4e8614d0ed | 150 | |
kikoaac | 1:1f4e8614d0ed | 151 | } |
kikoaac | 1:1f4e8614d0ed | 152 | else if ((prevState_ == 0x2 && currState_ == 0x1) || |
kikoaac | 1:1f4e8614d0ed | 153 | (prevState_ == 0x1 && currState_ == 0x2)) { |
kikoaac | 1:1f4e8614d0ed | 154 | |
kikoaac | 1:1f4e8614d0ed | 155 | pulses_--; |
kikoaac | 1:1f4e8614d0ed | 156 | angle_pulses--; |
kikoaac | 1:1f4e8614d0ed | 157 | |
kikoaac | 1:1f4e8614d0ed | 158 | } |
kikoaac | 1:1f4e8614d0ed | 159 | |
kikoaac | 1:1f4e8614d0ed | 160 | } else if (encoding_ == X4_ENCODING) { |
kikoaac | 1:1f4e8614d0ed | 161 | |
kikoaac | 1:1f4e8614d0ed | 162 | if (((currState_ ^ prevState_) != INVALID) && (currState_ != prevState_)) { |
kikoaac | 1:1f4e8614d0ed | 163 | change = (prevState_ & PREV_MASK) ^ ((currState_ & CURR_MASK) >> 1); |
kikoaac | 1:1f4e8614d0ed | 164 | |
kikoaac | 1:1f4e8614d0ed | 165 | if (change == 0) { |
kikoaac | 1:1f4e8614d0ed | 166 | change = -1; |
kikoaac | 1:1f4e8614d0ed | 167 | } |
kikoaac | 1:1f4e8614d0ed | 168 | |
kikoaac | 1:1f4e8614d0ed | 169 | pulses_ -= change; |
kikoaac | 1:1f4e8614d0ed | 170 | angle_pulses -= change; |
kikoaac | 1:1f4e8614d0ed | 171 | } |
kikoaac | 1:1f4e8614d0ed | 172 | |
kikoaac | 1:1f4e8614d0ed | 173 | } |
kikoaac | 1:1f4e8614d0ed | 174 | angle_ = angle_pulses*360/((double)pulsesPerRev_*4); |
kikoaac | 1:1f4e8614d0ed | 175 | sumangle = pulses_*360/((double)pulsesPerRev_*4); |
kikoaac | 1:1f4e8614d0ed | 176 | if(angle_>=360) |
kikoaac | 1:1f4e8614d0ed | 177 | { |
kikoaac | 1:1f4e8614d0ed | 178 | angle_pulses = angle_ = 0; |
kikoaac | 1:1f4e8614d0ed | 179 | round_rev++; |
kikoaac | 1:1f4e8614d0ed | 180 | } |
kikoaac | 1:1f4e8614d0ed | 181 | else if(angle_<=-360) |
kikoaac | 1:1f4e8614d0ed | 182 | { |
kikoaac | 1:1f4e8614d0ed | 183 | angle_pulses = angle_ = 0; |
kikoaac | 1:1f4e8614d0ed | 184 | round_rev--; |
kikoaac | 1:1f4e8614d0ed | 185 | } |
kikoaac | 1:1f4e8614d0ed | 186 | prevState_ = currState_; |
kikoaac | 2:6a38785d5f0c | 187 | NVIC_EnableIRQ( I2C_IRQn ) ; |
kikoaac | 1:1f4e8614d0ed | 188 | } |
kikoaac | 1:1f4e8614d0ed | 189 | |
kikoaac | 1:1f4e8614d0ed | 190 | void QEI::index(void) { |
kikoaac | 1:1f4e8614d0ed | 191 | |
kikoaac | 1:1f4e8614d0ed | 192 | revolutions_++; |
kikoaac | 1:1f4e8614d0ed | 193 | |
kikoaac | 1:1f4e8614d0ed | 194 | } |
kikoaac | 1:1f4e8614d0ed | 195 |