Kiko Ishimoto
ＱＥＩその２
Dependents: Nucleo_Motor Nucleo_Motor mbed_test_enc mbed_touteki_MR1 ... more
Fork of
QEI2
by 
Kiko Ishimoto
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
Diff: QEI.cpp
- Revision:
- 1:1f4e8614d0ed
- Parent:
- 0:a24686ca50ab
- Child:
- 2:6a38785d5f0c
--- a/QEI.cpp Fri Apr 17 06:44:34 2015 +0000
+++ b/QEI.cpp Fri Jun 19 06:35:58 2015 +0000
@@ -1,182 +1,194 @@
-#include "QEI.h"
-
-QEI::QEI(PinName channelA,
- PinName channelB,
- PinName index,
- int pulsesPerRev,
- Encoding encoding
- ) : channelA_(channelA), channelB_(channelB),
- index_(index) {
-
- pulses_ = 0;
- revolutions_ = 0;
- pulsesPerRev_ = pulsesPerRev;
- encoding_ = encoding;
-
- //Workout what the current state is.
- int chanA = channelA_.read();
- int chanB = channelB_.read();
-
- //2-bit state.
- currState_ = (chanA << 1) | (chanB);
- prevState_ = currState_;
-
- channelA_.rise(this, &QEI::encode);
- channelA_.fall(this, &QEI::encode);
-
-
- if (encoding == X4_ENCODING) {
- channelB_.rise(this, &QEI::encode);
- channelB_.fall(this, &QEI::encode);
- }
- if (index != NC) {
- index_.rise(this, &QEI::index);
- }
-
-}
-
-void QEI::reset(void) {
-
- pulses_ = 0;
- revolutions_ = 0;
- round_rev = 0;
- sumangle = angle_ =0;
-}
-void QEI::set(int pul , int rev) {
-
- pulses_ = pul;
- revolutions_ = rev;
-
-}
-int QEI::getCurrentState(void) {
-
- return currState_;
-
-}
-
-int QEI::getPulses(void) {
-
- return pulses_;
-
-}
-
-int QEI::getRevolutions(void) {
-
- return revolutions_;
-
-}
-double QEI::getAngle()
-{
- return angle_;
-}
-int QEI::getAng_rev()
-{
- return round_rev;
-}
-double QEI::getSumangle()
-{
- return sumangle;
-}
-
-double QEI::getRPM()
-{
- static double prev_angle;
- Mper.stop();
-
- RPM = (sumangle - prev_angle) / Mper.read() * 60.0 / 360;
- Mper.reset();
- Mper.start();
- prev_angle = sumangle;
- return RPM;
-}
-double QEI::getRPS()
-{
- static double prev_angle;
- Rper.stop();
-
- RPS = (sumangle - prev_angle) / Rper.read() / 360;
- Rper.reset();
- Rper.start();
- prev_angle = sumangle;
- return RPS;
-}
-double QEI::getRPMS()
-{ static double prev_angle;
- MSper.stop();
-
- RPMS = (sumangle - prev_angle) / (double)MSper.read_ms() / 360;
- MSper.reset();
- MSper.start();
- prev_angle = sumangle;
- return RPMS;
-}
-double QEI::getRPUS()
-{ static double prev_angle;
- USper.stop();
-
- RPUS = (sumangle - prev_angle) / (double)USper.read_us() / 360;
- USper.reset();
- USper.start();
- prev_angle = sumangle;
- return RPUS;
-}
-void QEI::encode(void) {
-
- int change = 0;
- int chanA = channelA_.read();
- int chanB = channelB_.read();
-
- currState_ = (chanA << 1) | (chanB);
-
- if (encoding_ == X2_ENCODING) {
-
- if ((prevState_ == 0x3 && currState_ == 0x0) ||
- (prevState_ == 0x0 && currState_ == 0x3)) {
-
- pulses_++;
- angle_pulses++;
-
- }
- else if ((prevState_ == 0x2 && currState_ == 0x1) ||
- (prevState_ == 0x1 && currState_ == 0x2)) {
-
- pulses_--;
- angle_pulses--;
-
- }
-
- } else if (encoding_ == X4_ENCODING) {
-
- if (((currState_ ^ prevState_) != INVALID) && (currState_ != prevState_)) {
- change = (prevState_ & PREV_MASK) ^ ((currState_ & CURR_MASK) >> 1);
-
- if (change == 0) {
- change = -1;
- }
-
- pulses_ -= change;
- angle_pulses -= change;
- }
-
- }
- angle_ = angle_pulses*360/((double)pulsesPerRev_*4);
- sumangle = pulses_*360/((double)pulsesPerRev_*4);
- if(angle_>=360)
- {
- angle_pulses = angle_ = 0;
- round_rev++;
- }
- else if(angle_<=-360)
- {
- angle_pulses = angle_ = 0;
- round_rev--;
- }
- prevState_ = currState_;
-}
-
-void QEI::index(void) {
-
- revolutions_++;
-
-}
+#include "QEI.h"
+
+QEI::QEI(PinName channelA,
+ PinName channelB,
+ PinName index,
+ int pulsesPerRev,
+ Encoding encoding
+ ) : channelA_(channelA), channelB_(channelB),
+ index_(index) {
+
+ pulses_ = 0;
+ revolutions_ = 0;
+ pulsesPerRev_ = pulsesPerRev;
+ encoding_ = encoding;
+
+ //Workout what the current state is.
+ int chanA = channelA_.read();
+ int chanB = channelB_.read();
+
+ //2-bit state.
+ currState_ = (chanA << 1) | (chanB);
+ prevState_ = currState_;
+
+ channelA_.rise(this, &QEI::encode);
+ channelA_.fall(this, &QEI::encode);
+
+
+ if (encoding == X4_ENCODING) {
+ channelB_.rise(this, &QEI::encode);
+ channelB_.fall(this, &QEI::encode);
+ }
+ if (index != NC) {
+ index_.rise(this, &QEI::index);
+ }
+
+}
+void QEI::state(int i)
+{
+ if(i==1)
+ {
+ channelA_.disable_irq();
+ channelB_.disable_irq();
+ }
+ else if(i==0)
+ {
+ channelA_.enable_irq();
+ channelB_.enable_irq();
+ }
+}
+void QEI::reset(void) {
+
+ pulses_ = 0;
+ revolutions_ = 0;
+ round_rev = 0;
+ sumangle = angle_ =0;
+}
+void QEI::set(int pul , int rev) {
+
+ pulses_ = pul;
+ revolutions_ = rev;
+
+}
+int QEI::getCurrentState(void) {
+
+ return currState_;
+
+}
+
+int QEI::getPulses(void) {
+
+ return pulses_;
+
+}
+
+int QEI::getRevolutions(void) {
+
+ return revolutions_;
+
+}
+double QEI::getAngle()
+{
+ return angle_;
+}
+int QEI::getAng_rev()
+{
+ return round_rev;
+}
+double QEI::getSumangle()
+{
+ return sumangle;
+}
+double QEI::getRPM()
+{
+ static double prev_angle;
+ Mper.stop();
+
+ RPM = (sumangle - prev_angle) / Mper.read() * 60.0 / 360;
+ Mper.reset();
+ Mper.start();
+ prev_angle = sumangle;
+ return RPM;
+}
+double QEI::getRPS()
+{
+ static double prev_angle;
+ Rper.stop();
+
+ RPS = (sumangle - prev_angle) / Rper.read() / 360;
+ Rper.reset();
+ Rper.start();
+ prev_angle = sumangle;
+ return RPS;
+}
+double QEI::getRPMS()
+{ static double prev_angle;
+ MSper.stop();
+
+ RPMS = (sumangle - prev_angle) / (double)MSper.read_ms() / 360;
+ MSper.reset();
+ MSper.start();
+ prev_angle = sumangle;
+ return RPMS;
+}
+double QEI::getRPUS()
+{ static double prev_angle;
+ USper.stop();
+
+ RPUS = (sumangle - prev_angle) / (double)USper.read_us() / 360;
+ USper.reset();
+ USper.start();
+ prev_angle = sumangle;
+ return RPUS;
+}
+void QEI::encode(void) {
+
+ int change = 0;
+ int chanA = channelA_.read();
+ int chanB = channelB_.read();
+
+ currState_ = (chanA << 1) | (chanB);
+
+ if (encoding_ == X2_ENCODING) {
+
+ if ((prevState_ == 0x3 && currState_ == 0x0) ||
+ (prevState_ == 0x0 && currState_ == 0x3)) {
+
+ pulses_++;
+ angle_pulses++;
+
+ }
+ else if ((prevState_ == 0x2 && currState_ == 0x1) ||
+ (prevState_ == 0x1 && currState_ == 0x2)) {
+
+ pulses_--;
+ angle_pulses--;
+
+ }
+
+ } else if (encoding_ == X4_ENCODING) {
+
+ if (((currState_ ^ prevState_) != INVALID) && (currState_ != prevState_)) {
+ change = (prevState_ & PREV_MASK) ^ ((currState_ & CURR_MASK) >> 1);
+
+ if (change == 0) {
+ change = -1;
+ }
+
+ pulses_ -= change;
+ angle_pulses -= change;
+ }
+
+ }
+ angle_ = angle_pulses*360/((double)pulsesPerRev_*4);
+ sumangle = pulses_*360/((double)pulsesPerRev_*4);
+ if(angle_>=360)
+ {
+ angle_pulses = angle_ = 0;
+ round_rev++;
+ }
+ else if(angle_<=-360)
+ {
+ angle_pulses = angle_ = 0;
+ round_rev--;
+ }
+ prevState_ = currState_;
+}
+
+void QEI::index(void) {
+
+ revolutions_++;
+
+}
+