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
- Committer:
- kikoaac
- Date:
- 2015-09-23
- Revision:
- 4:dd8e607964d2
- Parent:
- 3:f285adb565b1
File content as of revision 4:dd8e607964d2:
#include "QEI.h" QEI::QEI(const QEI& q) : channelA_(q.Pin[0]), channelB_(q.Pin[1]),index_(q.Pin[2]) { pulses_ = 0; revolutions_ = 0; pulsesPerRev_ = q.pulsesPerRev_; encoding_ = q.encoding_; timer=q.timer; //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 (q.encoding_ == X4_ENCODING) { channelB_.rise(this, &QEI::encode); channelB_.fall(this, &QEI::encode); } if (Pin[2] != NC) { index_.rise(this, &QEI::index); } } QEI::QEI(PinName channelA, PinName channelB, PinName index, int pulsesPerRev, Timer *T, Encoding encoding ) : channelA_(channelA), channelB_(channelB), index_(index) { timer=T; timer->start(); Pin[0] = channelA; Pin[1] = channelB; Pin[2] = 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::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() { float data = (sumangle - prev_angle) / gettime() * 60.0 / 360; prev_angle = sumangle; RPM = data; //printf("%f %f\r\n",getSumangle(),prev_angle); return RPM; } double QEI::getRPS() { static double prev_angle; RPS = (sumangle - prev_angle) / gettime() / 360; prev_angle = sumangle; return RPS; } double QEI::getRPMS() { static double prev_angle; RPMS = (sumangle - prev_angle) / gettime()*1000/ 360; prev_angle = sumangle; return RPMS; } double QEI::getRPUS() { static double prev_angle; RPUS =(sumangle - prev_angle) / gettime()*1000*1000/ 360; prev_angle = sumangle; prev_angle = sumangle; return RPUS; } void QEI::encode(void) { int change = 0; int chanA = channelA_.read(); int chanB = channelB_.read(); //printf("QEI\n"); 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_++; }