r_test1_2017_10_11_Wed_A
Fork of QEI by
QEI.h@1:8658787f9ec5, 2017-10-11 (annotated)
- Committer:
- shobonwarrior
- Date:
- Wed Oct 11 08:14:24 2017 +0000
- Revision:
- 1:8658787f9ec5
- Parent:
- 0:5c2ad81551aa
r_test1_2017/10/11/Wed_A
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
aberk | 0:5c2ad81551aa | 1 | /** |
aberk | 0:5c2ad81551aa | 2 | * @author Aaron Berk |
aberk | 0:5c2ad81551aa | 3 | * |
aberk | 0:5c2ad81551aa | 4 | * @section LICENSE |
aberk | 0:5c2ad81551aa | 5 | * |
aberk | 0:5c2ad81551aa | 6 | * Copyright (c) 2010 ARM Limited |
aberk | 0:5c2ad81551aa | 7 | * |
aberk | 0:5c2ad81551aa | 8 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
aberk | 0:5c2ad81551aa | 9 | * of this software and associated documentation files (the "Software"), to deal |
aberk | 0:5c2ad81551aa | 10 | * in the Software without restriction, including without limitation the rights |
aberk | 0:5c2ad81551aa | 11 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
aberk | 0:5c2ad81551aa | 12 | * copies of the Software, and to permit persons to whom the Software is |
aberk | 0:5c2ad81551aa | 13 | * furnished to do so, subject to the following conditions: |
aberk | 0:5c2ad81551aa | 14 | * |
aberk | 0:5c2ad81551aa | 15 | * The above copyright notice and this permission notice shall be included in |
aberk | 0:5c2ad81551aa | 16 | * all copies or substantial portions of the Software. |
aberk | 0:5c2ad81551aa | 17 | * |
aberk | 0:5c2ad81551aa | 18 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
aberk | 0:5c2ad81551aa | 19 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
aberk | 0:5c2ad81551aa | 20 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
aberk | 0:5c2ad81551aa | 21 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
aberk | 0:5c2ad81551aa | 22 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
aberk | 0:5c2ad81551aa | 23 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
aberk | 0:5c2ad81551aa | 24 | * THE SOFTWARE. |
aberk | 0:5c2ad81551aa | 25 | * |
aberk | 0:5c2ad81551aa | 26 | * @section DESCRIPTION |
aberk | 0:5c2ad81551aa | 27 | * |
aberk | 0:5c2ad81551aa | 28 | * Quadrature Encoder Interface. |
aberk | 0:5c2ad81551aa | 29 | * |
aberk | 0:5c2ad81551aa | 30 | * A quadrature encoder consists of two code tracks on a disc which are 90 |
aberk | 0:5c2ad81551aa | 31 | * degrees out of phase. It can be used to determine how far a wheel has |
aberk | 0:5c2ad81551aa | 32 | * rotated, relative to a known starting position. |
aberk | 0:5c2ad81551aa | 33 | * |
aberk | 0:5c2ad81551aa | 34 | * Only one code track changes at a time leading to a more robust system than |
aberk | 0:5c2ad81551aa | 35 | * a single track, because any jitter around any edge won't cause a state |
aberk | 0:5c2ad81551aa | 36 | * change as the other track will remain constant. |
aberk | 0:5c2ad81551aa | 37 | * |
aberk | 0:5c2ad81551aa | 38 | * Encoders can be a homebrew affair, consisting of infrared emitters/receivers |
aberk | 0:5c2ad81551aa | 39 | * and paper code tracks consisting of alternating black and white sections; |
aberk | 0:5c2ad81551aa | 40 | * alternatively, complete disk and PCB emitter/receiver encoder systems can |
aberk | 0:5c2ad81551aa | 41 | * be bought, but the interface, regardless of implementation is the same. |
aberk | 0:5c2ad81551aa | 42 | * |
aberk | 0:5c2ad81551aa | 43 | * +-----+ +-----+ +-----+ |
aberk | 0:5c2ad81551aa | 44 | * Channel A | ^ | | | | | |
aberk | 0:5c2ad81551aa | 45 | * ---+ ^ +-----+ +-----+ +----- |
aberk | 0:5c2ad81551aa | 46 | * ^ ^ |
aberk | 0:5c2ad81551aa | 47 | * ^ +-----+ +-----+ +-----+ |
aberk | 0:5c2ad81551aa | 48 | * Channel B ^ | | | | | | |
aberk | 0:5c2ad81551aa | 49 | * ------+ +-----+ +-----+ +----- |
aberk | 0:5c2ad81551aa | 50 | * ^ ^ |
aberk | 0:5c2ad81551aa | 51 | * ^ ^ |
aberk | 0:5c2ad81551aa | 52 | * 90deg |
aberk | 0:5c2ad81551aa | 53 | * |
aberk | 0:5c2ad81551aa | 54 | * The interface uses X2 encoding by default which calculates the pulse count |
aberk | 0:5c2ad81551aa | 55 | * based on reading the current state after each rising and falling edge of |
aberk | 0:5c2ad81551aa | 56 | * channel A. |
aberk | 0:5c2ad81551aa | 57 | * |
aberk | 0:5c2ad81551aa | 58 | * +-----+ +-----+ +-----+ |
aberk | 0:5c2ad81551aa | 59 | * Channel A | | | | | | |
aberk | 0:5c2ad81551aa | 60 | * ---+ +-----+ +-----+ +----- |
aberk | 0:5c2ad81551aa | 61 | * ^ ^ ^ ^ ^ |
aberk | 0:5c2ad81551aa | 62 | * ^ +-----+ ^ +-----+ ^ +-----+ |
aberk | 0:5c2ad81551aa | 63 | * Channel B ^ | ^ | ^ | ^ | ^ | | |
aberk | 0:5c2ad81551aa | 64 | * ------+ ^ +-----+ ^ +-----+ +-- |
aberk | 0:5c2ad81551aa | 65 | * ^ ^ ^ ^ ^ |
aberk | 0:5c2ad81551aa | 66 | * ^ ^ ^ ^ ^ |
aberk | 0:5c2ad81551aa | 67 | * Pulse count 0 1 2 3 4 5 ... |
aberk | 0:5c2ad81551aa | 68 | * |
aberk | 0:5c2ad81551aa | 69 | * This interface can also use X4 encoding which calculates the pulse count |
aberk | 0:5c2ad81551aa | 70 | * based on reading the current state after each rising and falling edge of |
aberk | 0:5c2ad81551aa | 71 | * either channel. |
aberk | 0:5c2ad81551aa | 72 | * |
aberk | 0:5c2ad81551aa | 73 | * +-----+ +-----+ +-----+ |
aberk | 0:5c2ad81551aa | 74 | * Channel A | | | | | | |
aberk | 0:5c2ad81551aa | 75 | * ---+ +-----+ +-----+ +----- |
aberk | 0:5c2ad81551aa | 76 | * ^ ^ ^ ^ ^ |
aberk | 0:5c2ad81551aa | 77 | * ^ +-----+ ^ +-----+ ^ +-----+ |
aberk | 0:5c2ad81551aa | 78 | * Channel B ^ | ^ | ^ | ^ | ^ | | |
aberk | 0:5c2ad81551aa | 79 | * ------+ ^ +-----+ ^ +-----+ +-- |
aberk | 0:5c2ad81551aa | 80 | * ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ |
aberk | 0:5c2ad81551aa | 81 | * ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ |
aberk | 0:5c2ad81551aa | 82 | * Pulse count 0 1 2 3 4 5 6 7 8 9 ... |
aberk | 0:5c2ad81551aa | 83 | * |
aberk | 0:5c2ad81551aa | 84 | * It defaults |
aberk | 0:5c2ad81551aa | 85 | * |
aberk | 0:5c2ad81551aa | 86 | * An optional index channel can be used which determines when a full |
aberk | 0:5c2ad81551aa | 87 | * revolution has occured. |
aberk | 0:5c2ad81551aa | 88 | * |
aberk | 0:5c2ad81551aa | 89 | * If a 4 pules per revolution encoder was used, with X4 encoding, |
aberk | 0:5c2ad81551aa | 90 | * the following would be observed. |
aberk | 0:5c2ad81551aa | 91 | * |
aberk | 0:5c2ad81551aa | 92 | * +-----+ +-----+ +-----+ |
aberk | 0:5c2ad81551aa | 93 | * Channel A | | | | | | |
aberk | 0:5c2ad81551aa | 94 | * ---+ +-----+ +-----+ +----- |
aberk | 0:5c2ad81551aa | 95 | * ^ ^ ^ ^ ^ |
aberk | 0:5c2ad81551aa | 96 | * ^ +-----+ ^ +-----+ ^ +-----+ |
aberk | 0:5c2ad81551aa | 97 | * Channel B ^ | ^ | ^ | ^ | ^ | | |
aberk | 0:5c2ad81551aa | 98 | * ------+ ^ +-----+ ^ +-----+ +-- |
aberk | 0:5c2ad81551aa | 99 | * ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ |
aberk | 0:5c2ad81551aa | 100 | * ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ |
aberk | 0:5c2ad81551aa | 101 | * ^ ^ ^ +--+ ^ ^ +--+ ^ |
aberk | 0:5c2ad81551aa | 102 | * ^ ^ ^ | | ^ ^ | | ^ |
aberk | 0:5c2ad81551aa | 103 | * Index ------------+ +--------+ +----------- |
aberk | 0:5c2ad81551aa | 104 | * ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ |
aberk | 0:5c2ad81551aa | 105 | * Pulse count 0 1 2 3 4 5 6 7 8 9 ... |
aberk | 0:5c2ad81551aa | 106 | * Rev. count 0 1 2 |
aberk | 0:5c2ad81551aa | 107 | * |
aberk | 0:5c2ad81551aa | 108 | * Rotational position in degrees can be calculated by: |
aberk | 0:5c2ad81551aa | 109 | * |
aberk | 0:5c2ad81551aa | 110 | * (pulse count / X * N) * 360 |
aberk | 0:5c2ad81551aa | 111 | * |
aberk | 0:5c2ad81551aa | 112 | * Where X is the encoding type [e.g. X4 encoding => X=4], and N is the number |
aberk | 0:5c2ad81551aa | 113 | * of pulses per revolution. |
aberk | 0:5c2ad81551aa | 114 | * |
aberk | 0:5c2ad81551aa | 115 | * Linear position can be calculated by: |
aberk | 0:5c2ad81551aa | 116 | * |
aberk | 0:5c2ad81551aa | 117 | * (pulse count / X * N) * (1 / PPI) |
aberk | 0:5c2ad81551aa | 118 | * |
aberk | 0:5c2ad81551aa | 119 | * Where X is encoding type [e.g. X4 encoding => X=44], N is the number of |
aberk | 0:5c2ad81551aa | 120 | * pulses per revolution, and PPI is pulses per inch, or the equivalent for |
aberk | 0:5c2ad81551aa | 121 | * any other unit of displacement. PPI can be calculated by taking the |
aberk | 0:5c2ad81551aa | 122 | * circumference of the wheel or encoder disk and dividing it by the number |
aberk | 0:5c2ad81551aa | 123 | * of pulses per revolution. |
aberk | 0:5c2ad81551aa | 124 | */ |
aberk | 0:5c2ad81551aa | 125 | |
shobonwarrior | 1:8658787f9ec5 | 126 | |
shobonwarrior | 1:8658787f9ec5 | 127 | |
aberk | 0:5c2ad81551aa | 128 | #ifndef QEI_H |
aberk | 0:5c2ad81551aa | 129 | #define QEI_H |
shobonwarrior | 1:8658787f9ec5 | 130 | |
shobonwarrior | 1:8658787f9ec5 | 131 | |
aberk | 0:5c2ad81551aa | 132 | #include "mbed.h" |
shobonwarrior | 1:8658787f9ec5 | 133 | |
shobonwarrior | 1:8658787f9ec5 | 134 | |
aberk | 0:5c2ad81551aa | 135 | #define PREV_MASK 0x1 //Mask for the previous state in determining direction |
aberk | 0:5c2ad81551aa | 136 | //of rotation. |
aberk | 0:5c2ad81551aa | 137 | #define CURR_MASK 0x2 //Mask for the current state in determining direction |
aberk | 0:5c2ad81551aa | 138 | //of rotation. |
aberk | 0:5c2ad81551aa | 139 | #define INVALID 0x3 //XORing two states where both bits have changed. |
shobonwarrior | 1:8658787f9ec5 | 140 | |
aberk | 0:5c2ad81551aa | 141 | class QEI { |
shobonwarrior | 1:8658787f9ec5 | 142 | |
aberk | 0:5c2ad81551aa | 143 | public: |
shobonwarrior | 1:8658787f9ec5 | 144 | |
aberk | 0:5c2ad81551aa | 145 | typedef enum Encoding { |
shobonwarrior | 1:8658787f9ec5 | 146 | |
aberk | 0:5c2ad81551aa | 147 | X2_ENCODING, |
aberk | 0:5c2ad81551aa | 148 | X4_ENCODING |
shobonwarrior | 1:8658787f9ec5 | 149 | |
aberk | 0:5c2ad81551aa | 150 | } Encoding; |
shobonwarrior | 1:8658787f9ec5 | 151 | |
shobonwarrior | 1:8658787f9ec5 | 152 | |
aberk | 0:5c2ad81551aa | 153 | QEI(PinName channelA, PinName channelB, PinName index, int pulsesPerRev, Encoding encoding = X2_ENCODING); |
shobonwarrior | 1:8658787f9ec5 | 154 | |
aberk | 0:5c2ad81551aa | 155 | void reset(void); |
shobonwarrior | 1:8658787f9ec5 | 156 | |
aberk | 0:5c2ad81551aa | 157 | int getCurrentState(void); |
shobonwarrior | 1:8658787f9ec5 | 158 | |
shobonwarrior | 1:8658787f9ec5 | 159 | |
shobonwarrior | 1:8658787f9ec5 | 160 | void set(int pul , int rev); |
shobonwarrior | 1:8658787f9ec5 | 161 | |
aberk | 0:5c2ad81551aa | 162 | int getPulses(void); |
shobonwarrior | 1:8658787f9ec5 | 163 | |
aberk | 0:5c2ad81551aa | 164 | int getRevolutions(void); |
shobonwarrior | 1:8658787f9ec5 | 165 | |
shobonwarrior | 1:8658787f9ec5 | 166 | int getAng_rev(); |
shobonwarrior | 1:8658787f9ec5 | 167 | |
shobonwarrior | 1:8658787f9ec5 | 168 | double getAngle(); |
shobonwarrior | 1:8658787f9ec5 | 169 | double getSumangle(); |
shobonwarrior | 1:8658787f9ec5 | 170 | double getRPM(); |
shobonwarrior | 1:8658787f9ec5 | 171 | double getRPS(); |
shobonwarrior | 1:8658787f9ec5 | 172 | double getRPMS(); |
shobonwarrior | 1:8658787f9ec5 | 173 | double getRPUS(); |
shobonwarrior | 1:8658787f9ec5 | 174 | int pulsesPerRev_; |
aberk | 0:5c2ad81551aa | 175 | private: |
shobonwarrior | 1:8658787f9ec5 | 176 | Timer Mper , Rper ,MSper ,USper; |
shobonwarrior | 1:8658787f9ec5 | 177 | Ticker Tick; |
shobonwarrior | 1:8658787f9ec5 | 178 | double RPM , RPS ,RPMS , RPUS; |
shobonwarrior | 1:8658787f9ec5 | 179 | |
aberk | 0:5c2ad81551aa | 180 | void encode(void); |
shobonwarrior | 1:8658787f9ec5 | 181 | |
shobonwarrior | 1:8658787f9ec5 | 182 | |
aberk | 0:5c2ad81551aa | 183 | void index(void); |
shobonwarrior | 1:8658787f9ec5 | 184 | |
aberk | 0:5c2ad81551aa | 185 | Encoding encoding_; |
shobonwarrior | 1:8658787f9ec5 | 186 | |
aberk | 0:5c2ad81551aa | 187 | InterruptIn channelA_; |
aberk | 0:5c2ad81551aa | 188 | InterruptIn channelB_; |
aberk | 0:5c2ad81551aa | 189 | InterruptIn index_; |
shobonwarrior | 1:8658787f9ec5 | 190 | int round_rev; |
shobonwarrior | 1:8658787f9ec5 | 191 | |
aberk | 0:5c2ad81551aa | 192 | int prevState_; |
aberk | 0:5c2ad81551aa | 193 | int currState_; |
shobonwarrior | 1:8658787f9ec5 | 194 | double angle_ , sumangle; |
shobonwarrior | 1:8658787f9ec5 | 195 | int angle_pulses; |
aberk | 0:5c2ad81551aa | 196 | volatile int pulses_; |
aberk | 0:5c2ad81551aa | 197 | volatile int revolutions_; |
shobonwarrior | 1:8658787f9ec5 | 198 | |
aberk | 0:5c2ad81551aa | 199 | }; |
shobonwarrior | 1:8658787f9ec5 | 200 | |
shobonwarrior | 1:8658787f9ec5 | 201 | #endif |
shobonwarrior | 1:8658787f9ec5 | 202 | |
shobonwarrior | 1:8658787f9ec5 | 203 | /* |
shobonwarrior | 1:8658787f9ec5 | 204 | Repository toolbox |
shobonwarrior | 1:8658787f9ec5 | 205 | Import into Compiler |
shobonwarrior | 1:8658787f9ec5 | 206 | Export to desktop IDE |
shobonwarrior | 1:8658787f9ec5 | 207 | Repository details |
shobonwarrior | 1:8658787f9ec5 | 208 | Type: Library |
shobonwarrior | 1:8658787f9ec5 | 209 | Created: 17 4月 2015 |
shobonwarrior | 1:8658787f9ec5 | 210 | Imports: 195 |
shobonwarrior | 1:8658787f9ec5 | 211 | Forks: 1 |
shobonwarrior | 1:8658787f9ec5 | 212 | Commits: 1 |
shobonwarrior | 1:8658787f9ec5 | 213 | Dependents: 0 |
shobonwarrior | 1:8658787f9ec5 | 214 | Dependencies: 0 |
shobonwarrior | 1:8658787f9ec5 | 215 | Followers: 5 |
shobonwarrior | 1:8658787f9ec5 | 216 | Software licencing information |
aberk | 0:5c2ad81551aa | 217 | |
shobonwarrior | 1:8658787f9ec5 | 218 | |
shobonwarrior | 1:8658787f9ec5 | 219 | The code in this repository is Apache licensed. |
shobonwarrior | 1:8658787f9ec5 | 220 | |
shobonwarrior | 1:8658787f9ec5 | 221 | */ |