File content as of revision 1:4b2681ff734d:

#ifndef QEI_H
#define QEI_H


#include "mbed.h"


#define PREV_MASK 0x1 //Mask for the previous state in determining direction
//of rotation.
#define CURR_MASK 0x2 //Mask for the current state in determining direction
//of rotation.
#define INVALID   0x3 //XORing two states where both bits have changed.

class QEI {

public:

    typedef enum Encoding {

        X2_ENCODING,
        X4_ENCODING

    } Encoding;


    QEI(PinName channelA, PinName channelB, PinName index, int pulsesPerRev, Encoding encoding = X2_ENCODING);

    void reset(void);

    int getCurrentState(void);


    void set(int pul , int rev);  
     
    int getPulses(void);

    int getRevolutions(void);
    
    int getAng_rev();
    
    double getAngle();
    double getSumangle();
    double getRPM();
    double getRPS();
    double getRPMS();
    double getRPUS();
    int          pulsesPerRev_;
private:
    Timer Mper , Rper ,MSper ,USper; 
    Ticker Tick;
    double RPM , RPS ,RPMS , RPUS;
    double prev_angle;

    void encode(void);

 
    void index(void);

    Encoding encoding_;

    InterruptIn channelA_;
    InterruptIn channelB_;
    InterruptIn index_;
    int          round_rev;

    int          prevState_;
    int          currState_;
    double angle_ , sumangle;
    int angle_pulses;
    volatile int pulses_;
    volatile int revolutions_;

};

#endif