From d307376abcda46c6d9f79749964520965df00830 Mon Sep 17 00:00:00 2001 From: Jon Trulson Date: Thu, 15 Jan 2015 15:13:45 -0700 Subject: [PATCH] rotaryencoder: Initial implementation This module implements supoort for the Grove Rotary Encoder, though it should function with any Rotary Encoder utilizing two GPIOs. Signed-off-by: Jon Trulson Signed-off-by: Zion Orent Signed-off-by: John Van Drasek --- examples/CMakeLists.txt | 3 + examples/javascript/rotaryencoder.js | 43 ++++++++++++ examples/rotaryencoder.cxx | 61 +++++++++++++++++ src/rotaryencoder/CMakeLists.txt | 5 ++ src/rotaryencoder/jsupm_rotaryencoder.i | 8 +++ src/rotaryencoder/pyupm_rotaryencoder.i | 9 +++ src/rotaryencoder/rotaryencoder.cxx | 91 +++++++++++++++++++++++++ src/rotaryencoder/rotaryencoder.h | 91 +++++++++++++++++++++++++ 8 files changed, 311 insertions(+) create mode 100644 examples/javascript/rotaryencoder.js create mode 100644 examples/rotaryencoder.cxx create mode 100644 src/rotaryencoder/CMakeLists.txt create mode 100644 src/rotaryencoder/jsupm_rotaryencoder.i create mode 100644 src/rotaryencoder/pyupm_rotaryencoder.i create mode 100644 src/rotaryencoder/rotaryencoder.cxx create mode 100644 src/rotaryencoder/rotaryencoder.h diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt index 84a793c8..9a2bb67f 100644 --- a/examples/CMakeLists.txt +++ b/examples/CMakeLists.txt @@ -76,6 +76,7 @@ add_executable (rfr359f-example rfr359f.cxx) add_executable (biss0001-example biss0001.cxx) add_executable (my9221-example my9221.cxx) add_executable (grove_mcfled-example grove_mcfled.cxx) +add_executable (rotaryencoder-example rotaryencoder.cxx) include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l) include_directories (${PROJECT_SOURCE_DIR}/src/grove) @@ -138,6 +139,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/grovespeaker) include_directories (${PROJECT_SOURCE_DIR}/src/rfr359f) include_directories (${PROJECT_SOURCE_DIR}/src/biss0001) include_directories (${PROJECT_SOURCE_DIR}/src/my9221) +include_directories (${PROJECT_SOURCE_DIR}/src/rotaryencoder) target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT}) target_link_libraries (groveled-example grove ${CMAKE_THREAD_LIBS_INIT}) @@ -217,3 +219,4 @@ target_link_libraries (rfr359f-example rfr359f ${CMAKE_THREAD_LIBS_INIT}) target_link_libraries (biss0001-example biss0001 ${CMAKE_THREAD_LIBS_INIT}) target_link_libraries (my9221-example my9221 ${CMAKE_THREAD_LIBS_INIT}) target_link_libraries (grove_mcfled-example grove ${CMAKE_THREAD_LIBS_INIT}) +target_link_libraries (rotaryencoder-example rotaryencoder ${CMAKE_THREAD_LIBS_INIT}) diff --git a/examples/javascript/rotaryencoder.js b/examples/javascript/rotaryencoder.js new file mode 100644 index 00000000..a3f5d005 --- /dev/null +++ b/examples/javascript/rotaryencoder.js @@ -0,0 +1,43 @@ +/*jslint node:true, vars:true, bitwise:true, unparam:true */ +/*jshint unused:true */ +/* +* Author: Zion Orent +* Copyright (c) 2015 Intel Corporation. +* +* Permission is hereby granted, free of charge, to any person obtaining +* a copy of this software and associated documentation files (the +* "Software"), to deal in the Software without restriction, including +* without limitation the rights to use, copy, modify, merge, publish, +* distribute, sublicense, and/or sell copies of the Software, and to +* permit persons to whom the Software is furnished to do so, subject to +* the following conditions: +* +* The above copyright notice and this permission notice shall be +* included in all copies or substantial portions of the Software. +* +* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND +* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE +* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION +* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION +* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +*/ + +var rotaryEncoder = require("jsupm_rotaryencoder"); + +// Instantiate a Grove Rotary Encoder, using signal pins D2 and D3 +var myRotaryEncoder = new rotaryEncoder.RotaryEncoder(2, 3); + +var myInterval = setInterval(function() +{ + console.log("Position: " + myRotaryEncoder.position()); +}, 100); + +// When exiting: clear interval and print message +process.on('SIGINT', function() +{ + clearInterval(myInterval); + console.log("Exiting..."); + process.exit(0); +}); diff --git a/examples/rotaryencoder.cxx b/examples/rotaryencoder.cxx new file mode 100644 index 00000000..f6c505e4 --- /dev/null +++ b/examples/rotaryencoder.cxx @@ -0,0 +1,61 @@ +/* + * Author: Jon Trulson + * Copyright (c) 2015 Intel Corporation. + * + * Permission is hereby granted, free of charge, to any person obtaining + * a copy of this software and associated documentation files (the + * "Software"), to deal in the Software without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Software, and to + * permit persons to whom the Software is furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be + * included in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE + * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION + * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION + * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +#include +#include +#include +#include "rotaryencoder.h" + +using namespace std; + +int shouldRun = true; + +void sig_handler(int signo) +{ + if (signo == SIGINT) + shouldRun = false; +} + + +int main() +{ + signal(SIGINT, sig_handler); + +//! [Interesting] + // Instantiate a Grove Rotary Encoder, using signal pins D2 and D3 + upm::RotaryEncoder* rotaryencoder = new upm::RotaryEncoder(2, 3); + + while (shouldRun) + { + cout << "Position: " << rotaryencoder->position() << endl; + usleep(100000); + } + +//! [Interesting] + + cout << "Exiting..." << endl; + + delete rotaryencoder; + return 0; +} diff --git a/src/rotaryencoder/CMakeLists.txt b/src/rotaryencoder/CMakeLists.txt new file mode 100644 index 00000000..56b8f577 --- /dev/null +++ b/src/rotaryencoder/CMakeLists.txt @@ -0,0 +1,5 @@ +set (libname "rotaryencoder") +set (libdescription "upm grove rotary encoder module") +set (module_src ${libname}.cxx) +set (module_h ${libname}.h) +upm_module_init() diff --git a/src/rotaryencoder/jsupm_rotaryencoder.i b/src/rotaryencoder/jsupm_rotaryencoder.i new file mode 100644 index 00000000..13fd7b80 --- /dev/null +++ b/src/rotaryencoder/jsupm_rotaryencoder.i @@ -0,0 +1,8 @@ +%module jsupm_rotaryencoder +%include "../upm.i" + +%{ + #include "rotaryencoder.h" +%} + +%include "rotaryencoder.h" diff --git a/src/rotaryencoder/pyupm_rotaryencoder.i b/src/rotaryencoder/pyupm_rotaryencoder.i new file mode 100644 index 00000000..82468305 --- /dev/null +++ b/src/rotaryencoder/pyupm_rotaryencoder.i @@ -0,0 +1,9 @@ +%module pyupm_rotaryencoder +%include "../upm.i" + +%feature("autodoc", "3"); + +%include "rotaryencoder.h" +%{ + #include "rotaryencoder.h" +%} diff --git a/src/rotaryencoder/rotaryencoder.cxx b/src/rotaryencoder/rotaryencoder.cxx new file mode 100644 index 00000000..2e580a54 --- /dev/null +++ b/src/rotaryencoder/rotaryencoder.cxx @@ -0,0 +1,91 @@ +/* + * Author: Jon Trulson + * Copyright (c) 2015 Intel Corporation. + * + * Permission is hereby granted, free of charge, to any person obtaining + * a copy of this software and associated documentation files (the + * "Software"), to deal in the Software without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Software, and to + * permit persons to whom the Software is furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be + * included in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE + * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION + * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION + * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +#include + +#include "rotaryencoder.h" + +using namespace upm; +using namespace std; + +RotaryEncoder::RotaryEncoder(int pinA, int pinB) +{ + if ( !(m_gpioA = mraa_gpio_init(pinA)) ) + { + cerr << __FUNCTION__ << ": mraa_gpio_init() failed" << endl; + return; + } + + mraa_gpio_dir(m_gpioA, MRAA_GPIO_IN); + + if ( !(m_gpioB = mraa_gpio_init(pinB)) ) + { + cerr << __FUNCTION__ << ": mraa_gpio_init() failed" << endl; + return; + } + + mraa_gpio_dir(m_gpioB, MRAA_GPIO_IN); + + m_position = 0; + + // setup the ISR + + // We would prefer to use MRAA_GPIO_EDGE_BOTH for better resolution, + // but that does not appear to be supported + mraa_gpio_isr(m_gpioA, MRAA_GPIO_EDGE_RISING, + &signalAISR, this); +} + +RotaryEncoder::~RotaryEncoder() +{ + mraa_gpio_isr_exit(m_gpioA); + + mraa_gpio_close(m_gpioA); + mraa_gpio_close(m_gpioB); +} + +void RotaryEncoder::initPosition(int count) +{ + m_position = count; +} + +int RotaryEncoder::position() +{ + return m_position; +} + +void RotaryEncoder::signalAISR(void *ctx) +{ + upm::RotaryEncoder *This = (upm::RotaryEncoder *)ctx; + + if (mraa_gpio_read(This->m_gpioA)) + { + if (mraa_gpio_read(This->m_gpioB)) + This->m_position++; // CW + else + This->m_position--; // CCW + } +} + + diff --git a/src/rotaryencoder/rotaryencoder.h b/src/rotaryencoder/rotaryencoder.h new file mode 100644 index 00000000..32ea3873 --- /dev/null +++ b/src/rotaryencoder/rotaryencoder.h @@ -0,0 +1,91 @@ +/* + * Author: Jon Trulson + * Copyright (c) 2015 Intel Corporation. + * + * Permission is hereby granted, free of charge, to any person obtaining + * a copy of this software and associated documentation files (the + * "Software"), to deal in the Software without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Software, and to + * permit persons to whom the Software is furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be + * included in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE + * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION + * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION + * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ +#pragma once + +#include +#include +#include +#include + +namespace upm { + + /** + * @brief C++ API for the Grove Rotary Encoder + * + * UPM module for the Grove Rotary Encoder. A Rotary Encoder + * encodes a rotation signal into electronic pulses that can be used + * to measure rotation and direction. It is useful in cases where a + * rotary knob is required, but using a potentiometer is not + * desireable. A rotary encoder can turn a full 360 degrees+ + * without a stop and does not place a resistive load on the + * circuit, as is the case with a potentiometer. + * + * This module maintains a position that is incremented or + * decremented according to the rotation on the encoder. + * + * @ingroup gpio + * @snippet rotaryencoder.cxx Interesting + */ + class RotaryEncoder { + public: + /** + * RotaryEncoder constructor + * + * @param pinA digital pin to use for signal A + * @param pinB digital pin to use for signal B + */ + RotaryEncoder(int pinA, int pinB); + /** + * RotaryEncoder Destructor + */ + ~RotaryEncoder(); + + /** + * Reset the position to a given number, default is 0. + * + * @param count integer to initialize the position to + */ + void initPosition(int count=0); + + /** + * Get the position value + * + */ + int position(); + + /** + * ISR for signal A + * + * @param ctx user context for the ISR (*this pointer) + */ + static void signalAISR(void *ctx); + + private: + volatile int m_position; + mraa_gpio_context m_gpioA; + mraa_gpio_context m_gpioB; + }; +} + +