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133 lines
3.5 KiB
C++
133 lines
3.5 KiB
C++
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2015 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#pragma once
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#include <string>
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#include <stdint.h>
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#include <sys/time.h>
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#include <mraa/gpio.hpp>
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namespace upm {
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/**
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* @brief DFRobot Wheel Encoder library
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* @defgroup wheelencoder libupm-wheelencoder
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* @ingroup dfrobot gpio other
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*/
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/**
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* @library wheelencoder
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* @sensor wheelencoder
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* @comname DFRobot Wheel Encoder
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* @type other
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* @man dfrobot
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* @web http://www.dfrobot.com/index.php?route=product/product&product_id=98
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* @con gpio
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* @brief API for the DFRobot Wheel Encoder
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*
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* This sensor was developed for the DFRobot Wheel Encoder, though
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* it could be used for any counting time-based task.
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*
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* When you instantiate a class of this type, the gpio pin specified
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* is connected to an interrupt. Whenever a low to high transition
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* occurs on the gpio pin, the internal counter is incremented by
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* one.
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*
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* This class also includes a millisecond counter, so that you can
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* correlate the number of counts to a time period for calculating
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* an RPM or other value as needed.
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*
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* @image html wheelencoder.jpg
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* @snippet wheelencoder.cxx Interesting
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*/
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class WheelEncoder {
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public:
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/**
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* DFRobot Wheel Encoder sensor constructor
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*
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* @param pin Digital pin to use
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*/
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WheelEncoder(int pin);
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/**
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* WheelEncoder destructor
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*/
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~WheelEncoder();
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/**
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* Returns the number of milliseconds elapsed since initClock()
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* was last called.
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*
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* @return Elapsed milliseconds
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*/
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uint32_t getMillis();
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/**
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* Resets the clock
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*
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*/
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void initClock();
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/**
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* Resets the counter to 0. The counter should be
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* stopped via stopCounter() prior to calling this function.
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*
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*/
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void clearCounter() { m_counter = 0; };
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/**
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* Starts the counter. This function will also clear the current
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* count and reset the clock.
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*
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*/
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void startCounter();
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/**
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* Stops the counter
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*
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*/
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void stopCounter();
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/**
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* Gets the current counter value
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*
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* @return counter value
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*/
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uint32_t counter() { return m_counter; };
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protected:
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mraa::Gpio m_gpio;
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static void wheelISR(void *ctx);
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private:
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volatile uint32_t m_counter;
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struct timeval m_startTime;
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bool m_isrInstalled;
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};
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}
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