97 lines
1.6 KiB
C++
97 lines
1.6 KiB
C++
/*
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* peripherals_encoder.hpp
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*
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* Created on: Apr 11, 2021
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* Author: erki
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*/
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#ifndef SKULLC_PERIPHERALS_ENCODER_HPP_
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#define SKULLC_PERIPHERALS_ENCODER_HPP_
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#include <cstdint>
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#include <tim.h>
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namespace Peripherals
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{
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class Encoder
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{
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public:
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enum class Dirs : std::uint8_t
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{
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FORWARD,
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BACKWARD
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};
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Encoder() = delete;
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explicit Encoder(TIM_HandleTypeDef* htim, const std::uint32_t channels)
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: htim_(htim), channels_(channels)
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{}
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Encoder(const Encoder&) = delete;
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Encoder(Encoder&&) = delete;
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Encoder& operator=(const Encoder&) = delete;
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Encoder& operator=(Encoder&&) = delete;
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void start()
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{
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HAL_TIM_Base_Start_IT(htim_);
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HAL_TIM_Encoder_Start_IT(htim_, channels_);
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}
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void stop()
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{
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HAL_TIM_Encoder_Stop_IT(htim_, channels_);
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}
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void reset()
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{
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__HAL_TIM_SET_COUNTER(htim_, 0);
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full_revolutions_ = 0;
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}
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void setRevolutionTickCount(const std::uint16_t& count)
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{
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__HAL_TIM_SET_AUTORELOAD(htim_, count);
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}
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std::uint16_t getCurrentClicks() const
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{
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const std::uint16_t val = __HAL_TIM_GET_COUNTER(htim_);
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return val;
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}
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std::int32_t getFullRevolutions() const
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{
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return full_revolutions_;
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}
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Dirs getDirection() const
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{
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if (__HAL_TIM_IS_TIM_COUNTING_DOWN(htim_))
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return Dirs::BACKWARD;
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else
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return Dirs::FORWARD;
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}
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void timerUpdateEvent()
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{
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if (!__HAL_TIM_IS_TIM_COUNTING_DOWN(htim_))
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full_revolutions_++;
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else
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full_revolutions_--;
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}
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private:
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TIM_HandleTypeDef* htim_;
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std::uint32_t channels_;
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std::int32_t full_revolutions_ = 0;
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};
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}// namespace Peripherals
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#endif /* SKULLC_PERIPHERALS_ENCODER_HPP_ */
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