112 lines
1.9 KiB
C++
112 lines
1.9 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 PERIPHERALS_ENCODER_HPP_
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#define 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_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_COMPARE(_htim, _channels, 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 >> 1;
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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 getDireection() const
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{
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return _direction;
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}
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// Should be called somewhat regularly.
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void update()
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{
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const std::uint16_t current = __HAL_TIM_GET_COUNTER(_htim);
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if (current > _last_read)
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_direction = Dirs::FORWARD;
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else
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_direction = Dirs::BACKWARD;
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_last_read = current;
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}
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void timerUpdateEvent()
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{
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if (_direction == Dirs::FORWARD)
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{
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_full_revolutions++;
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} else
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{
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_full_revolutions--;
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}
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_last_read = 0;
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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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Dirs _direction = Dirs::FORWARD;
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std::int32_t _full_revolutions = 0;
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std::uint16_t _last_read = 0;
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};
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}// namespace Peripherals
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#endif /* PERIPHERALS_ENCODER_HPP_ */
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