mirror of https://github.com/ArduPilot/ardupilot
64 lines
2.7 KiB
C++
64 lines
2.7 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "AP_WheelEncoder.h"
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#include "WheelEncoder_Backend.h"
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#include <Filter/Filter.h>
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#include <AP_Math/AP_Math.h>
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class AP_WheelEncoder_Quadrature : public AP_WheelEncoder_Backend
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{
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public:
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// constructor
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AP_WheelEncoder_Quadrature(AP_WheelEncoder &frontend, uint8_t instance, AP_WheelEncoder::WheelEncoder_State &state);
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// update state
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void update(void);
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private:
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// gpio interrupt handlers
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static int irq_handler0_pina(int irq, void *context); // instance 0's pin_a handler
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static int irq_handler0_pinb(int irq, void *context); // instance 0's pin_b handler
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static int irq_handler1_pina(int irq, void *context); // instance 1's pin_a handler
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static int irq_handler1_pinb(int irq, void *context); // instance 1's pin_b handler
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static void irq_handler(uint8_t instance, bool pin_a); // combined irq handler
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// get gpio id from pin number
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static uint32_t get_gpio(uint8_t pin_number);
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// convert pin a and b status to phase
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static uint8_t pin_ab_to_phase(bool pin_a, bool pin_b);
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// update phase, distance_count and error count using pin a and b's latest state
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static void update_phase_and_error_count(bool pin_a_now, bool pin_b_now, uint8_t &phase, int32_t &distance_count, uint32_t &total_count, uint32_t &error_count);
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struct IrqState {
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uint32_t last_gpio_a; // gpio used for pin a
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uint32_t last_gpio_b; // gpio used for pin b
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uint8_t phase; // current phase of encoder (from 0 to 3)
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int32_t distance_count; // distance measured by cumulative steps forward or backwards
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uint32_t total_count; // total number of successful readings from sensor (used for sensor quality calcs)
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uint32_t error_count; // total number of errors reading from sensor (used for sensor quality calcs)
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uint32_t last_reading_ms; // system time of last update from encoder
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};
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static struct IrqState irq_state[WHEELENCODER_MAX_INSTANCES];
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// private members
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uint8_t last_pin_a;
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uint8_t last_pin_b;
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};
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