mirror of https://github.com/ArduPilot/ardupilot
60 lines
2.2 KiB
C++
60 lines
2.2 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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// check if pin has changed and initialise gpio event callback
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void update_pin(uint8_t &pin, uint8_t new_pin, uint8_t &pin_value);
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// gpio interrupt handlers
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void irq_handler(uint8_t pin, bool pin_value, uint32_t timestamp); // combined irq handler
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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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void update_phase_and_error_count();
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struct IrqState {
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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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} irq_state;
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// private members
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uint8_t last_pin_a = -1;
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uint8_t last_pin_b = -1;
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uint8_t last_pin_a_value;
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uint8_t last_pin_b_value;
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};
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