AP_WheelEncoder_Quadrature Class Reference

#include <WheelEncoder_Quadrature.h>

Inheritance diagram for AP_WheelEncoder_Quadrature:

Collaboration diagram for AP_WheelEncoder_Quadrature:

Classes
struct	IrqState

Public Member Functions
	AP_WheelEncoder_Quadrature (AP_WheelEncoder &frontend, uint8_t instance, AP_WheelEncoder::WheelEncoder_State &state)
void	update (void)
Public Member Functions inherited from AP_WheelEncoder_Backend
	AP_WheelEncoder_Backend (AP_WheelEncoder &frontend, uint8_t instance, AP_WheelEncoder::WheelEncoder_State &state)
virtual	~AP_WheelEncoder_Backend (void)

Static Private Member Functions
static int	irq_handler0_pina (int irq, void *context)
static int	irq_handler0_pinb (int irq, void *context)
static int	irq_handler1_pina (int irq, void *context)
static int	irq_handler1_pinb (int irq, void *context)
static void	irq_handler (uint8_t instance, bool pin_a)
static uint32_t	get_gpio (uint8_t pin_number)
static uint8_t	pin_ab_to_phase (bool pin_a, bool pin_b)
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)

Private Attributes
uint8_t	last_pin_a
uint8_t	last_pin_b

Static Private Attributes
static struct IrqState	irq_state [WHEELENCODER_MAX_INSTANCES]

Additional Inherited Members
Protected Member Functions inherited from AP_WheelEncoder_Backend
int8_t	get_pin_a () const
int8_t	get_pin_b () const
Protected Attributes inherited from AP_WheelEncoder_Backend
AP_WheelEncoder &	_frontend
AP_WheelEncoder::WheelEncoder_State &	_state

Detailed Description

Definition at line 22 of file WheelEncoder_Quadrature.h.

Constructor & Destructor Documentation

AP_WheelEncoder_Quadrature()

AP_WheelEncoder_Quadrature::AP_WheelEncoder_Quadrature	(	AP_WheelEncoder &	frontend,
		uint8_t	instance,
		AP_WheelEncoder::WheelEncoder_State &	state
	)

Definition at line 28 of file WheelEncoder_Quadrature.cpp.

Member Function Documentation

get_gpio()

uint32_t AP_WheelEncoder_Quadrature::get_gpio ( uint8_t  pin_number )

staticprivate

Definition at line 115 of file WheelEncoder_Quadrature.cpp.

Referenced by update().

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irq_handler()

void AP_WheelEncoder_Quadrature::irq_handler ( uint8_t  instance, bool  pin_a  )

staticprivate

Definition at line 180 of file WheelEncoder_Quadrature.cpp.

Referenced by irq_handler0_pina(), irq_handler0_pinb(), irq_handler1_pina(), and irq_handler1_pinb().

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irq_handler0_pina()

int AP_WheelEncoder_Quadrature::irq_handler0_pina ( int  irq, void *  context  )

staticprivate

Definition at line 87 of file WheelEncoder_Quadrature.cpp.

Referenced by update().

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irq_handler0_pinb()

int AP_WheelEncoder_Quadrature::irq_handler0_pinb ( int  irq, void *  context  )

staticprivate

Definition at line 94 of file WheelEncoder_Quadrature.cpp.

Referenced by update().

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irq_handler1_pina()

int AP_WheelEncoder_Quadrature::irq_handler1_pina ( int  irq, void *  context  )

staticprivate

Definition at line 101 of file WheelEncoder_Quadrature.cpp.

Referenced by update().

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irq_handler1_pinb()

int AP_WheelEncoder_Quadrature::irq_handler1_pinb ( int  irq, void *  context  )

staticprivate

Definition at line 108 of file WheelEncoder_Quadrature.cpp.

Referenced by update().

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pin_ab_to_phase()

uint8_t AP_WheelEncoder_Quadrature::pin_ab_to_phase ( bool  pin_a, bool  pin_b  )

staticprivate

Definition at line 137 of file WheelEncoder_Quadrature.cpp.

Referenced by update_phase_and_error_count().

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update()

void AP_WheelEncoder_Quadrature::update ( void  )

virtual

Implements AP_WheelEncoder_Backend.

Definition at line 33 of file WheelEncoder_Quadrature.cpp.

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update_phase_and_error_count()

void AP_WheelEncoder_Quadrature::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  )

staticprivate

Definition at line 159 of file WheelEncoder_Quadrature.cpp.

Referenced by irq_handler().

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Member Data Documentation

irq_state

AP_WheelEncoder_Quadrature::IrqState AP_WheelEncoder_Quadrature::irq_state

staticprivate

Definition at line 58 of file WheelEncoder_Quadrature.h.

Referenced by irq_handler(), and update().

last_pin_a

uint8_t AP_WheelEncoder_Quadrature::last_pin_a

private

Definition at line 61 of file WheelEncoder_Quadrature.h.

Referenced by update().

last_pin_b

uint8_t AP_WheelEncoder_Quadrature::last_pin_b

private

Definition at line 62 of file WheelEncoder_Quadrature.h.

Referenced by update().

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The documentation for this class was generated from the following files:

• libraries/AP_WheelEncoder/WheelEncoder_Quadrature.h
• libraries/AP_WheelEncoder/WheelEncoder_Quadrature.cpp