RegisterEncoders< RegisterType, NumEnc, EncoderPositionType, InterruptSafe > Class Template Reference

#include <AH/Hardware/RegisterEncoders.hpp>

Detailed Description

template<class RegisterType, uint8_t NumEnc, class EncoderPositionType = int32_t, bool InterruptSafe = false>
class RegisterEncoders< RegisterType, NumEnc, EncoderPositionType, InterruptSafe >

Class for keeping track of the position of multiple rotary encoders.

Template Parameters

RegisterType	The type of the GPIO registers.
NumEnc	The number of encoders.
EncoderPositionType	The type used for saving the encoder positions. int32_t is the default because this matches the Encoder library. You can use small unsigned types such as uint8_t or uint16_t if you're just interrested in the deltas.
InterruptSafe	Make the update method safe to use inside of an interrupt. It makes the necessary variables volatile and disables interrupts while reading the positions from the main program.

Definition at line 58 of file RegisterEncoders.hpp.

Collaboration diagram for RegisterEncoders< RegisterType, NumEnc, EncoderPositionType, InterruptSafe >:

Classes
class	Encoder
	Proxy to access a single encoder of the encoders managed by RegisterEncoders. More...

Public Member Functions
void	reset ()
	Reset the positions to zero and the state to 0xFF...FF. More...
void	reset (RegisterType resetstate)
	Reset the positions to zero and the state to the given value. More...
bool	update (RegisterType newstate)
	Update the encoder positions based on the new state. More...
EncoderPositionType	read (uint8_t idx) const
	Read the position of the given encoder. More...
EncoderPositionType	readAndReset (uint8_t idx)
	Read the position of the given encoder and reset it to zero. More...
void	write (uint8_t idx, EncoderPositionType pos)
	Set the position of the given encoder. More...
Encoder	operator[] (uint8_t index)
	Get a proxy to one of the encoders managed by this object. More...

Private Types
using	EncoderPositionStorageType = typename std::conditional< InterruptSafe, volatile EncoderPositionType, EncoderPositionType >::type
using	StateStorageType = typename std::conditional< InterruptSafe, volatile RegisterType, RegisterType >::type

Private Attributes
StateStorageType	state = std::numeric_limits<RegisterType>::max()
Array< EncoderPositionStorageType, NumEnc >	positions {{}}

Member Typedef Documentation

EncoderPositionStorageType

using EncoderPositionStorageType = typename std::conditional<InterruptSafe, volatile EncoderPositionType, EncoderPositionType>::type

private

Definition at line 63 of file RegisterEncoders.hpp.

StateStorageType

using StateStorageType = typename std::conditional<InterruptSafe, volatile RegisterType, RegisterType>::type

private

Definition at line 67 of file RegisterEncoders.hpp.

Member Function Documentation

reset() [1/2]

void reset ( )

inline

Reset the positions to zero and the state to 0xFF...FF.

Definition at line 76 of file RegisterEncoders.hpp.

reset() [2/2]

void reset ( RegisterType  resetstate )

inline

Reset the positions to zero and the state to the given value.

Definition at line 82 of file RegisterEncoders.hpp.

update()

bool update ( RegisterType  newstate )

inline

Update the encoder positions based on the new state.

Can be called from within an ISR, on the condition that InterruptSafe is set to true.

Don't call this function both from the ISR and from your main program, only call it from one of the two.

Return values

true	The new state is different from the old state, positions have been updated.
false	The new state is the same as the old state, nothing updated.

Definition at line 102 of file RegisterEncoders.hpp.

read()

EncoderPositionType read ( uint8_t  idx ) const

inline

Read the position of the given encoder.

Does not update the state, just reads it from the buffered position.

Don't call this function from within an ISR.

Parameters

idx	The index of the encoder to read [0, NumEnc - 1].

Definition at line 142 of file RegisterEncoders.hpp.

readAndReset()

EncoderPositionType readAndReset ( uint8_t  idx )

inline

Read the position of the given encoder and reset it to zero.

Does not update the state, just reads it from the buffered position.

Don't call this function from within an ISR.

Parameters

idx	The index of the encoder to read [0, NumEnc - 1].

Definition at line 163 of file RegisterEncoders.hpp.

write()

void write ( uint8_t  idx, EncoderPositionType  pos  )

inline

Set the position of the given encoder.

Don't call this function from within an ISR.

Parameters

idx	The index of the encoder to write [0, NumEnc - 1].
pos	The position value to write.

Definition at line 187 of file RegisterEncoders.hpp.

operator[]()

Encoder operator[] ( uint8_t  index )

inline

Get a proxy to one of the encoders managed by this object.

Parameters

index

The index of the encoder to access.

Definition at line 265 of file RegisterEncoders.hpp.

Member Data Documentation

state

StateStorageType state = std::numeric_limits<RegisterType>::max()

private

Definition at line 71 of file RegisterEncoders.hpp.

positions

Array<EncoderPositionStorageType, NumEnc> positions {{}}

private

Definition at line 72 of file RegisterEncoders.hpp.

---

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

• RegisterEncoders.hpp