rt-robot/encoder/encoder.c at b1478c5f92518adc2949d75b56d6b4f46d91c6c5 · RT-Thread-packages/rt-robot · GitHub

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/*
 * Copyright (c) 2019, RT-Thread Development Team
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Change Logs:
 * Date           Author       Notes
 * 2019-08-26     sogwms       The first version
 * 2019-11-14     Soil_L       motified for the need of can encoder
 */

#include <rtdevice.h>
#include <encoder.h>

#define DBG_SECTION_NAME  "encoder"
#define DBG_LEVEL         DBG_LOG
#include <rtdbg.h>

encoder_t encoder_create(rt_size_t size, rt_uint16_t sample_time)
{
    // Malloc memory and initialize
    encoder_t new_encoder = (encoder_t)rt_malloc(size);
    if(new_encoder == RT_NULL)
    {
        LOG_E("Failed to malloc memory for new encoder\n");
        return RT_NULL;
    }

    new_encoder->pulse_count = 0;
    new_encoder->last_count = 0;
    new_encoder->sample_time = sample_time;

    return new_encoder;
}

rt_err_t encoder_destroy(encoder_t enc)
{
    LOG_D("Free Encoder");
    RT_ASSERT(enc != RT_NULL);

    return enc->destroy(enc);
}

rt_err_t encoder_enable(encoder_t enc)
{
    LOG_D("Enabling encoder");
    RT_ASSERT(enc != RT_NULL);

    return enc->enable(enc);
}

rt_err_t encoder_disable(encoder_t enc)
{
    LOG_D("Diabling encoder");
    RT_ASSERT(enc != RT_NULL);

    return enc->disable(enc);
}

rt_int32_t encoder_read(encoder_t enc)
{
    RT_ASSERT(enc != RT_NULL);

    return enc->pulse_count;
}

rt_err_t encoder_reset(encoder_t enc)
{
    RT_ASSERT(enc != RT_NULL);

    enc->pulse_count = 0;
    enc->last_count = 0;

    return RT_EOK;
}

rt_int16_t encoder_measure_cps(encoder_t enc)
{
    RT_ASSERT(enc != RT_NULL);

    // return count per second
    if((rt_tick_get() - enc->last_time) < rt_tick_from_millisecond(enc->sample_time))
    {
        LOG_D("Encoder waiting ... ");
        return enc->cps;
    }

    rt_int32_t diff_count = enc->pulse_count - enc->last_count;

    enc->cps = diff_count * 1000 / enc->sample_time;
    enc->last_count = enc->pulse_count;
    enc->last_time = rt_tick_get();

    return enc->cps;
}

rt_int16_t encoder_measure_rpm(encoder_t enc)
{
    RT_ASSERT(enc != RT_NULL);
    rt_int16_t res_rpm;
    if(enc->sample_time == 0)
    {
    	res_rpm = enc->pulse_count;
    }
    else
    {
    	// return resolution per minute
    	res_rpm = encoder_measure_cps(enc) * 60 / enc->pulse_revol;
    }
    return res_rpm;
}

rt_err_t encoder_set_sample_time(encoder_t enc, rt_uint16_t sample_time)
{
    RT_ASSERT(enc != RT_NULL);

    enc->sample_time = sample_time;

    return RT_EOK;
}