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Added Plugin for Quadrature Encoder Interface (Rotary Encoder) (#335)

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* First draft

* Functional QEI plugin

* Corrected spelling of limits.h
This commit is contained in:
Jochen Krapf
2017-06-10 13:11:49 +02:00
committed by DatuX
parent 3c41155ee4
commit 50f6c403e8
6 changed files with 742 additions and 0 deletions
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lib/MechInputs/LICENSE
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GNU LESSER GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
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lib/MechInputs/QEIx4.cpp
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/*-------------------------------------------------------------------------
Arduino library to ...
Written by Jochen Krapf,
contributions by ... and other members of the open
source community.
-------------------------------------------------------------------------
This file is part of the MechInputs library.
MechInputs is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as
published by the Free Software Foundation, either version 3 of
the License, or (at your option) any later version.
MechInputs is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with MechInputs. If not, see
<http://www.gnu.org/licenses/>.
-------------------------------------------------------------------------*/
#include "QEIx4.h"
#include <limits.h>
// bit masks for state machine - don't change!!!
#define QEIx4_STATE 0xC
#define QEIx4_MASK 0x1C
#define QEIx4_1x_INC 0x0100
#define QEIx4_2x_INC 0x0200
#define QEIx4_4x_INC 0x0400
#define QEIx4_1x_DEC 0x1000
#define QEIx4_2x_DEC 0x2000
#define QEIx4_4x_DEC 0x4000
#define QEIx4_1x_MASK 0x11FF
#define QEIx4_2x_MASK 0x33FF
#define QEIx4_4x_MASK 0x77FF
#define QEIx4_DIR 0x20
#define QEIx4_A 1
#define QEIx4_B 2
#define QEIx4_AB 3
#define QEIx4_S0 0x0
#define QEIx4_S1 0x4
#define QEIx4_S2 0x8
#define QEIx4_S3 0xC
#define QEIx4_CCW 0
#define QEIx4_CW 0x10
#define QEIx4_IS_CHG 0x7700
#define QEIx4_IS_INC 0x0700
#define QEIx4_IS_DEC 0x7000
#define QEIx4_IS_DIR 0x20
// state machine for decoting - don't change!!!
uint16_t QEIx4::__stateLUT[32] = {
// act state S0 in CCW direction
QEIx4_CCW | QEIx4_S0,
QEIx4_CW | QEIx4_S1 | QEIx4_A | QEIx4_4x_INC | QEIx4_DIR,
QEIx4_CCW | QEIx4_S0 | QEIx4_B,
QEIx4_CCW | QEIx4_S3 | QEIx4_AB | QEIx4_1x_DEC,
// act state S1 in CCW direction
QEIx4_CCW | QEIx4_S1,
QEIx4_CCW | QEIx4_S1 | QEIx4_A,
QEIx4_CCW | QEIx4_S0 | QEIx4_B | QEIx4_4x_DEC,
QEIx4_CW | QEIx4_S2 | QEIx4_AB | QEIx4_1x_INC | QEIx4_DIR,
// act state S2 in CCW direction
QEIx4_CCW | QEIx4_S1 | QEIx4_2x_DEC,
QEIx4_CCW | QEIx4_S2 | QEIx4_A,
QEIx4_CW | QEIx4_S3 | QEIx4_B | QEIx4_4x_INC | QEIx4_DIR,
QEIx4_CCW | QEIx4_S2 | QEIx4_AB,
// act state S3 in CCW direction
QEIx4_CW | QEIx4_S0 | QEIx4_2x_INC | QEIx4_DIR,
QEIx4_CCW | QEIx4_S2 | QEIx4_A | QEIx4_4x_DEC,
QEIx4_CCW | QEIx4_S3 | QEIx4_B,
QEIx4_CCW | QEIx4_S3 | QEIx4_AB,
// act state S0 in CW direction
QEIx4_CW | QEIx4_S0,
QEIx4_CW | QEIx4_S1 | QEIx4_A | QEIx4_4x_INC,
QEIx4_CW | QEIx4_S0 | QEIx4_B,
QEIx4_CCW | QEIx4_S3 | QEIx4_AB | QEIx4_1x_DEC | QEIx4_DIR,
// act state S1 in CW direction
QEIx4_CW | QEIx4_S1,
QEIx4_CW | QEIx4_S1 | QEIx4_A,
QEIx4_CCW | QEIx4_S0 | QEIx4_B | QEIx4_4x_DEC | QEIx4_DIR,
QEIx4_CW | QEIx4_S2 | QEIx4_AB | QEIx4_1x_INC,
// act state S2 in CW direction
QEIx4_CCW | QEIx4_S1 | QEIx4_2x_DEC | QEIx4_DIR,
QEIx4_CW | QEIx4_S2 | QEIx4_A,
QEIx4_CW | QEIx4_S3 | QEIx4_B | QEIx4_4x_INC,
QEIx4_CW | QEIx4_S2 | QEIx4_AB,
// act state S3 in CW direction
QEIx4_CW | QEIx4_S0 | QEIx4_2x_INC,
QEIx4_CCW | QEIx4_S2 | QEIx4_A | QEIx4_4x_DEC | QEIx4_DIR,
QEIx4_CW | QEIx4_S3 | QEIx4_B,
QEIx4_CW | QEIx4_S3 | QEIx4_AB
};
// Helper for ISR call
QEIx4* QEIx4::__instance[4] = { 0 };
//#define DEB(x) printf (x)
#define DEB(x)
///////////////////////////////////////////////////////////////////////////////
QEIx4::QEIx4()
{
for (byte i=0; i<4; i++)
if (__instance[i] == 0)
{
__instance[i] = this;
DEB("::");
break;
}
_pinA = -1;
_pinB = -1;
_pinI = -1;
_state = 0;
_limitMin = LONG_MIN;
_limitMax = LONG_MAX;
}
///////////////////////////////////////////////////////////////////////////////
QEIx4::~QEIx4()
{
for (byte i=0; i<4; i++)
if (__instance[i] == this)
{
__instance[i] = 0;
}
}
///////////////////////////////////////////////////////////////////////////////
void QEIx4::begin(int16_t pinA, int16_t pinB, int16_t pinI, uint8_t mode)
{
if (_pinA >= 0)
detachInterrupt(digitalPinToInterrupt(_pinA));
if (_pinB >= 0)
detachInterrupt(digitalPinToInterrupt(_pinB));
_pinA = pinA;
_pinB = pinB;
_pinI = pinI;
_counter = 0;
_bHasChanged = true;
if (mode == 1)
_eventMask = QEIx4_1x_MASK;
else if (mode == 2)
_eventMask = QEIx4_2x_MASK;
else
_eventMask = QEIx4_4x_MASK;
pinMode(_pinA, INPUT_PULLUP);
pinMode(_pinB, INPUT_PULLUP);
pinMode(_pinI, INPUT_PULLUP);
if (_pinA >= 0)
attachInterrupt(digitalPinToInterrupt(_pinA), ISR, CHANGE);
if (_pinB >= 0)
attachInterrupt(digitalPinToInterrupt(_pinB), ISR, CHANGE);
}
///////////////////////////////////////////////////////////////////////////////
long QEIx4::read()
{
noInterrupts();
_bHasChanged = false;
long ret = _counter;
interrupts();
return ret;
}
void QEIx4::loop()
{
noInterrupts();
processStateMachine();
interrupts();
}
///////////////////////////////////////////////////////////////////////////////
void QEIx4::processStateMachine()
{
DEB(".");
_state &= QEIx4_MASK;
if (digitalRead(_pinA)) _state |= QEIx4_A;
if (digitalRead(_pinB)) _state |= QEIx4_B;
_state = __stateLUT[_state]; // magic is done by lookup-table
_state &= _eventMask;
if (_state & QEIx4_IS_CHG) { // is any change?
bool bCounterChange = false;
if ((_state & QEIx4_IS_INC) && (_counter < _limitMax)) { // has moved foreward?
_counter++;
bCounterChange = true;
DEB("+");
}
if ((_state & QEIx4_IS_DEC) && (_counter > _limitMin)) { // has moved backward?
_counter--;
bCounterChange = true;
DEB("-");
}
if (_pinI >= 0 && _bIndexTrigger && bCounterChange && digitalRead(_pinI)) { // is index pin triggered?
_bIndexTrigger = false;
_counter = 0;
DEB("I");
}
if (bCounterChange) { // has counter changed?
_bHasChanged = true;
}
}
}
void QEIx4::ISR()
{
for (byte i=0; i<4; i++)
if (__instance[i])
{
__instance[i]->processStateMachine();
}
}
///////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
lib/MechInputs/QEIx4.h
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/*--------------------------------------------------------------------
Arduino library to ...
Written by Jochen Krapf,
contributions by ... and other members of the open
source community.
-------------------------------------------------------------------------
This file is part of the MechInputs library.
MechInputs is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as
published by the Free Software Foundation, either version 3 of
the License, or (at your option) any later version.
MechInputs is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with MechInputs. If not, see
<http://www.gnu.org/licenses/>.
--------------------------------------------------------------------*/
#ifndef QEIX4_H
#define QEIX4_H
#if (ARDUINO >= 100)
#include <Arduino.h>
#else
#include <WProgram.h>
#include <pins_arduino.h>
#endif
class QEIx4
{
public:
/** constructor of QEIx4 object
*/
QEIx4();
/** destructor of QEIx4 object
*/
~QEIx4();
void begin(int16_t pinA, int16_t pinB, int16_t pinI=-1, uint8_t mode=4);
/** Gets the actual counter value.
*
* @return Actual counter value
*/
long read();
/** Gets the actual counter value as long operator.
*
* @return Actual counter value as long operator
*/
operator long() { // int-Operator
return read();
}
/** Sets the counter value at actual encoder position to given value.
*
* @param Counter value
*/
void write(long counter) {
_counter = counter;
}
/** Sets the counter value at actual encoder position to given value as assign operator.
*
* @param Counter value
*/
int operator= (long counter) { // Assign-Operator
write(counter);
return counter;
}
void setLimit(long limitMin, long limitMax)
{
_limitMin = limitMin;
_limitMax = limitMax;
}
/** Sets the flag for zeroing on next high on index pin while AB lines triggers next counting. The trigger calls tha callback function in which the counter can be set to zero or the actual counter can be latched in for later offset calculation
*
* @param Flag for triggering. Set to 1 for call the attached callback. It is reseted after this call
*/
void setIndexTrigger(bool bIndexTrigger=true) {
if (_pinI < 0)
bIndexTrigger = false;
_bIndexTrigger = bIndexTrigger;
}
bool hasChanged(){
return _bHasChanged;
}
void loop();
protected:
/** Polls the state machine and updates the counter value.
*/
void processStateMachine();
/** Entry point for arduino interrupts - route to class instances
*/
static void ISR();
protected:
volatile long _counter;
volatile bool _bHasChanged;
volatile bool _bIndexTrigger;
int16_t _pinA;
int16_t _pinB;
int16_t _pinI;
long _limitMin;
long _limitMax;
uint16_t _state;
uint16_t _eMode;
private:
static uint16_t __stateLUT[32];
static QEIx4* __instance[4];
uint16_t _eventMask;
};
#endif // QEIX4_H
lib/MechInputs/README.md
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# MechInputs Library (https://github.com/jkDesignDE/MechInputs)
Arduino library for reading and debouncing mechanical inputs Like buttons, switches and encoders.
After downloading, rename folder to 'MechInputs' and install in Arduino Libraries folder. Restart Arduino IDE, then open File->Sketchbook->Library->MechInputs->* sketches.
# QEI (quadrature encoder interface) library, for decoding AB signals from a rotary encoder
Use cases:
- Rotary encoder in closed loop motor regulation
- Hand wheel
- Input device for motion control (MoCo)
A class to decode pulses on a rotary encoder with AB signals (quadrature encoder).
It uses all 4 edges of the AB signals to increase the counter resolution 4 times of cycles per rotation/revolution (CPR) (e.g. an encoder with 500 CPR get 2000 counts per rotation)
In opposite to most common QEI implementation this is resistant to jitter and chatter on AB signals and motor vibrations.
Whes reaching the next position the edge that triggerd this position (state) is ignored to aboid oscillating up/down counts.
It can also be used in polling mode i.g. in idle routines if interrupts are not desired.
At this mode be sure that the sampling frequency is heigher than the maximum rotation speed (expeced counts per second)
The internal state machine is based on a look up table (LUT) to minimize interrupt retention time and get all necessary flags at once.
The library is designed to support closed loop speed- and motion-controller for also slow and smooth motions like movie camera motion control.
lib/MechInputs/library.properties
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name=MechInputs
version=0.0.1
author=Jochen Krapf
maintainer=Jochen Krapf <jk@nerd2nerd.org>
sentence=Library for Reading and Debouncing Mechanical Inputs Like Buttons, Switches and Encoders with Arduino-Based Controllers.
paragraph=Library for Reading and Debouncing Mechanical Inputs Like Buttons, Switches and Encoders with Arduino-Based Controllers.
category=Input
url=https://github.com/jkDesignDE/MechInputs
architectures=esp8266,avr
src/_P059_Encoder.ino
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//#######################################################################################################
//#################################### Plugin 059: Rotary Encoder #######################################
//#######################################################################################################
// ESPEasy Plugin to process the quadrature encoder interface signals (e.g. rotary encoder)
// written by Jochen Krapf (jk@nerd2nerd.org)
// Connection:
// Use 1st and 2nd GPIO for encoders A and B signal.
// Optional use 3rd GPIO for encoders I signel to reset counter to 0 at first trigger.
// If counter runs in wrong direction, change A and B GPIOs in settings page
// Note: Up to 4 encoders can be used simultaniously
#ifdef PLUGIN_BUILD_TESTING
#define PLUGIN_059
#define PLUGIN_ID_059 59
#define PLUGIN_NAME_059 "Switch Input - Rotary Encoder [TESTING]"
#define PLUGIN_VALUENAME1_059 "Counter"
#include <QEIx4.h>
QEIx4* Plugin_059_QE = NULL;
#ifndef CONFIG
#define CONFIG(n) (Settings.TaskDevicePluginConfig[event->TaskIndex][n])
#endif
#ifndef CONFIG_L
#define CONFIG_L(n) (Settings.TaskDevicePluginConfigLong[event->TaskIndex][n])
#endif
#ifndef PIN
#define PIN(n) (Settings.TaskDevicePin[n][event->TaskIndex])
#endif
boolean Plugin_059(byte function, struct EventStruct *event, String& string)
{
boolean success = false;
switch (function)
{
case PLUGIN_DEVICE_ADD:
{
Device[++deviceCount].Number = PLUGIN_ID_059;
Device[deviceCount].Type = DEVICE_TYPE_TRIPLE;
Device[deviceCount].Ports = 0;
Device[deviceCount].VType = SENSOR_TYPE_SWITCH;
Device[deviceCount].PullUpOption = false;
Device[deviceCount].InverseLogicOption = false;
Device[deviceCount].FormulaOption = false;
Device[deviceCount].ValueCount = 1;
Device[deviceCount].SendDataOption = true;
Device[deviceCount].TimerOption = true;
Device[deviceCount].TimerOptional = true;
Device[deviceCount].GlobalSyncOption = true;
break;
}
case PLUGIN_GET_DEVICENAME:
{
string = F(PLUGIN_NAME_059);
break;
}
case PLUGIN_GET_DEVICEVALUENAMES:
{
strcpy_P(ExtraTaskSettings.TaskDeviceValueNames[0], PSTR(PLUGIN_VALUENAME1_059));
break;
}
case PLUGIN_WEBFORM_LOAD:
{
// default values
if (CONFIG_L(0) == 0 && CONFIG_L(1) == 0)
CONFIG_L(1) = 100;
String options[3] = { F("1 pulse per cycle"), F("2 pulses per cycle"), F("4 pulses per cycle") };
int optionValues[3] = { 1, 2, 4 };
addFormSelector(string, F("Mode"), F("qei_mode"), 3, options, optionValues, CONFIG(0));
addFormNumericBox(string, F("Limit min."), F("qei_limitmin"), CONFIG_L(0));
addFormNumericBox(string, F("Limit max."), F("qei_limitmax"), CONFIG_L(1));
success = true;
break;
}
case PLUGIN_WEBFORM_SAVE:
{
CONFIG(0) = getFormItemInt(F("qei_mode"));
CONFIG_L(0) = getFormItemInt(F("qei_limitmin"));
CONFIG_L(1) = getFormItemInt(F("qei_limitmax"));
success = true;
break;
}
case PLUGIN_INIT:
{
if (!Plugin_059_QE)
Plugin_059_QE = new QEIx4;
Plugin_059_QE->begin(PIN(0),PIN(1),PIN(2),CONFIG(0));
Plugin_059_QE->setLimit(CONFIG_L(0), CONFIG_L(1));
Plugin_059_QE->setIndexTrigger(true);
ExtraTaskSettings.TaskDeviceValueDecimals[event->BaseVarIndex] = 0;
String log = F("QEI : GPIO: ");
for (byte i=0; i<3; i++)
{
int pin = PIN(i);
if (pin >= 0)
{
//pinMode(pin, (Settings.TaskDevicePin1PullUp[event->TaskIndex]) ? INPUT_PULLUP : INPUT);
setPinState(PLUGIN_ID_059, pin, PIN_MODE_INPUT, 0);
}
log += pin;
log += F(" ");
}
addLog(LOG_LEVEL_INFO, log);
success = true;
break;
}
case PLUGIN_TEN_PER_SECOND:
{
if (Plugin_059_QE)
{
if (Plugin_059_QE->hasChanged())
{
long c = Plugin_059_QE->read();
UserVar[event->BaseVarIndex] = (float)c;
event->sensorType = SENSOR_TYPE_SWITCH;
String log = F("QEI : ");
log += c;
addLog(LOG_LEVEL_INFO, log);
sendData(event);
}
}
success = true;
break;
}
case PLUGIN_READ:
{
if (Plugin_059_QE)
{
UserVar[event->BaseVarIndex] = (float)Plugin_059_QE->read();
}
success = true;
break;
}
}
return success;
}
#endif