encoders.h

Go to the documentation of this file.

 
#pragma once
 
#include <atomic>
#include <esp_attr.h>
#include <soc/gpio_num.h>
#include "include/log_sources.h"
 
class Robot;
 
namespace Device {
    class Encoders {
    private:
        static constexpr const char* TAG = "Device::Encoders";
        static constexpr log_source LOG_SOURCE = LOG_SOURCE_DEVICE_ENCODERS;
 
        static constexpr uint8_t NUM_ENCODERS = 2;
        static constexpr gpio_num_t LEFT_ENCODER_PIN = GPIO_NUM_27;
        static constexpr gpio_num_t RIGHT_ENCODER_PIN = GPIO_NUM_14;
 
        struct isr_context_t {
            Encoders* instance;
            uint8_t encoder_index;
        };
 
        Robot& robot;
        std::atomic<int32_t> pulse_count[NUM_ENCODERS];
        isr_context_t isr_contexts[NUM_ENCODERS];
 
    public:
        static void IRAM_ATTR encoder_isr_handler(void* arg);
 
        enum class encoder_id_t : uint8_t {
            LEFT = 0,
            RIGHT = 1,
        };
 
    public:
        explicit Encoders(Robot& robot);
        ~Encoders();

        void initialize();

        [[nodiscard]] int32_t get_pulse_count(encoder_id_t encoder_id) const {
            return pulse_count[static_cast<uint8_t>(encoder_id)];
        }

        void reset_pulse_count(encoder_id_t encoder_id) {
            pulse_count[static_cast<uint8_t>(encoder_id)] = 0;
        }
    };
}