Fokkaði upp p2

src/rotary_encoder_driver.cpp

@@ -7,10 +7,12 @@ RotaryEncoderDriver::RotaryEncoderDriver()
     : cycle(0)
     , count(0)
     , prev_count(0)
+    , speed_ready(false)
     , led(5)
     , eA(2)
     , eB(5) {}
 
+
 void RotaryEncoderDriver::begin() {
     driver = this;
 
@@ -21,7 +23,7 @@ void RotaryEncoderDriver::begin() {
     EICRA |= (1<<ISC01) | (1<<ISC00);
     EIMSK |= (1<<INT0);
 
-    timer.init(100);
+    timer.init(5000);
 }
 
 void RotaryEncoderDriver::update() {
@@ -30,27 +32,85 @@ void RotaryEncoderDriver::update() {
 }
 
 int RotaryEncoderDriver::position() {
+
+    uint8_t oldSREG = SREG;
+
+    cli();
+
+    int16_t local_count = count;
+
+    SREG = oldSREG;
+
     led.set_lo();
-    return count;
+
+    return local_count;
 } 
 
 void RotaryEncoderDriver::update_delta() {
-    if (++cycle == 0) {
+    
         delta = count - prev_count;
+
         prev_count = count;
-    }
+
+        speed_ready = true;
+    
     led.set_lo();
 }
 
 float RotaryEncoderDriver::count_per_sec() {
-    return delta / (256.0f * 0.0001f);
-} 
 
-float RotaryEncoderDriver::rpm() {
-    return (count_per_sec() * 60) / 1050.0;
+    uint8_t oldSREG = SREG;
+
+    cli();
+
+    int16_t local_delta = delta;
+
+    SREG = oldSREG;
+
+    return local_delta / 0.005f;
 }
 
 
+float RotaryEncoderDriver::rpm()
+{
+    const float COUNTS_PER_REV = 1050.0f;
+
+    return count_per_sec() * 60.0f / COUNTS_PER_REV;
+}
+
+bool RotaryEncoderDriver::new_speed_available()
+{
+    uint8_t oldSREG = SREG;
+
+    cli();
+
+    bool ready = speed_ready;
+
+    if (ready)
+    {
+        speed_ready = false;
+    }
+
+    SREG = oldSREG;
+
+    return ready;
+}
+
+
+void RotaryEncoderDriver::reset_speed_measurement()
+{
+    uint8_t oldSREG = SREG;
+
+    cli();
+
+    cycle = 0;
+    prev_count = count;
+    delta = 0;
+    speed_ready = false;
+
+    SREG = oldSREG;
+}
+
 ISR(INT0_vect) {
     driver->update();
 }
@@ -58,3 +118,4 @@ ISR(TIMER1_COMPA_vect) {
     driver->update_delta();    
 }
 
+