QEI.h

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#ifndef QEI_H
#define QEI_H
 
#include "mbed.h"
 
#define PREV_MASK 0x1
#define CURR_MASK 0x2
#define INVALID 0x3
 
class QEI {
  public:
    typedef enum Encoding {
        X2_ENCODING,
        X4_ENCODING
    } Encoding;
 
    QEI(PinName channelA, PinName channelB, PinName index, int pulsesPerRev, Encoding encoding = X2_ENCODING);
 
    void reset(void);
 
    int getCurrentState(void);
 
    int getInvalidCount(void);
 
    int getPulses(void);
 
    int getRevolutions(void);
 
    void setPulses(int newCount);
 
    void setRevolutions(int newRevs);
 
  private:
    void encode(void);
 
    void index(void);
 
    Encoding encoding_;
 
    InterruptIn channelA_;
    InterruptIn channelB_;
    InterruptIn index_;
 
    int pulsesPerRev_;
    int prevState_;
    int currState_;
 
    volatile int invalid_;
 
    volatile int pulses_;
    volatile int revolutions_;
};
 
#endif