Diff: Sample/quad.cpp

Revision:

6:63de50ac29be

Parent:

5:1b2dc43e8947

Child:

7:af255a90505e

--- a/Sample/quad.cpp	Fri Nov 06 19:28:49 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,57 +0,0 @@
-#include "quad.h"
-
-void quad_init() {
-    
-    // Enable clock for FTM2
-    SIM_SCGC3 |= SIM_SCGC3_FTM2_MASK; // there are two of them for some reason
-    SIM_SCGC6 |= SIM_SCGC6_FTM2_MASK; // 
-    
-    // Enable clock for PortB
-    SIM_SCGC5 |= SIM_SCGC5_PORTB_MASK;
-    
-    //enable the counter
-    FTM2_MODE |= FTM_MODE_WPDIS_MASK; // unlock write protection on certain FTM bits and registers
-    FTM2_MODE |= FTM_MODE_FTMEN_MASK; 
-    
-    //enable the counter to run in the BDM mode
-    FTM2_CONF |= FTM_CONF_BDMMODE(3);
-    
-    //load the Modulo register and counter initial value
-    FTM2_MOD = 4095;
-    FTM2_CNTIN = 0;
-    
-    //configuring FTM for quadrature mode
-    FTM2_QDCTRL = 0;
-    FTM2_QDCTRL |= FTM_QDCTRL_QUADEN_MASK; // enable Quadrature decoding
-    FTM2_QDCTRL &= ~FTM_QDCTRL_QUADMODE_MASK; // select phase A and phase B decoding mode (this is what the angle encoder uses)
-    FTM2_QDCTRL |= FTM_QDCTRL_PHAPOL_MASK; // change direction of counting by changing the phase of input A (for some reason QUADIR wouldn't work)
-    
-    
-    // start the timer clock, source is the external clock
-    FTM2_SC |= FTM_SC_CLKS(3);
-    
-    //configuring the input pins:
-    PORTB_PCR18 = PORT_PCR_MUX(6); // FTM2_QD_PHA  (PTB18) ALT6
-    PORTB_PCR19 = PORT_PCR_MUX(6); // FTM2_QD_PHB  (PTB19) ALT6
-    
-    // Enable write protection
-    FTM2_MODE |= FTM_MODE_WPDIS_MASK; // Lock write protection on certain FTM bits and registers
-    
-}   
- 
-int32_t quad_read() {
-    int angle = FTM2_CNT;
-    if(angle > 2048) angle -= 4096;
-    return angle;  // this is the register with the counter in it.
-}
-
-void quad_update(int value) {
-    if(value < 0) value = value + 4096; // convert back to raw form (both absolute angle and relative angle are actually integers between 0-4095)
-    FTM2_CNTIN = value; // change reset value to desired value
-    FTM2_CNT = 0; // writing anything to FTM_CNT loads FTM2_CNTIN into FTM_CNT;
-    FTM2_CNTIN = 0; // change reset value back to 0
-}
-
-void quad_invert(){
-    FTM2_QDCTRL &= ~FTM_QDCTRL_PHAPOL_MASK; // change direction of counting by changing the phase of input A
-}
\ No newline at end of file