PES2_R2D2.0 / Mbed 2 deprecated MicroMouse_MASTER_FOUR

Pathfinding nach rechts funktioniert noch nicht...der rest schon

Dependencies:   mbed

Fork of MicroMouse_MASTER_THREE by PES2_R2D2.0

EncoderCounter.cpp@9:ab19796bf14a, 2018-05-16 (annotated)

Committer:
ruesipat
Date:
Wed May 16 16:41:44 2018 +0000
Revision:
9:ab19796bf14a
Parent:
1:d9e840c48b1e 
;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ruesipat 0:a9fe4ef404bf 1 /*
ruesipat 0:a9fe4ef404bf 2 * EncoderCounter.cpp
ruesipat 0:a9fe4ef404bf 3 * Copyright (c) 2018, ZHAW
ruesipat 0:a9fe4ef404bf 4 * All rights reserved.
ruesipat 0:a9fe4ef404bf 5 */
ruesipat 0:a9fe4ef404bf 6
ruesipat 0:a9fe4ef404bf 7 #include "EncoderCounter.h"
ruesipat 0:a9fe4ef404bf 8
ruesipat 0:a9fe4ef404bf 9 using namespace std;
ruesipat 0:a9fe4ef404bf 10
ruesipat 0:a9fe4ef404bf 11 /**
ruesipat 0:a9fe4ef404bf 12 * Creates and initializes the driver to read the quadrature
ruesipat 0:a9fe4ef404bf 13 * encoder counter of the STM32 microcontroller.
ruesipat 0:a9fe4ef404bf 14 * @param a the input pin for the channel A.
ruesipat 0:a9fe4ef404bf 15 * @param b the input pin for the channel B.
ruesipat 0:a9fe4ef404bf 16 */
ruesipat 1:d9e840c48b1e 17 EncoderCounter::EncoderCounter(PinName a, PinName b)
ruesipat 1:d9e840c48b1e 18 {
ruesipat 1:d9e840c48b1e 19
ruesipat 0:a9fe4ef404bf 20 // check pins
ruesipat 1:d9e840c48b1e 21
ruesipat 0:a9fe4ef404bf 22 if ((a == PA_0) && (b == PA_1)) {
ruesipat 1:d9e840c48b1e 23
ruesipat 0:a9fe4ef404bf 24 // pinmap OK for TIM2 CH1 and CH2
ruesipat 1:d9e840c48b1e 25
ruesipat 0:a9fe4ef404bf 26 TIM = TIM2;
ruesipat 1:d9e840c48b1e 27
ruesipat 0:a9fe4ef404bf 28 // configure general purpose I/O registers
ruesipat 1:d9e840c48b1e 29
ruesipat 0:a9fe4ef404bf 30 GPIOA->MODER &= ~GPIO_MODER_MODER0; // reset port A0
ruesipat 0:a9fe4ef404bf 31 GPIOA->MODER |= GPIO_MODER_MODER0_1; // set alternate mode of port A0
ruesipat 0:a9fe4ef404bf 32 GPIOA->PUPDR &= ~GPIO_PUPDR_PUPDR0; // reset pull-up/pull-down on port A0
ruesipat 0:a9fe4ef404bf 33 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR0_1; // set input as pull-down
ruesipat 0:a9fe4ef404bf 34 GPIOA->AFR[0] &= ~(0xF << 4*0); // reset alternate function of port A0
ruesipat 0:a9fe4ef404bf 35 GPIOA->AFR[0] |= 1 << 4*0; // set alternate funtion 1 of port A0
ruesipat 1:d9e840c48b1e 36
ruesipat 0:a9fe4ef404bf 37 GPIOA->MODER &= ~GPIO_MODER_MODER1; // reset port A1
ruesipat 0:a9fe4ef404bf 38 GPIOA->MODER |= GPIO_MODER_MODER1_1; // set alternate mode of port A1
ruesipat 0:a9fe4ef404bf 39 GPIOA->PUPDR &= ~GPIO_PUPDR_PUPDR1; // reset pull-up/pull-down on port A1
ruesipat 0:a9fe4ef404bf 40 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR1_1; // set input as pull-down
ruesipat 0:a9fe4ef404bf 41 GPIOA->AFR[0] &= ~(0xF << 4*1); // reset alternate function of port A1
ruesipat 0:a9fe4ef404bf 42 GPIOA->AFR[0] |= 1 << 4*1; // set alternate funtion 1 of port A1
ruesipat 1:d9e840c48b1e 43
ruesipat 0:a9fe4ef404bf 44 // configure reset and clock control registers
ruesipat 1:d9e840c48b1e 45
ruesipat 0:a9fe4ef404bf 46 RCC->APB1RSTR |= RCC_APB1RSTR_TIM2RST; //reset TIM2 controller
ruesipat 0:a9fe4ef404bf 47 RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM2RST;
ruesipat 1:d9e840c48b1e 48
ruesipat 0:a9fe4ef404bf 49 RCC->APB1ENR |= RCC_APB1ENR_TIM2EN; // TIM2 clock enable
ruesipat 1:d9e840c48b1e 50
ruesipat 0:a9fe4ef404bf 51 } else if ((a == PA_6) && (b == PC_7)) {
ruesipat 1:d9e840c48b1e 52
ruesipat 0:a9fe4ef404bf 53 // pinmap OK for TIM3 CH1 and CH2
ruesipat 1:d9e840c48b1e 54
ruesipat 0:a9fe4ef404bf 55 TIM = TIM3;
ruesipat 1:d9e840c48b1e 56
ruesipat 0:a9fe4ef404bf 57 // configure reset and clock control registers
ruesipat 1:d9e840c48b1e 58
ruesipat 0:a9fe4ef404bf 59 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; // manually enable port C (port A enabled by mbed library)
ruesipat 1:d9e840c48b1e 60
ruesipat 0:a9fe4ef404bf 61 // configure general purpose I/O registers
ruesipat 1:d9e840c48b1e 62
ruesipat 0:a9fe4ef404bf 63 GPIOA->MODER &= ~GPIO_MODER_MODER6; // reset port A6
ruesipat 0:a9fe4ef404bf 64 GPIOA->MODER |= GPIO_MODER_MODER6_1; // set alternate mode of port A6
ruesipat 0:a9fe4ef404bf 65 GPIOA->PUPDR &= ~GPIO_PUPDR_PUPDR6; // reset pull-up/pull-down on port A6
ruesipat 0:a9fe4ef404bf 66 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR6_1; // set input as pull-down
ruesipat 0:a9fe4ef404bf 67 GPIOA->AFR[0] &= ~(0xF << 4*6); // reset alternate function of port A6
ruesipat 0:a9fe4ef404bf 68 GPIOA->AFR[0] |= 2 << 4*6; // set alternate funtion 2 of port A6
ruesipat 1:d9e840c48b1e 69
ruesipat 0:a9fe4ef404bf 70 GPIOC->MODER &= ~GPIO_MODER_MODER7; // reset port C7
ruesipat 0:a9fe4ef404bf 71 GPIOC->MODER |= GPIO_MODER_MODER7_1; // set alternate mode of port C7
ruesipat 0:a9fe4ef404bf 72 GPIOC->PUPDR &= ~GPIO_PUPDR_PUPDR7; // reset pull-up/pull-down on port C7
ruesipat 0:a9fe4ef404bf 73 GPIOC->PUPDR |= GPIO_PUPDR_PUPDR7_1; // set input as pull-down
ruesipat 0:a9fe4ef404bf 74 GPIOC->AFR[0] &= ~0xF0000000; // reset alternate function of port C7
ruesipat 0:a9fe4ef404bf 75 GPIOC->AFR[0] |= 2 << 4*7; // set alternate funtion 2 of port C7
ruesipat 1:d9e840c48b1e 76
ruesipat 0:a9fe4ef404bf 77 // configure reset and clock control registers
ruesipat 1:d9e840c48b1e 78
ruesipat 0:a9fe4ef404bf 79 RCC->APB1RSTR |= RCC_APB1RSTR_TIM3RST; //reset TIM3 controller
ruesipat 0:a9fe4ef404bf 80 RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM3RST;
ruesipat 1:d9e840c48b1e 81
ruesipat 0:a9fe4ef404bf 82 RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; // TIM3 clock enable
ruesipat 1:d9e840c48b1e 83
ruesipat 0:a9fe4ef404bf 84 } else if ((a == PB_6) && (b == PB_7)) {
ruesipat 1:d9e840c48b1e 85
ruesipat 0:a9fe4ef404bf 86 // pinmap OK for TIM4 CH1 and CH2
ruesipat 1:d9e840c48b1e 87
ruesipat 0:a9fe4ef404bf 88 TIM = TIM4;
ruesipat 1:d9e840c48b1e 89
ruesipat 0:a9fe4ef404bf 90 // configure reset and clock control registers
ruesipat 1:d9e840c48b1e 91
ruesipat 0:a9fe4ef404bf 92 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN; // manually enable port B (port A enabled by mbed library)
ruesipat 1:d9e840c48b1e 93
ruesipat 0:a9fe4ef404bf 94 // configure general purpose I/O registers
ruesipat 1:d9e840c48b1e 95
ruesipat 0:a9fe4ef404bf 96 GPIOB->MODER &= ~GPIO_MODER_MODER6; // reset port B6
ruesipat 0:a9fe4ef404bf 97 GPIOB->MODER |= GPIO_MODER_MODER6_1; // set alternate mode of port B6
ruesipat 0:a9fe4ef404bf 98 GPIOB->PUPDR &= ~GPIO_PUPDR_PUPDR6; // reset pull-up/pull-down on port B6
ruesipat 0:a9fe4ef404bf 99 GPIOB->PUPDR |= GPIO_PUPDR_PUPDR6_1; // set input as pull-down
ruesipat 0:a9fe4ef404bf 100 GPIOB->AFR[0] &= ~(0xF << 4*6); // reset alternate function of port B6
ruesipat 0:a9fe4ef404bf 101 GPIOB->AFR[0] |= 2 << 4*6; // set alternate funtion 2 of port B6
ruesipat 1:d9e840c48b1e 102
ruesipat 0:a9fe4ef404bf 103 GPIOB->MODER &= ~GPIO_MODER_MODER7; // reset port B7
ruesipat 0:a9fe4ef404bf 104 GPIOB->MODER |= GPIO_MODER_MODER7_1; // set alternate mode of port B7
ruesipat 0:a9fe4ef404bf 105 GPIOB->PUPDR &= ~GPIO_PUPDR_PUPDR7; // reset pull-up/pull-down on port B7
ruesipat 0:a9fe4ef404bf 106 GPIOB->PUPDR |= GPIO_PUPDR_PUPDR7_1; // set input as pull-down
ruesipat 0:a9fe4ef404bf 107 GPIOB->AFR[0] &= ~0xF0000000; // reset alternate function of port B7
ruesipat 0:a9fe4ef404bf 108 GPIOB->AFR[0] |= 2 << 4*7; // set alternate funtion 2 of port B7
ruesipat 1:d9e840c48b1e 109
ruesipat 0:a9fe4ef404bf 110 // configure reset and clock control registers
ruesipat 1:d9e840c48b1e 111
ruesipat 0:a9fe4ef404bf 112 RCC->APB1RSTR |= RCC_APB1RSTR_TIM4RST; //reset TIM4 controller
ruesipat 0:a9fe4ef404bf 113 RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM4RST;
ruesipat 1:d9e840c48b1e 114
ruesipat 0:a9fe4ef404bf 115 RCC->APB1ENR |= RCC_APB1ENR_TIM4EN; // TIM4 clock enable
ruesipat 1:d9e840c48b1e 116
ruesipat 0:a9fe4ef404bf 117 } else {
ruesipat 1:d9e840c48b1e 118
ruesipat 0:a9fe4ef404bf 119 printf("pinmap not found for peripheral\n");
ruesipat 0:a9fe4ef404bf 120 }
ruesipat 1:d9e840c48b1e 121
ruesipat 0:a9fe4ef404bf 122 // configure general purpose timer 3 or 4
ruesipat 1:d9e840c48b1e 123
ruesipat 0:a9fe4ef404bf 124 TIM->CR1 = 0x0000; // counter disable
ruesipat 0:a9fe4ef404bf 125 TIM->CR2 = 0x0000; // reset master mode selection
ruesipat 0:a9fe4ef404bf 126 TIM->SMCR = TIM_SMCR_SMS_1 | TIM_SMCR_SMS_0; // counting on both TI1 & TI2 edges
ruesipat 0:a9fe4ef404bf 127 TIM->CCMR1 = TIM_CCMR1_CC2S_0 | TIM_CCMR1_CC1S_0;
ruesipat 0:a9fe4ef404bf 128 TIM->CCMR2 = 0x0000; // reset capture mode register 2
ruesipat 0:a9fe4ef404bf 129 TIM->CCER = TIM_CCER_CC2E | TIM_CCER_CC1E;
ruesipat 0:a9fe4ef404bf 130 TIM->CNT = 0x0000; // reset counter value
ruesipat 0:a9fe4ef404bf 131 TIM->ARR = 0xFFFF; // auto reload register
ruesipat 0:a9fe4ef404bf 132 TIM->CR1 = TIM_CR1_CEN; // counter enable
ruesipat 0:a9fe4ef404bf 133 }
ruesipat 0:a9fe4ef404bf 134
ruesipat 0:a9fe4ef404bf 135 EncoderCounter::~EncoderCounter() {}
ruesipat 0:a9fe4ef404bf 136
ruesipat 0:a9fe4ef404bf 137 /**
ruesipat 0:a9fe4ef404bf 138 * Resets the counter value to zero.
ruesipat 0:a9fe4ef404bf 139 */
ruesipat 1:d9e840c48b1e 140 void EncoderCounter::reset()
ruesipat 1:d9e840c48b1e 141 {
ruesipat 1:d9e840c48b1e 142
ruesipat 0:a9fe4ef404bf 143 TIM->CNT = 0x0000;
ruesipat 0:a9fe4ef404bf 144 }
ruesipat 0:a9fe4ef404bf 145
ruesipat 0:a9fe4ef404bf 146 /**
ruesipat 0:a9fe4ef404bf 147 * Resets the counter value to a given offset value.
ruesipat 0:a9fe4ef404bf 148 * @param offset the offset value to reset the counter to.
ruesipat 0:a9fe4ef404bf 149 */
ruesipat 1:d9e840c48b1e 150 void EncoderCounter::reset(short offset)
ruesipat 1:d9e840c48b1e 151 {
ruesipat 1:d9e840c48b1e 152
ruesipat 0:a9fe4ef404bf 153 TIM->CNT = -offset;
ruesipat 0:a9fe4ef404bf 154 }
ruesipat 0:a9fe4ef404bf 155
ruesipat 0:a9fe4ef404bf 156 /**
ruesipat 0:a9fe4ef404bf 157 * Reads the quadrature encoder counter value.
ruesipat 0:a9fe4ef404bf 158 * @return the quadrature encoder counter as a signed 16-bit integer value.
ruesipat 0:a9fe4ef404bf 159 */
ruesipat 1:d9e840c48b1e 160 short EncoderCounter::read()
ruesipat 1:d9e840c48b1e 161 {
ruesipat 1:d9e840c48b1e 162
ruesipat 0:a9fe4ef404bf 163 return (short)(-TIM->CNT);
ruesipat 0:a9fe4ef404bf 164 }
ruesipat 0:a9fe4ef404bf 165
ruesipat 0:a9fe4ef404bf 166 /**
ruesipat 0:a9fe4ef404bf 167 * The empty operator is a shorthand notation of the <code>read()</code> method.
ruesipat 0:a9fe4ef404bf 168 */
ruesipat 1:d9e840c48b1e 169 EncoderCounter::operator short()
ruesipat 1:d9e840c48b1e 170 {
ruesipat 1:d9e840c48b1e 171
ruesipat 0:a9fe4ef404bf 172 return read();
ruesipat 0:a9fe4ef404bf 173 }