![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
mit pathdingsbums
Dependencies: mbed
Fork of MicroMouse_MASTER_TWO by
Diff: EncoderCounter.cpp
- Revision:
- 1:d9e840c48b1e
- Parent:
- 0:a9fe4ef404bf
--- a/EncoderCounter.cpp Wed Mar 07 14:06:19 2018 +0000 +++ b/EncoderCounter.cpp Sat Mar 31 16:45:57 2018 +0000 @@ -14,112 +14,113 @@ * @param a the input pin for the channel A. * @param b the input pin for the channel B. */ -EncoderCounter::EncoderCounter(PinName a, PinName b) { - +EncoderCounter::EncoderCounter(PinName a, PinName b) +{ + // check pins - + if ((a == PA_0) && (b == PA_1)) { - + // pinmap OK for TIM2 CH1 and CH2 - + TIM = TIM2; - + // configure general purpose I/O registers - + GPIOA->MODER &= ~GPIO_MODER_MODER0; // reset port A0 GPIOA->MODER |= GPIO_MODER_MODER0_1; // set alternate mode of port A0 GPIOA->PUPDR &= ~GPIO_PUPDR_PUPDR0; // reset pull-up/pull-down on port A0 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR0_1; // set input as pull-down GPIOA->AFR[0] &= ~(0xF << 4*0); // reset alternate function of port A0 GPIOA->AFR[0] |= 1 << 4*0; // set alternate funtion 1 of port A0 - + GPIOA->MODER &= ~GPIO_MODER_MODER1; // reset port A1 GPIOA->MODER |= GPIO_MODER_MODER1_1; // set alternate mode of port A1 GPIOA->PUPDR &= ~GPIO_PUPDR_PUPDR1; // reset pull-up/pull-down on port A1 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR1_1; // set input as pull-down GPIOA->AFR[0] &= ~(0xF << 4*1); // reset alternate function of port A1 GPIOA->AFR[0] |= 1 << 4*1; // set alternate funtion 1 of port A1 - + // configure reset and clock control registers - + RCC->APB1RSTR |= RCC_APB1RSTR_TIM2RST; //reset TIM2 controller RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM2RST; - + RCC->APB1ENR |= RCC_APB1ENR_TIM2EN; // TIM2 clock enable - + } else if ((a == PA_6) && (b == PC_7)) { - + // pinmap OK for TIM3 CH1 and CH2 - + TIM = TIM3; - + // configure reset and clock control registers - + RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; // manually enable port C (port A enabled by mbed library) - + // configure general purpose I/O registers - + GPIOA->MODER &= ~GPIO_MODER_MODER6; // reset port A6 GPIOA->MODER |= GPIO_MODER_MODER6_1; // set alternate mode of port A6 GPIOA->PUPDR &= ~GPIO_PUPDR_PUPDR6; // reset pull-up/pull-down on port A6 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR6_1; // set input as pull-down GPIOA->AFR[0] &= ~(0xF << 4*6); // reset alternate function of port A6 GPIOA->AFR[0] |= 2 << 4*6; // set alternate funtion 2 of port A6 - + GPIOC->MODER &= ~GPIO_MODER_MODER7; // reset port C7 GPIOC->MODER |= GPIO_MODER_MODER7_1; // set alternate mode of port C7 GPIOC->PUPDR &= ~GPIO_PUPDR_PUPDR7; // reset pull-up/pull-down on port C7 GPIOC->PUPDR |= GPIO_PUPDR_PUPDR7_1; // set input as pull-down GPIOC->AFR[0] &= ~0xF0000000; // reset alternate function of port C7 GPIOC->AFR[0] |= 2 << 4*7; // set alternate funtion 2 of port C7 - + // configure reset and clock control registers - + RCC->APB1RSTR |= RCC_APB1RSTR_TIM3RST; //reset TIM3 controller RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM3RST; - + RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; // TIM3 clock enable - + } else if ((a == PB_6) && (b == PB_7)) { - + // pinmap OK for TIM4 CH1 and CH2 - + TIM = TIM4; - + // configure reset and clock control registers - + RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN; // manually enable port B (port A enabled by mbed library) - + // configure general purpose I/O registers - + GPIOB->MODER &= ~GPIO_MODER_MODER6; // reset port B6 GPIOB->MODER |= GPIO_MODER_MODER6_1; // set alternate mode of port B6 GPIOB->PUPDR &= ~GPIO_PUPDR_PUPDR6; // reset pull-up/pull-down on port B6 GPIOB->PUPDR |= GPIO_PUPDR_PUPDR6_1; // set input as pull-down GPIOB->AFR[0] &= ~(0xF << 4*6); // reset alternate function of port B6 GPIOB->AFR[0] |= 2 << 4*6; // set alternate funtion 2 of port B6 - + GPIOB->MODER &= ~GPIO_MODER_MODER7; // reset port B7 GPIOB->MODER |= GPIO_MODER_MODER7_1; // set alternate mode of port B7 GPIOB->PUPDR &= ~GPIO_PUPDR_PUPDR7; // reset pull-up/pull-down on port B7 GPIOB->PUPDR |= GPIO_PUPDR_PUPDR7_1; // set input as pull-down GPIOB->AFR[0] &= ~0xF0000000; // reset alternate function of port B7 GPIOB->AFR[0] |= 2 << 4*7; // set alternate funtion 2 of port B7 - + // configure reset and clock control registers - + RCC->APB1RSTR |= RCC_APB1RSTR_TIM4RST; //reset TIM4 controller RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM4RST; - + RCC->APB1ENR |= RCC_APB1ENR_TIM4EN; // TIM4 clock enable - + } else { - + printf("pinmap not found for peripheral\n"); } - + // configure general purpose timer 3 or 4 - + TIM->CR1 = 0x0000; // counter disable TIM->CR2 = 0x0000; // reset master mode selection TIM->SMCR = TIM_SMCR_SMS_1 | TIM_SMCR_SMS_0; // counting on both TI1 & TI2 edges @@ -136,8 +137,9 @@ /** * Resets the counter value to zero. */ -void EncoderCounter::reset() { - +void EncoderCounter::reset() +{ + TIM->CNT = 0x0000; } @@ -145,8 +147,9 @@ * Resets the counter value to a given offset value. * @param offset the offset value to reset the counter to. */ -void EncoderCounter::reset(short offset) { - +void EncoderCounter::reset(short offset) +{ + TIM->CNT = -offset; } @@ -154,15 +157,17 @@ * Reads the quadrature encoder counter value. * @return the quadrature encoder counter as a signed 16-bit integer value. */ -short EncoderCounter::read() { - +short EncoderCounter::read() +{ + return (short)(-TIM->CNT); } /** * The empty operator is a shorthand notation of the <code>read()</code> method. */ -EncoderCounter::operator short() { - +EncoderCounter::operator short() +{ + return read(); }