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Dependencies:   mbed

EncoderCounter.cpp@0:20ec9d702676, 2020-03-31 (annotated)

Committer:
Jacqueline
Date:
Tue Mar 31 11:58:30 2020 +0000
Revision:
0:20ec9d702676
Praktikum_3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jacqueline 0:20ec9d702676 1 /*
Jacqueline 0:20ec9d702676 2 * EncoderCounter.cpp
Jacqueline 0:20ec9d702676 3 * Copyright (c) 2020, ZHAW
Jacqueline 0:20ec9d702676 4 * All rights reserved.
Jacqueline 0:20ec9d702676 5 */
Jacqueline 0:20ec9d702676 6
Jacqueline 0:20ec9d702676 7 #include "EncoderCounter.h"
Jacqueline 0:20ec9d702676 8
Jacqueline 0:20ec9d702676 9 using namespace std;
Jacqueline 0:20ec9d702676 10
Jacqueline 0:20ec9d702676 11 /**
Jacqueline 0:20ec9d702676 12 * Creates and initialises the driver to read the quadrature
Jacqueline 0:20ec9d702676 13 * encoder counter of the STM32 microcontroller.
Jacqueline 0:20ec9d702676 14 * @param a the input pin for the channel A.
Jacqueline 0:20ec9d702676 15 * @param b the input pin for the channel B.
Jacqueline 0:20ec9d702676 16 */
Jacqueline 0:20ec9d702676 17 EncoderCounter::EncoderCounter(PinName a, PinName b) {
Jacqueline 0:20ec9d702676 18
Jacqueline 0:20ec9d702676 19 // check pins
Jacqueline 0:20ec9d702676 20
Jacqueline 0:20ec9d702676 21 if ((a == PA_15) && (b == PB_3)) {
Jacqueline 0:20ec9d702676 22
Jacqueline 0:20ec9d702676 23 // pinmap OK for TIM2 CH1 and CH2
Jacqueline 0:20ec9d702676 24
Jacqueline 0:20ec9d702676 25 TIM = TIM2;
Jacqueline 0:20ec9d702676 26
Jacqueline 0:20ec9d702676 27 // configure reset and clock control registers
Jacqueline 0:20ec9d702676 28
Jacqueline 0:20ec9d702676 29 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN; // manually enable port B (port A enabled by mbed library)
Jacqueline 0:20ec9d702676 30
Jacqueline 0:20ec9d702676 31 // configure general purpose I/O registers
Jacqueline 0:20ec9d702676 32
Jacqueline 0:20ec9d702676 33 GPIOA->MODER &= ~GPIO_MODER_MODER15; // reset port A15
Jacqueline 0:20ec9d702676 34 GPIOA->MODER |= GPIO_MODER_MODER15_1; // set alternate mode of port A15
Jacqueline 0:20ec9d702676 35 GPIOA->PUPDR &= ~GPIO_PUPDR_PUPDR15; // reset pull-up/pull-down on port A15
Jacqueline 0:20ec9d702676 36 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR15_1; // set input as pull-down
Jacqueline 0:20ec9d702676 37 GPIOA->AFR[1] &= ~0xF0000000; // reset alternate function of port A15
Jacqueline 0:20ec9d702676 38 GPIOA->AFR[1] |= 1 << 4*7; // set alternate funtion 1 of port A15
Jacqueline 0:20ec9d702676 39
Jacqueline 0:20ec9d702676 40 GPIOB->MODER &= ~GPIO_MODER_MODER3; // reset port B3
Jacqueline 0:20ec9d702676 41 GPIOB->MODER |= GPIO_MODER_MODER3_1; // set alternate mode of port B3
Jacqueline 0:20ec9d702676 42 GPIOB->PUPDR &= ~GPIO_PUPDR_PUPDR3; // reset pull-up/pull-down on port B3
Jacqueline 0:20ec9d702676 43 GPIOB->PUPDR |= GPIO_PUPDR_PUPDR3_1; // set input as pull-down
Jacqueline 0:20ec9d702676 44 GPIOB->AFR[0] &= ~(0xF << 4*3); // reset alternate function of port B3
Jacqueline 0:20ec9d702676 45 GPIOB->AFR[0] |= 1 << 4*3; // set alternate funtion 1 of port B3
Jacqueline 0:20ec9d702676 46
Jacqueline 0:20ec9d702676 47 // configure reset and clock control registers
Jacqueline 0:20ec9d702676 48
Jacqueline 0:20ec9d702676 49 RCC->APB1RSTR |= RCC_APB1RSTR_TIM2RST; //reset TIM2 controller
Jacqueline 0:20ec9d702676 50 RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM2RST;
Jacqueline 0:20ec9d702676 51
Jacqueline 0:20ec9d702676 52 RCC->APB1ENR |= RCC_APB1ENR_TIM2EN; // TIM2 clock enable
Jacqueline 0:20ec9d702676 53
Jacqueline 0:20ec9d702676 54 } else if ((a == PB_4) && (b == PC_7)) {
Jacqueline 0:20ec9d702676 55
Jacqueline 0:20ec9d702676 56 // pinmap OK for TIM3 CH1 and CH2
Jacqueline 0:20ec9d702676 57
Jacqueline 0:20ec9d702676 58 TIM = TIM3;
Jacqueline 0:20ec9d702676 59
Jacqueline 0:20ec9d702676 60 // configure reset and clock control registers
Jacqueline 0:20ec9d702676 61
Jacqueline 0:20ec9d702676 62 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN; // manually enable port B
Jacqueline 0:20ec9d702676 63 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; // manually enable port C
Jacqueline 0:20ec9d702676 64
Jacqueline 0:20ec9d702676 65 // configure general purpose I/O registers
Jacqueline 0:20ec9d702676 66
Jacqueline 0:20ec9d702676 67 GPIOB->MODER &= ~GPIO_MODER_MODER4; // reset port B4
Jacqueline 0:20ec9d702676 68 GPIOB->MODER |= GPIO_MODER_MODER4_1; // set alternate mode of port B4
Jacqueline 0:20ec9d702676 69 GPIOB->PUPDR &= ~GPIO_PUPDR_PUPDR4; // reset pull-up/pull-down on port B4
Jacqueline 0:20ec9d702676 70 GPIOB->PUPDR |= GPIO_PUPDR_PUPDR4_1; // set input as pull-down
Jacqueline 0:20ec9d702676 71 GPIOB->AFR[0] &= ~(0xF << 4*4); // reset alternate function of port B4
Jacqueline 0:20ec9d702676 72 GPIOB->AFR[0] |= 2 << 4*4; // set alternate funtion 2 of port B4
Jacqueline 0:20ec9d702676 73
Jacqueline 0:20ec9d702676 74 GPIOC->MODER &= ~GPIO_MODER_MODER7; // reset port C7
Jacqueline 0:20ec9d702676 75 GPIOC->MODER |= GPIO_MODER_MODER7_1; // set alternate mode of port C7
Jacqueline 0:20ec9d702676 76 GPIOC->PUPDR &= ~GPIO_PUPDR_PUPDR7; // reset pull-up/pull-down on port C7
Jacqueline 0:20ec9d702676 77 GPIOC->PUPDR |= GPIO_PUPDR_PUPDR7_1; // set input as pull-down
Jacqueline 0:20ec9d702676 78 GPIOC->AFR[0] &= ~0xF0000000; // reset alternate function of port C7
Jacqueline 0:20ec9d702676 79 GPIOC->AFR[0] |= 2 << 4*7; // set alternate funtion 2 of port C7
Jacqueline 0:20ec9d702676 80
Jacqueline 0:20ec9d702676 81 // configure reset and clock control registers
Jacqueline 0:20ec9d702676 82
Jacqueline 0:20ec9d702676 83 RCC->APB1RSTR |= RCC_APB1RSTR_TIM3RST; //reset TIM3 controller
Jacqueline 0:20ec9d702676 84 RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM3RST;
Jacqueline 0:20ec9d702676 85
Jacqueline 0:20ec9d702676 86 RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; // TIM3 clock enable
Jacqueline 0:20ec9d702676 87
Jacqueline 0:20ec9d702676 88 } else if ((a == PD_12) && (b == PD_13)) {
Jacqueline 0:20ec9d702676 89
Jacqueline 0:20ec9d702676 90 // pinmap OK for TIM4 CH1 and CH2
Jacqueline 0:20ec9d702676 91
Jacqueline 0:20ec9d702676 92 TIM = TIM4;
Jacqueline 0:20ec9d702676 93
Jacqueline 0:20ec9d702676 94 // configure reset and clock control registers
Jacqueline 0:20ec9d702676 95
Jacqueline 0:20ec9d702676 96 RCC->AHB1ENR |= RCC_AHB1ENR_GPIODEN; // manually enable port D
Jacqueline 0:20ec9d702676 97
Jacqueline 0:20ec9d702676 98 // configure general purpose I/O registers
Jacqueline 0:20ec9d702676 99
Jacqueline 0:20ec9d702676 100 GPIOD->MODER &= ~GPIO_MODER_MODER12; // reset port D12
Jacqueline 0:20ec9d702676 101 GPIOD->MODER |= GPIO_MODER_MODER12_1; // set alternate mode of port D12
Jacqueline 0:20ec9d702676 102 GPIOD->PUPDR &= ~GPIO_PUPDR_PUPDR12; // reset pull-up/pull-down on port D12
Jacqueline 0:20ec9d702676 103 GPIOD->PUPDR |= GPIO_PUPDR_PUPDR12_1; // set input as pull-down
Jacqueline 0:20ec9d702676 104 GPIOD->AFR[1] &= ~(0xF << 4*4); // reset alternate function of port D12
Jacqueline 0:20ec9d702676 105 GPIOD->AFR[1] |= 2 << 4*4; // set alternate funtion 2 of port D12
Jacqueline 0:20ec9d702676 106
Jacqueline 0:20ec9d702676 107 GPIOD->MODER &= ~GPIO_MODER_MODER13; // reset port D13
Jacqueline 0:20ec9d702676 108 GPIOD->MODER |= GPIO_MODER_MODER13_1; // set alternate mode of port D13
Jacqueline 0:20ec9d702676 109 GPIOD->PUPDR &= ~GPIO_PUPDR_PUPDR13; // reset pull-up/pull-down on port D13
Jacqueline 0:20ec9d702676 110 GPIOD->PUPDR |= GPIO_PUPDR_PUPDR13_1; // set input as pull-down
Jacqueline 0:20ec9d702676 111 GPIOD->AFR[1] &= ~(0xF << 4*5); // reset alternate function of port D13
Jacqueline 0:20ec9d702676 112 GPIOD->AFR[1] |= 2 << 4*5; // set alternate funtion 2 of port D13
Jacqueline 0:20ec9d702676 113
Jacqueline 0:20ec9d702676 114 // configure reset and clock control registers
Jacqueline 0:20ec9d702676 115
Jacqueline 0:20ec9d702676 116 RCC->APB1RSTR |= RCC_APB1RSTR_TIM4RST; //reset TIM4 controller
Jacqueline 0:20ec9d702676 117 RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM4RST;
Jacqueline 0:20ec9d702676 118
Jacqueline 0:20ec9d702676 119 RCC->APB1ENR |= RCC_APB1ENR_TIM4EN; // TIM4 clock enable
Jacqueline 0:20ec9d702676 120
Jacqueline 0:20ec9d702676 121 } else {
Jacqueline 0:20ec9d702676 122
Jacqueline 0:20ec9d702676 123 printf("pinmap not found for peripheral\n");
Jacqueline 0:20ec9d702676 124
Jacqueline 0:20ec9d702676 125 TIM = NULL;
Jacqueline 0:20ec9d702676 126 }
Jacqueline 0:20ec9d702676 127
Jacqueline 0:20ec9d702676 128 // configure general purpose timer 2, 3 or 4
Jacqueline 0:20ec9d702676 129
Jacqueline 0:20ec9d702676 130 if (TIM != NULL) {
Jacqueline 0:20ec9d702676 131
Jacqueline 0:20ec9d702676 132 TIM->CR1 = 0x0000; // counter disable
Jacqueline 0:20ec9d702676 133 TIM->CR2 = 0x0000; // reset master mode selection
Jacqueline 0:20ec9d702676 134 TIM->SMCR = TIM_SMCR_SMS_1 | TIM_SMCR_SMS_0; // counting on both TI1 & TI2 edges
Jacqueline 0:20ec9d702676 135 TIM->CCMR1 = TIM_CCMR1_CC2S_0 | TIM_CCMR1_CC1S_0;
Jacqueline 0:20ec9d702676 136 TIM->CCMR2 = 0x0000; // reset capture mode register 2
Jacqueline 0:20ec9d702676 137 TIM->CCER = TIM_CCER_CC2E | TIM_CCER_CC1E;
Jacqueline 0:20ec9d702676 138 TIM->CNT = 0x0000; // reset counter value
Jacqueline 0:20ec9d702676 139 TIM->ARR = 0xFFFF; // auto reload register
Jacqueline 0:20ec9d702676 140 TIM->CR1 = TIM_CR1_CEN; // counter enable
Jacqueline 0:20ec9d702676 141 }
Jacqueline 0:20ec9d702676 142 }
Jacqueline 0:20ec9d702676 143
Jacqueline 0:20ec9d702676 144 /**
Jacqueline 0:20ec9d702676 145 * Deletes this EncoderCounter object.
Jacqueline 0:20ec9d702676 146 */
Jacqueline 0:20ec9d702676 147 EncoderCounter::~EncoderCounter() {}
Jacqueline 0:20ec9d702676 148
Jacqueline 0:20ec9d702676 149 /**
Jacqueline 0:20ec9d702676 150 * Resets the counter value to zero.
Jacqueline 0:20ec9d702676 151 */
Jacqueline 0:20ec9d702676 152 void EncoderCounter::reset() {
Jacqueline 0:20ec9d702676 153
Jacqueline 0:20ec9d702676 154 TIM->CNT = 0x0000;
Jacqueline 0:20ec9d702676 155 }
Jacqueline 0:20ec9d702676 156
Jacqueline 0:20ec9d702676 157 /**
Jacqueline 0:20ec9d702676 158 * Resets the counter value to a given offset value.
Jacqueline 0:20ec9d702676 159 * @param offset the offset value to reset the counter to.
Jacqueline 0:20ec9d702676 160 */
Jacqueline 0:20ec9d702676 161 void EncoderCounter::reset(short offset) {
Jacqueline 0:20ec9d702676 162
Jacqueline 0:20ec9d702676 163 TIM->CNT = -offset;
Jacqueline 0:20ec9d702676 164 }
Jacqueline 0:20ec9d702676 165
Jacqueline 0:20ec9d702676 166 /**
Jacqueline 0:20ec9d702676 167 * Reads the quadrature encoder counter value.
Jacqueline 0:20ec9d702676 168 * @return the quadrature encoder counter as a signed 16-bit integer value.
Jacqueline 0:20ec9d702676 169 */
Jacqueline 0:20ec9d702676 170 short EncoderCounter::read() {
Jacqueline 0:20ec9d702676 171
Jacqueline 0:20ec9d702676 172 return (short)(-TIM->CNT);
Jacqueline 0:20ec9d702676 173 }
Jacqueline 0:20ec9d702676 174
Jacqueline 0:20ec9d702676 175 /**
Jacqueline 0:20ec9d702676 176 * The empty operator is a shorthand notation of the <code>read()</code> method.
Jacqueline 0:20ec9d702676 177 */
Jacqueline 0:20ec9d702676 178 EncoderCounter::operator short() {
Jacqueline 0:20ec9d702676 179
Jacqueline 0:20ec9d702676 180 return read();
Jacqueline 0:20ec9d702676 181 }
Jacqueline 0:20ec9d702676 182