Roboshark / Mbed 2 deprecated Roboshark_V3

inkl Line Sensor

Dependencies:   mbed

Fork of Roboshark_V2 by Roboshark

EncoderCounter.cpp@5:e715d157ced5, 2018-04-26 (annotated)

Committer:
ahlervin
Date:
Thu Apr 26 05:58:07 2018 +0000
Revision:
5:e715d157ced5
Parent:
0:6d0671ae4648 
bug fix

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jacqueline 0:6d0671ae4648 1 /*
Jacqueline 0:6d0671ae4648 2 * EncoderCounter.cpp
Jacqueline 0:6d0671ae4648 3 * Copyright (c) 2018, ZHAW
Jacqueline 0:6d0671ae4648 4 * All rights reserved.
Jacqueline 0:6d0671ae4648 5 */
Jacqueline 0:6d0671ae4648 6
Jacqueline 0:6d0671ae4648 7 #include "EncoderCounter.h"
Jacqueline 0:6d0671ae4648 8
Jacqueline 0:6d0671ae4648 9 using namespace std;
Jacqueline 0:6d0671ae4648 10
Jacqueline 0:6d0671ae4648 11 /**
Jacqueline 0:6d0671ae4648 12 * Creates and initializes the driver to read the quadrature
Jacqueline 0:6d0671ae4648 13 * encoder counter of the STM32 microcontroller.
Jacqueline 0:6d0671ae4648 14 * @param a the input pin for the channel A.
Jacqueline 0:6d0671ae4648 15 * @param b the input pin for the channel B.
Jacqueline 0:6d0671ae4648 16 */
Jacqueline 0:6d0671ae4648 17 EncoderCounter::EncoderCounter(PinName a, PinName b) {
Jacqueline 0:6d0671ae4648 18
Jacqueline 0:6d0671ae4648 19 // check pins
Jacqueline 0:6d0671ae4648 20
Jacqueline 0:6d0671ae4648 21 if ((a == PA_0) && (b == PA_1)) {
Jacqueline 0:6d0671ae4648 22
Jacqueline 0:6d0671ae4648 23 // pinmap OK for TIM2 CH1 and CH2
Jacqueline 0:6d0671ae4648 24
Jacqueline 0:6d0671ae4648 25 TIM = TIM2;
Jacqueline 0:6d0671ae4648 26
Jacqueline 0:6d0671ae4648 27 // configure general purpose I/O registers
Jacqueline 0:6d0671ae4648 28
Jacqueline 0:6d0671ae4648 29 GPIOA->MODER &= ~GPIO_MODER_MODER0; // reset port A0
Jacqueline 0:6d0671ae4648 30 GPIOA->MODER |= GPIO_MODER_MODER0_1; // set alternate mode of port A0
Jacqueline 0:6d0671ae4648 31 GPIOA->PUPDR &= ~GPIO_PUPDR_PUPDR0; // reset pull-up/pull-down on port A0
Jacqueline 0:6d0671ae4648 32 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR0_1; // set input as pull-down
Jacqueline 0:6d0671ae4648 33 GPIOA->AFR[0] &= ~(0xF << 4*0); // reset alternate function of port A0
Jacqueline 0:6d0671ae4648 34 GPIOA->AFR[0] |= 1 << 4*0; // set alternate funtion 1 of port A0
Jacqueline 0:6d0671ae4648 35
Jacqueline 0:6d0671ae4648 36 GPIOA->MODER &= ~GPIO_MODER_MODER1; // reset port A1
Jacqueline 0:6d0671ae4648 37 GPIOA->MODER |= GPIO_MODER_MODER1_1; // set alternate mode of port A1
Jacqueline 0:6d0671ae4648 38 GPIOA->PUPDR &= ~GPIO_PUPDR_PUPDR1; // reset pull-up/pull-down on port A1
Jacqueline 0:6d0671ae4648 39 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR1_1; // set input as pull-down
Jacqueline 0:6d0671ae4648 40 GPIOA->AFR[0] &= ~(0xF << 4*1); // reset alternate function of port A1
Jacqueline 0:6d0671ae4648 41 GPIOA->AFR[0] |= 1 << 4*1; // set alternate funtion 1 of port A1
Jacqueline 0:6d0671ae4648 42
Jacqueline 0:6d0671ae4648 43 // configure reset and clock control registers
Jacqueline 0:6d0671ae4648 44
Jacqueline 0:6d0671ae4648 45 RCC->APB1RSTR |= RCC_APB1RSTR_TIM2RST; //reset TIM2 controller
Jacqueline 0:6d0671ae4648 46 RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM2RST;
Jacqueline 0:6d0671ae4648 47
Jacqueline 0:6d0671ae4648 48 RCC->APB1ENR |= RCC_APB1ENR_TIM2EN; // TIM2 clock enable
Jacqueline 0:6d0671ae4648 49
Jacqueline 0:6d0671ae4648 50 } else if ((a == PA_6) && (b == PC_7)) {
Jacqueline 0:6d0671ae4648 51
Jacqueline 0:6d0671ae4648 52 // pinmap OK for TIM3 CH1 and CH2
Jacqueline 0:6d0671ae4648 53
Jacqueline 0:6d0671ae4648 54 TIM = TIM3;
Jacqueline 0:6d0671ae4648 55
Jacqueline 0:6d0671ae4648 56 // configure reset and clock control registers
Jacqueline 0:6d0671ae4648 57
Jacqueline 0:6d0671ae4648 58 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; // manually enable port C (port A enabled by mbed library)
Jacqueline 0:6d0671ae4648 59
Jacqueline 0:6d0671ae4648 60 // configure general purpose I/O registers
Jacqueline 0:6d0671ae4648 61
Jacqueline 0:6d0671ae4648 62 GPIOA->MODER &= ~GPIO_MODER_MODER6; // reset port A6
Jacqueline 0:6d0671ae4648 63 GPIOA->MODER |= GPIO_MODER_MODER6_1; // set alternate mode of port A6
Jacqueline 0:6d0671ae4648 64 GPIOA->PUPDR &= ~GPIO_PUPDR_PUPDR6; // reset pull-up/pull-down on port A6
Jacqueline 0:6d0671ae4648 65 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR6_1; // set input as pull-down
Jacqueline 0:6d0671ae4648 66 GPIOA->AFR[0] &= ~(0xF << 4*6); // reset alternate function of port A6
Jacqueline 0:6d0671ae4648 67 GPIOA->AFR[0] |= 2 << 4*6; // set alternate funtion 2 of port A6
Jacqueline 0:6d0671ae4648 68
Jacqueline 0:6d0671ae4648 69 GPIOC->MODER &= ~GPIO_MODER_MODER7; // reset port C7
Jacqueline 0:6d0671ae4648 70 GPIOC->MODER |= GPIO_MODER_MODER7_1; // set alternate mode of port C7
Jacqueline 0:6d0671ae4648 71 GPIOC->PUPDR &= ~GPIO_PUPDR_PUPDR7; // reset pull-up/pull-down on port C7
Jacqueline 0:6d0671ae4648 72 GPIOC->PUPDR |= GPIO_PUPDR_PUPDR7_1; // set input as pull-down
Jacqueline 0:6d0671ae4648 73 GPIOC->AFR[0] &= ~0xF0000000; // reset alternate function of port C7
Jacqueline 0:6d0671ae4648 74 GPIOC->AFR[0] |= 2 << 4*7; // set alternate funtion 2 of port C7
Jacqueline 0:6d0671ae4648 75
Jacqueline 0:6d0671ae4648 76 // configure reset and clock control registers
Jacqueline 0:6d0671ae4648 77
Jacqueline 0:6d0671ae4648 78 RCC->APB1RSTR |= RCC_APB1RSTR_TIM3RST; //reset TIM3 controller
Jacqueline 0:6d0671ae4648 79 RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM3RST;
Jacqueline 0:6d0671ae4648 80
Jacqueline 0:6d0671ae4648 81 RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; // TIM3 clock enable
Jacqueline 0:6d0671ae4648 82
Jacqueline 0:6d0671ae4648 83 } else if ((a == PB_6) && (b == PB_7)) {
Jacqueline 0:6d0671ae4648 84
Jacqueline 0:6d0671ae4648 85 // pinmap OK for TIM4 CH1 and CH2
Jacqueline 0:6d0671ae4648 86
Jacqueline 0:6d0671ae4648 87 TIM = TIM4;
Jacqueline 0:6d0671ae4648 88
Jacqueline 0:6d0671ae4648 89 // configure reset and clock control registers
Jacqueline 0:6d0671ae4648 90
Jacqueline 0:6d0671ae4648 91 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN; // manually enable port B (port A enabled by mbed library)
Jacqueline 0:6d0671ae4648 92
Jacqueline 0:6d0671ae4648 93 // configure general purpose I/O registers
Jacqueline 0:6d0671ae4648 94
Jacqueline 0:6d0671ae4648 95 GPIOB->MODER &= ~GPIO_MODER_MODER6; // reset port B6
Jacqueline 0:6d0671ae4648 96 GPIOB->MODER |= GPIO_MODER_MODER6_1; // set alternate mode of port B6
Jacqueline 0:6d0671ae4648 97 GPIOB->PUPDR &= ~GPIO_PUPDR_PUPDR6; // reset pull-up/pull-down on port B6
Jacqueline 0:6d0671ae4648 98 GPIOB->PUPDR |= GPIO_PUPDR_PUPDR6_1; // set input as pull-down
Jacqueline 0:6d0671ae4648 99 GPIOB->AFR[0] &= ~(0xF << 4*6); // reset alternate function of port B6
Jacqueline 0:6d0671ae4648 100 GPIOB->AFR[0] |= 2 << 4*6; // set alternate funtion 2 of port B6
Jacqueline 0:6d0671ae4648 101
Jacqueline 0:6d0671ae4648 102 GPIOB->MODER &= ~GPIO_MODER_MODER7; // reset port B7
Jacqueline 0:6d0671ae4648 103 GPIOB->MODER |= GPIO_MODER_MODER7_1; // set alternate mode of port B7
Jacqueline 0:6d0671ae4648 104 GPIOB->PUPDR &= ~GPIO_PUPDR_PUPDR7; // reset pull-up/pull-down on port B7
Jacqueline 0:6d0671ae4648 105 GPIOB->PUPDR |= GPIO_PUPDR_PUPDR7_1; // set input as pull-down
Jacqueline 0:6d0671ae4648 106 GPIOB->AFR[0] &= ~0xF0000000; // reset alternate function of port B7
Jacqueline 0:6d0671ae4648 107 GPIOB->AFR[0] |= 2 << 4*7; // set alternate funtion 2 of port B7
Jacqueline 0:6d0671ae4648 108
Jacqueline 0:6d0671ae4648 109 // configure reset and clock control registers
Jacqueline 0:6d0671ae4648 110
Jacqueline 0:6d0671ae4648 111 RCC->APB1RSTR |= RCC_APB1RSTR_TIM4RST; //reset TIM4 controller
Jacqueline 0:6d0671ae4648 112 RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM4RST;
Jacqueline 0:6d0671ae4648 113
Jacqueline 0:6d0671ae4648 114 RCC->APB1ENR |= RCC_APB1ENR_TIM4EN; // TIM4 clock enable
Jacqueline 0:6d0671ae4648 115
Jacqueline 0:6d0671ae4648 116 } else {
Jacqueline 0:6d0671ae4648 117
Jacqueline 0:6d0671ae4648 118 printf("pinmap not found for peripheral\n");
Jacqueline 0:6d0671ae4648 119 }
Jacqueline 0:6d0671ae4648 120
Jacqueline 0:6d0671ae4648 121 // configure general purpose timer 3 or 4
Jacqueline 0:6d0671ae4648 122
Jacqueline 0:6d0671ae4648 123 TIM->CR1 = 0x0000; // counter disable
Jacqueline 0:6d0671ae4648 124 TIM->CR2 = 0x0000; // reset master mode selection
Jacqueline 0:6d0671ae4648 125 TIM->SMCR = TIM_SMCR_SMS_1 | TIM_SMCR_SMS_0; // counting on both TI1 & TI2 edges
Jacqueline 0:6d0671ae4648 126 TIM->CCMR1 = TIM_CCMR1_CC2S_0 | TIM_CCMR1_CC1S_0;
Jacqueline 0:6d0671ae4648 127 TIM->CCMR2 = 0x0000; // reset capture mode register 2
Jacqueline 0:6d0671ae4648 128 TIM->CCER = TIM_CCER_CC2E | TIM_CCER_CC1E;
Jacqueline 0:6d0671ae4648 129 TIM->CNT = 0x0000; // reset counter value
Jacqueline 0:6d0671ae4648 130 TIM->ARR = 0xFFFF; // auto reload register
Jacqueline 0:6d0671ae4648 131 TIM->CR1 = TIM_CR1_CEN; // counter enable
Jacqueline 0:6d0671ae4648 132 }
Jacqueline 0:6d0671ae4648 133
Jacqueline 0:6d0671ae4648 134 EncoderCounter::~EncoderCounter() {}
Jacqueline 0:6d0671ae4648 135
Jacqueline 0:6d0671ae4648 136 /**
Jacqueline 0:6d0671ae4648 137 * Resets the counter value to zero.
Jacqueline 0:6d0671ae4648 138 */
Jacqueline 0:6d0671ae4648 139 void EncoderCounter::reset() {
Jacqueline 0:6d0671ae4648 140
Jacqueline 0:6d0671ae4648 141 TIM->CNT = 0x0000;
Jacqueline 0:6d0671ae4648 142 }
Jacqueline 0:6d0671ae4648 143
Jacqueline 0:6d0671ae4648 144 /**
Jacqueline 0:6d0671ae4648 145 * Resets the counter value to a given offset value.
Jacqueline 0:6d0671ae4648 146 * @param offset the offset value to reset the counter to.
Jacqueline 0:6d0671ae4648 147 */
Jacqueline 0:6d0671ae4648 148 void EncoderCounter::reset(short offset) {
Jacqueline 0:6d0671ae4648 149
Jacqueline 0:6d0671ae4648 150 TIM->CNT = -offset;
Jacqueline 0:6d0671ae4648 151 }
Jacqueline 0:6d0671ae4648 152
Jacqueline 0:6d0671ae4648 153 /**
Jacqueline 0:6d0671ae4648 154 * Reads the quadrature encoder counter value.
Jacqueline 0:6d0671ae4648 155 * @return the quadrature encoder counter as a signed 16-bit integer value.
Jacqueline 0:6d0671ae4648 156 */
Jacqueline 0:6d0671ae4648 157 short EncoderCounter::read() {
Jacqueline 0:6d0671ae4648 158
Jacqueline 0:6d0671ae4648 159 return (short)(-TIM->CNT);
Jacqueline 0:6d0671ae4648 160 }
Jacqueline 0:6d0671ae4648 161
Jacqueline 0:6d0671ae4648 162 /**
Jacqueline 0:6d0671ae4648 163 * The empty operator is a shorthand notation of the <code>read()</code> method.
Jacqueline 0:6d0671ae4648 164 */
Jacqueline 0:6d0671ae4648 165 EncoderCounter::operator short() {
Jacqueline 0:6d0671ae4648 166
Jacqueline 0:6d0671ae4648 167 return read();
Jacqueline 0:6d0671ae4648 168 }
Jacqueline 0:6d0671ae4648 169
Jacqueline 0:6d0671ae4648 170