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Dependencies:   mbed

EncoderCounter.cpp@0:55725179457f, 2020-03-09 (annotated)

Committer:
kuni97
Date:
Mon Mar 09 10:08:38 2020 +0000
Revision:
0:55725179457f
V1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kuni97 0:55725179457f 1 /*
kuni97 0:55725179457f 2 * EncoderCounter.cpp
kuni97 0:55725179457f 3 * Copyright (c) 2018, ZHAW
kuni97 0:55725179457f 4 * All rights reserved.
kuni97 0:55725179457f 5 */
kuni97 0:55725179457f 6
kuni97 0:55725179457f 7 #include "EncoderCounter.h"
kuni97 0:55725179457f 8
kuni97 0:55725179457f 9 using namespace std;
kuni97 0:55725179457f 10
kuni97 0:55725179457f 11 /**
kuni97 0:55725179457f 12 * Creates and initializes the driver to read the quadrature
kuni97 0:55725179457f 13 * encoder counter of the STM32 microcontroller.
kuni97 0:55725179457f 14 * @param a the input pin for the channel A.
kuni97 0:55725179457f 15 * @param b the input pin for the channel B.
kuni97 0:55725179457f 16 */
kuni97 0:55725179457f 17 EncoderCounter::EncoderCounter(PinName a, PinName b) {
kuni97 0:55725179457f 18
kuni97 0:55725179457f 19 // check pins
kuni97 0:55725179457f 20
kuni97 0:55725179457f 21 if ((a == PA_0) && (b == PA_1)) {
kuni97 0:55725179457f 22
kuni97 0:55725179457f 23 // pinmap OK for TIM2 CH1 and CH2
kuni97 0:55725179457f 24
kuni97 0:55725179457f 25 TIM = TIM2;
kuni97 0:55725179457f 26
kuni97 0:55725179457f 27 // configure general purpose I/O registers
kuni97 0:55725179457f 28
kuni97 0:55725179457f 29 GPIOA->MODER &= ~GPIO_MODER_MODER0; // reset port A0
kuni97 0:55725179457f 30 GPIOA->MODER |= GPIO_MODER_MODER0_1; // set alternate mode of port A0
kuni97 0:55725179457f 31 GPIOA->PUPDR &= ~GPIO_PUPDR_PUPDR0; // reset pull-up/pull-down on port A0
kuni97 0:55725179457f 32 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR0_1; // set input as pull-down
kuni97 0:55725179457f 33 GPIOA->AFR[0] &= ~(0xF << 4*0); // reset alternate function of port A0
kuni97 0:55725179457f 34 GPIOA->AFR[0] |= 1 << 4*0; // set alternate funtion 1 of port A0
kuni97 0:55725179457f 35
kuni97 0:55725179457f 36 GPIOA->MODER &= ~GPIO_MODER_MODER1; // reset port A1
kuni97 0:55725179457f 37 GPIOA->MODER |= GPIO_MODER_MODER1_1; // set alternate mode of port A1
kuni97 0:55725179457f 38 GPIOA->PUPDR &= ~GPIO_PUPDR_PUPDR1; // reset pull-up/pull-down on port A1
kuni97 0:55725179457f 39 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR1_1; // set input as pull-down
kuni97 0:55725179457f 40 GPIOA->AFR[0] &= ~(0xF << 4*1); // reset alternate function of port A1
kuni97 0:55725179457f 41 GPIOA->AFR[0] |= 1 << 4*1; // set alternate funtion 1 of port A1
kuni97 0:55725179457f 42
kuni97 0:55725179457f 43 // configure reset and clock control registers
kuni97 0:55725179457f 44
kuni97 0:55725179457f 45 RCC->APB1RSTR |= RCC_APB1RSTR_TIM2RST; //reset TIM2 controller
kuni97 0:55725179457f 46 RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM2RST;
kuni97 0:55725179457f 47
kuni97 0:55725179457f 48 RCC->APB1ENR |= RCC_APB1ENR_TIM2EN; // TIM2 clock enable
kuni97 0:55725179457f 49
kuni97 0:55725179457f 50 } else if ((a == PA_6) && (b == PC_7)) {
kuni97 0:55725179457f 51
kuni97 0:55725179457f 52 // pinmap OK for TIM3 CH1 and CH2
kuni97 0:55725179457f 53
kuni97 0:55725179457f 54 TIM = TIM3;
kuni97 0:55725179457f 55
kuni97 0:55725179457f 56 // configure reset and clock control registers
kuni97 0:55725179457f 57
kuni97 0:55725179457f 58 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; // manually enable port C (port A enabled by mbed library)
kuni97 0:55725179457f 59
kuni97 0:55725179457f 60 // configure general purpose I/O registers
kuni97 0:55725179457f 61
kuni97 0:55725179457f 62 GPIOA->MODER &= ~GPIO_MODER_MODER6; // reset port A6
kuni97 0:55725179457f 63 GPIOA->MODER |= GPIO_MODER_MODER6_1; // set alternate mode of port A6
kuni97 0:55725179457f 64 GPIOA->PUPDR &= ~GPIO_PUPDR_PUPDR6; // reset pull-up/pull-down on port A6
kuni97 0:55725179457f 65 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR6_1; // set input as pull-down
kuni97 0:55725179457f 66 GPIOA->AFR[0] &= ~(0xF << 4*6); // reset alternate function of port A6
kuni97 0:55725179457f 67 GPIOA->AFR[0] |= 2 << 4*6; // set alternate funtion 2 of port A6
kuni97 0:55725179457f 68
kuni97 0:55725179457f 69 GPIOC->MODER &= ~GPIO_MODER_MODER7; // reset port C7
kuni97 0:55725179457f 70 GPIOC->MODER |= GPIO_MODER_MODER7_1; // set alternate mode of port C7
kuni97 0:55725179457f 71 GPIOC->PUPDR &= ~GPIO_PUPDR_PUPDR7; // reset pull-up/pull-down on port C7
kuni97 0:55725179457f 72 GPIOC->PUPDR |= GPIO_PUPDR_PUPDR7_1; // set input as pull-down
kuni97 0:55725179457f 73 GPIOC->AFR[0] &= ~0xF0000000; // reset alternate function of port C7
kuni97 0:55725179457f 74 GPIOC->AFR[0] |= 2 << 4*7; // set alternate funtion 2 of port C7
kuni97 0:55725179457f 75
kuni97 0:55725179457f 76 // configure reset and clock control registers
kuni97 0:55725179457f 77
kuni97 0:55725179457f 78 RCC->APB1RSTR |= RCC_APB1RSTR_TIM3RST; //reset TIM3 controller
kuni97 0:55725179457f 79 RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM3RST;
kuni97 0:55725179457f 80
kuni97 0:55725179457f 81 RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; // TIM3 clock enable
kuni97 0:55725179457f 82
kuni97 0:55725179457f 83 } else if ((a == PB_6) && (b == PB_7)) {
kuni97 0:55725179457f 84
kuni97 0:55725179457f 85 // pinmap OK for TIM4 CH1 and CH2
kuni97 0:55725179457f 86
kuni97 0:55725179457f 87 TIM = TIM4;
kuni97 0:55725179457f 88
kuni97 0:55725179457f 89 // configure reset and clock control registers
kuni97 0:55725179457f 90
kuni97 0:55725179457f 91 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN; // manually enable port B (port A enabled by mbed library)
kuni97 0:55725179457f 92
kuni97 0:55725179457f 93 // configure general purpose I/O registers
kuni97 0:55725179457f 94
kuni97 0:55725179457f 95 GPIOB->MODER &= ~GPIO_MODER_MODER6; // reset port B6
kuni97 0:55725179457f 96 GPIOB->MODER |= GPIO_MODER_MODER6_1; // set alternate mode of port B6
kuni97 0:55725179457f 97 GPIOB->PUPDR &= ~GPIO_PUPDR_PUPDR6; // reset pull-up/pull-down on port B6
kuni97 0:55725179457f 98 GPIOB->PUPDR |= GPIO_PUPDR_PUPDR6_1; // set input as pull-down
kuni97 0:55725179457f 99 GPIOB->AFR[0] &= ~(0xF << 4*6); // reset alternate function of port B6
kuni97 0:55725179457f 100 GPIOB->AFR[0] |= 2 << 4*6; // set alternate funtion 2 of port B6
kuni97 0:55725179457f 101
kuni97 0:55725179457f 102 GPIOB->MODER &= ~GPIO_MODER_MODER7; // reset port B7
kuni97 0:55725179457f 103 GPIOB->MODER |= GPIO_MODER_MODER7_1; // set alternate mode of port B7
kuni97 0:55725179457f 104 GPIOB->PUPDR &= ~GPIO_PUPDR_PUPDR7; // reset pull-up/pull-down on port B7
kuni97 0:55725179457f 105 GPIOB->PUPDR |= GPIO_PUPDR_PUPDR7_1; // set input as pull-down
kuni97 0:55725179457f 106 GPIOB->AFR[0] &= ~0xF0000000; // reset alternate function of port B7
kuni97 0:55725179457f 107 GPIOB->AFR[0] |= 2 << 4*7; // set alternate funtion 2 of port B7
kuni97 0:55725179457f 108
kuni97 0:55725179457f 109 // configure reset and clock control registers
kuni97 0:55725179457f 110
kuni97 0:55725179457f 111 RCC->APB1RSTR |= RCC_APB1RSTR_TIM4RST; //reset TIM4 controller
kuni97 0:55725179457f 112 RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM4RST;
kuni97 0:55725179457f 113
kuni97 0:55725179457f 114 RCC->APB1ENR |= RCC_APB1ENR_TIM4EN; // TIM4 clock enable
kuni97 0:55725179457f 115
kuni97 0:55725179457f 116 } else {
kuni97 0:55725179457f 117
kuni97 0:55725179457f 118 printf("pinmap not found for peripheral\n");
kuni97 0:55725179457f 119 }
kuni97 0:55725179457f 120
kuni97 0:55725179457f 121 // configure general purpose timer 3 or 4
kuni97 0:55725179457f 122
kuni97 0:55725179457f 123 TIM->CR1 = 0x0000; // counter disable
kuni97 0:55725179457f 124 TIM->CR2 = 0x0000; // reset master mode selection
kuni97 0:55725179457f 125 TIM->SMCR = TIM_SMCR_SMS_1 | TIM_SMCR_SMS_0; // counting on both TI1 & TI2 edges
kuni97 0:55725179457f 126 TIM->CCMR1 = TIM_CCMR1_CC2S_0 | TIM_CCMR1_CC1S_0;
kuni97 0:55725179457f 127 TIM->CCMR2 = 0x0000; // reset capture mode register 2
kuni97 0:55725179457f 128 TIM->CCER = TIM_CCER_CC2E | TIM_CCER_CC1E;
kuni97 0:55725179457f 129 TIM->CNT = 0x0000; // reset counter value
kuni97 0:55725179457f 130 TIM->ARR = 0xFFFF; // auto reload register
kuni97 0:55725179457f 131 TIM->CR1 = TIM_CR1_CEN; // counter enable
kuni97 0:55725179457f 132 }
kuni97 0:55725179457f 133
kuni97 0:55725179457f 134 EncoderCounter::~EncoderCounter() {}
kuni97 0:55725179457f 135
kuni97 0:55725179457f 136 /**
kuni97 0:55725179457f 137 * Resets the counter value to zero.
kuni97 0:55725179457f 138 */
kuni97 0:55725179457f 139 void EncoderCounter::reset() {
kuni97 0:55725179457f 140
kuni97 0:55725179457f 141 TIM->CNT = 0x0000;
kuni97 0:55725179457f 142 }
kuni97 0:55725179457f 143
kuni97 0:55725179457f 144 /**
kuni97 0:55725179457f 145 * Resets the counter value to a given offset value.
kuni97 0:55725179457f 146 * @param offset the offset value to reset the counter to.
kuni97 0:55725179457f 147 */
kuni97 0:55725179457f 148 void EncoderCounter::reset(int16_t offset) {
kuni97 0:55725179457f 149
kuni97 0:55725179457f 150 TIM->CNT = -offset;
kuni97 0:55725179457f 151 }
kuni97 0:55725179457f 152
kuni97 0:55725179457f 153 /**
kuni97 0:55725179457f 154 * Reads the quadrature encoder counter value.
kuni97 0:55725179457f 155 * @return the quadrature encoder counter as a signed 16-bit integer value.
kuni97 0:55725179457f 156 */
kuni97 0:55725179457f 157 int16_t EncoderCounter::read() {
kuni97 0:55725179457f 158
kuni97 0:55725179457f 159 return static_cast<int16_t>(-TIM->CNT);
kuni97 0:55725179457f 160 }
kuni97 0:55725179457f 161
kuni97 0:55725179457f 162 /**
kuni97 0:55725179457f 163 * The empty operator is a shorthand notation of the <code>read()</code> method.
kuni97 0:55725179457f 164 */
kuni97 0:55725179457f 165 EncoderCounter::operator int16_t() {
kuni97 0:55725179457f 166
kuni97 0:55725179457f 167 return read();
kuni97 0:55725179457f 168 }
kuni97 0:55725179457f 169
kuni97 0:55725179457f 170
kuni97 0:55725179457f 171