Revision 0:55725179457f, committed 2020-03-09

Comitter:

kuni97

Date:

Mon Mar 09 10:08:38 2020 +0000

Commit message:

V1

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/EncoderCounter.cpp	Mon Mar 09 10:08:38 2020 +0000
@@ -0,0 +1,171 @@
+/*
+ * EncoderCounter.cpp
+ * Copyright (c) 2018, ZHAW
+ * All rights reserved.
+ */
+
+#include "EncoderCounter.h"
+
+using namespace std;
+
+/**
+ * Creates and initializes the driver to read the quadrature
+ * encoder counter of the STM32 microcontroller.
+ * @param a the input pin for the channel A.
+ * @param b the input pin for the channel 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
+    TIM->CCMR1 = TIM_CCMR1_CC2S_0 | TIM_CCMR1_CC1S_0;
+    TIM->CCMR2 = 0x0000;        // reset capture mode register 2
+    TIM->CCER = TIM_CCER_CC2E | TIM_CCER_CC1E;
+    TIM->CNT = 0x0000;          // reset counter value
+    TIM->ARR = 0xFFFF;          // auto reload register
+    TIM->CR1 = TIM_CR1_CEN;     // counter enable
+}
+
+EncoderCounter::~EncoderCounter() {}
+
+/**
+ * Resets the counter value to zero.
+ */
+void EncoderCounter::reset() {
+    
+    TIM->CNT = 0x0000;
+}
+
+/**
+ * Resets the counter value to a given offset value.
+ * @param offset the offset value to reset the counter to.
+ */
+void EncoderCounter::reset(int16_t offset) {
+    
+    TIM->CNT = -offset;
+}
+
+/**
+ * Reads the quadrature encoder counter value.
+ * @return the quadrature encoder counter as a signed 16-bit integer value.
+ */
+int16_t EncoderCounter::read() {
+    
+    return static_cast<int16_t>(-TIM->CNT);
+}
+
+/**
+ * The empty operator is a shorthand notation of the <code>read()</code> method.
+ */
+EncoderCounter::operator int16_t() {
+    
+    return read();
+}
+
+
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/EncoderCounter.h	Mon Mar 09 10:08:38 2020 +0000
@@ -0,0 +1,37 @@
+/*
+ * EncoderCounter.h
+ * Copyright (c) 2018, ZHAW
+ * All rights reserved.
+ */
+
+#ifndef ENCODER_COUNTER_H_
+#define ENCODER_COUNTER_H_
+
+#include <cstdlib>
+#include <stdint.h>
+#include <mbed.h>
+
+/**
+ * This class implements a driver to read the quadrature
+ * encoder counter of the STM32 microcontroller.
+ */
+class EncoderCounter {
+    
+    public:
+        
+                    EncoderCounter(PinName a, PinName b);
+        virtual     ~EncoderCounter();
+        void        reset();
+        void        reset(int16_t offset);
+        int16_t     read();
+                    operator int16_t();
+        
+    private:
+        
+        TIM_TypeDef*    TIM;
+};
+
+#endif /* ENCODER_COUNTER_H_ */
+
+
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Mar 09 10:08:38 2020 +0000
@@ -0,0 +1,60 @@
+#include "mbed.h"
+#include "EncoderCounter.h"
+
+DigitalOut myled(LED1);
+DigitalOut enable(PB_15);
+
+// initialise PWM
+PwmOut pwm_motor1(PB_13);
+PwmOut pwm_motor2(PA_9);
+PwmOut pwm_motor3(PA_10);
+
+// crete Encoder read objects
+EncoderCounter counter1(PA_6, PC_7); // counter(pin A, pin B)
+EncoderCounter counter2(PB_6, PB_7);
+EncoderCounter counter3(PA_0, PA_1);
+
+DigitalIn user_button(USER_BUTTON);
+
+int main()
+{
+    // initialise PWM
+    pwm_motor1.period(0.0005f);// 0.5ms 2KHz
+    pwm_motor1.write(0.5f);
+    pwm_motor2.period(0.0005f);// 0.5ms 2KHz
+    pwm_motor2.write(0.5f);
+    pwm_motor3.period(0.0005f);// 0.5ms 2KHz
+    pwm_motor3.write(0.5f);
+    
+    printf("initialization succesfull\n\r");
+
+    while (1) {
+
+        if(!user_button) {            
+            // LED off, PWM 60%
+            myled = 0;
+            enable = 1;
+            pwm_motor1.write(0.6f);
+            pwm_motor2.write(0.6f);
+            pwm_motor3.write(0.6f);
+
+            
+        } else {
+            // LED on, PWM 50% (no motion)     
+            enable = 0;
+            myled = 1;
+            pwm_motor1.write(0.5f);
+            pwm_motor2.write(0.5f);
+            pwm_motor3.write(0.5f);
+        }
+
+
+        // display encoder values to console
+        printf("counter1 = %d counter2 = %d counter3 = %d\r\n",counter1.read(),counter2.read(),counter3.read());
+
+        wait(0.02f); // Takt 0.02s, 50Hz
+        
+    }
+
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Mar 09 10:08:38 2020 +0000
@@ -0,0 +1,1 @@
+https://mbed.org/users/mbed_official/code/mbed/builds/e1686b8d5b90
\ No newline at end of file