zhaw_st16b_pes2_10 / Mbed 2 deprecated SpeedCtrl

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Dependencies:   mbed

EncoderCounter.cpp@0:dfea4e0e064b, 2017-05-22 (annotated)

Committer:
beacon
Date:
Mon May 22 10:45:28 2017 +0000
Revision:
0:dfea4e0e064b
k

Who changed what in which revision?

UserRevisionLine numberNew contents of line
beacon 0:dfea4e0e064b 1 /*
beacon 0:dfea4e0e064b 2 * EncoderCounter.cpp
beacon 0:dfea4e0e064b 3 * Copyright (c) 2016, ZHAW
beacon 0:dfea4e0e064b 4 * All rights reserved.
beacon 0:dfea4e0e064b 5 */
beacon 0:dfea4e0e064b 6
beacon 0:dfea4e0e064b 7 #include "EncoderCounter.h"
beacon 0:dfea4e0e064b 8
beacon 0:dfea4e0e064b 9 using namespace std;
beacon 0:dfea4e0e064b 10
beacon 0:dfea4e0e064b 11 /**
beacon 0:dfea4e0e064b 12 * Creates and initializes the driver to read the quadrature
beacon 0:dfea4e0e064b 13 * encoder counter of the STM32 microcontroller.
beacon 0:dfea4e0e064b 14 * @param a the input pin for the channel A.
beacon 0:dfea4e0e064b 15 * @param b the input pin for the channel B.
beacon 0:dfea4e0e064b 16 */
beacon 0:dfea4e0e064b 17 EncoderCounter::EncoderCounter(PinName a, PinName b) {
beacon 0:dfea4e0e064b 18
beacon 0:dfea4e0e064b 19 // check pins
beacon 0:dfea4e0e064b 20
beacon 0:dfea4e0e064b 21 if ((a == PA_6) && (b == PC_7)) {
beacon 0:dfea4e0e064b 22
beacon 0:dfea4e0e064b 23 // pinmap OK for TIM3 CH1 and CH2
beacon 0:dfea4e0e064b 24
beacon 0:dfea4e0e064b 25 TIM = TIM3;
beacon 0:dfea4e0e064b 26
beacon 0:dfea4e0e064b 27 // configure reset and clock control registers
beacon 0:dfea4e0e064b 28
beacon 0:dfea4e0e064b 29 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; // manually enable port C (port A enabled by mbed library)
beacon 0:dfea4e0e064b 30
beacon 0:dfea4e0e064b 31 // configure general purpose I/O registers
beacon 0:dfea4e0e064b 32
beacon 0:dfea4e0e064b 33 GPIOA->MODER &= ~GPIO_MODER_MODER6; // reset port A6
beacon 0:dfea4e0e064b 34 GPIOA->MODER |= GPIO_MODER_MODER6_1; // set alternate mode of port A6
beacon 0:dfea4e0e064b 35 GPIOA->PUPDR &= ~GPIO_PUPDR_PUPDR6; // reset pull-up/pull-down on port A6
beacon 0:dfea4e0e064b 36 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR6_1; // set input as pull-down
beacon 0:dfea4e0e064b 37 GPIOA->AFR[0] &= ~(0xF << 4*6); // reset alternate function of port A6
beacon 0:dfea4e0e064b 38 GPIOA->AFR[0] |= 2 << 4*6; // set alternate funtion 2 of port A6
beacon 0:dfea4e0e064b 39
beacon 0:dfea4e0e064b 40 GPIOC->MODER &= ~GPIO_MODER_MODER7; // reset port C7
beacon 0:dfea4e0e064b 41 GPIOC->MODER |= GPIO_MODER_MODER7_1; // set alternate mode of port C7
beacon 0:dfea4e0e064b 42 GPIOC->PUPDR &= ~GPIO_PUPDR_PUPDR7; // reset pull-up/pull-down on port C7
beacon 0:dfea4e0e064b 43 GPIOC->PUPDR |= GPIO_PUPDR_PUPDR7_1; // set input as pull-down
beacon 0:dfea4e0e064b 44 GPIOC->AFR[0] &= ~0xF0000000; // reset alternate function of port C7
beacon 0:dfea4e0e064b 45 GPIOC->AFR[0] |= 2 << 4*7; // set alternate funtion 2 of port C7
beacon 0:dfea4e0e064b 46
beacon 0:dfea4e0e064b 47 // configure reset and clock control registers
beacon 0:dfea4e0e064b 48
beacon 0:dfea4e0e064b 49 RCC->APB1RSTR |= RCC_APB1RSTR_TIM3RST; //reset TIM3 controller
beacon 0:dfea4e0e064b 50 RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM3RST;
beacon 0:dfea4e0e064b 51
beacon 0:dfea4e0e064b 52 RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; // TIM3 clock enable
beacon 0:dfea4e0e064b 53
beacon 0:dfea4e0e064b 54 } else if ((a == PB_6) && (b == PB_7)) {
beacon 0:dfea4e0e064b 55
beacon 0:dfea4e0e064b 56 // pinmap OK for TIM4 CH1 and CH2
beacon 0:dfea4e0e064b 57
beacon 0:dfea4e0e064b 58 TIM = TIM4;
beacon 0:dfea4e0e064b 59
beacon 0:dfea4e0e064b 60 // configure reset and clock control registers
beacon 0:dfea4e0e064b 61
beacon 0:dfea4e0e064b 62 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN; // manually enable port B (port A enabled by mbed library)
beacon 0:dfea4e0e064b 63
beacon 0:dfea4e0e064b 64 // configure general purpose I/O registers
beacon 0:dfea4e0e064b 65
beacon 0:dfea4e0e064b 66 GPIOB->MODER &= ~GPIO_MODER_MODER6; // reset port B6
beacon 0:dfea4e0e064b 67 GPIOB->MODER |= GPIO_MODER_MODER6_1; // set alternate mode of port B6
beacon 0:dfea4e0e064b 68 GPIOB->PUPDR &= ~GPIO_PUPDR_PUPDR6; // reset pull-up/pull-down on port B6
beacon 0:dfea4e0e064b 69 GPIOB->PUPDR |= GPIO_PUPDR_PUPDR6_1; // set input as pull-down
beacon 0:dfea4e0e064b 70 GPIOB->AFR[0] &= ~(0xF << 4*6); // reset alternate function of port B6
beacon 0:dfea4e0e064b 71 GPIOB->AFR[0] |= 2 << 4*6; // set alternate funtion 2 of port B6
beacon 0:dfea4e0e064b 72
beacon 0:dfea4e0e064b 73 GPIOB->MODER &= ~GPIO_MODER_MODER7; // reset port B7
beacon 0:dfea4e0e064b 74 GPIOB->MODER |= GPIO_MODER_MODER7_1; // set alternate mode of port B7
beacon 0:dfea4e0e064b 75 GPIOB->PUPDR &= ~GPIO_PUPDR_PUPDR7; // reset pull-up/pull-down on port B7
beacon 0:dfea4e0e064b 76 GPIOB->PUPDR |= GPIO_PUPDR_PUPDR7_1; // set input as pull-down
beacon 0:dfea4e0e064b 77 GPIOB->AFR[0] &= ~0xF0000000; // reset alternate function of port B7
beacon 0:dfea4e0e064b 78 GPIOB->AFR[0] |= 2 << 4*7; // set alternate funtion 2 of port B7
beacon 0:dfea4e0e064b 79
beacon 0:dfea4e0e064b 80 // configure reset and clock control registers
beacon 0:dfea4e0e064b 81
beacon 0:dfea4e0e064b 82 RCC->APB1RSTR |= RCC_APB1RSTR_TIM4RST; //reset TIM4 controller
beacon 0:dfea4e0e064b 83 RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM4RST;
beacon 0:dfea4e0e064b 84
beacon 0:dfea4e0e064b 85 RCC->APB1ENR |= RCC_APB1ENR_TIM4EN; // TIM4 clock enable
beacon 0:dfea4e0e064b 86
beacon 0:dfea4e0e064b 87 } else {
beacon 0:dfea4e0e064b 88
beacon 0:dfea4e0e064b 89 printf("pinmap not found for peripheral\n");
beacon 0:dfea4e0e064b 90 }
beacon 0:dfea4e0e064b 91
beacon 0:dfea4e0e064b 92 // configure general purpose timer 3 or 4
beacon 0:dfea4e0e064b 93
beacon 0:dfea4e0e064b 94 TIM->CR1 = 0x0000; // counter disable
beacon 0:dfea4e0e064b 95 TIM->CR2 = 0x0000; // reset master mode selection
beacon 0:dfea4e0e064b 96 TIM->SMCR = TIM_SMCR_SMS_1 | TIM_SMCR_SMS_0; // counting on both TI1 & TI2 edges
beacon 0:dfea4e0e064b 97 TIM->CCMR1 = TIM_CCMR1_CC2S_0 | TIM_CCMR1_CC1S_0;
beacon 0:dfea4e0e064b 98 TIM->CCMR2 = 0x0000; // reset capture mode register 2
beacon 0:dfea4e0e064b 99 TIM->CCER = TIM_CCER_CC2E | TIM_CCER_CC1E;
beacon 0:dfea4e0e064b 100 TIM->CNT = 0x0000; // reset counter value
beacon 0:dfea4e0e064b 101 TIM->ARR = 0xFFFF; // auto reload register
beacon 0:dfea4e0e064b 102 TIM->CR1 = TIM_CR1_CEN; // counter enable
beacon 0:dfea4e0e064b 103 }
beacon 0:dfea4e0e064b 104
beacon 0:dfea4e0e064b 105 EncoderCounter::~EncoderCounter() {}
beacon 0:dfea4e0e064b 106
beacon 0:dfea4e0e064b 107 /**
beacon 0:dfea4e0e064b 108 * Resets the counter value to zero.
beacon 0:dfea4e0e064b 109 */
beacon 0:dfea4e0e064b 110 void EncoderCounter::reset() {
beacon 0:dfea4e0e064b 111
beacon 0:dfea4e0e064b 112 TIM->CNT = 0x0000;
beacon 0:dfea4e0e064b 113 }
beacon 0:dfea4e0e064b 114
beacon 0:dfea4e0e064b 115 /**
beacon 0:dfea4e0e064b 116 * Resets the counter value to a given offset value.
beacon 0:dfea4e0e064b 117 * @param offset the offset value to reset the counter to.
beacon 0:dfea4e0e064b 118 */
beacon 0:dfea4e0e064b 119 void EncoderCounter::reset(short offset) {
beacon 0:dfea4e0e064b 120
beacon 0:dfea4e0e064b 121 TIM->CNT = -offset;
beacon 0:dfea4e0e064b 122 }
beacon 0:dfea4e0e064b 123
beacon 0:dfea4e0e064b 124 /**
beacon 0:dfea4e0e064b 125 * Reads the quadrature encoder counter value.
beacon 0:dfea4e0e064b 126 * @return the quadrature encoder counter as a signed 16-bit integer value.
beacon 0:dfea4e0e064b 127 */
beacon 0:dfea4e0e064b 128 short EncoderCounter::read() {
beacon 0:dfea4e0e064b 129
beacon 0:dfea4e0e064b 130 return (short)(-TIM->CNT);
beacon 0:dfea4e0e064b 131 }
beacon 0:dfea4e0e064b 132
beacon 0:dfea4e0e064b 133 /**
beacon 0:dfea4e0e064b 134 * The empty operator is a shorthand notation of the <code>read()</code> method.
beacon 0:dfea4e0e064b 135 */
beacon 0:dfea4e0e064b 136 EncoderCounter::operator short() {
beacon 0:dfea4e0e064b 137
beacon 0:dfea4e0e064b 138 return read();
beacon 0:dfea4e0e064b 139 }