Revision 4:734474ae54b9, committed 2016-06-09

Comitter:

kkoichy

Date:

Thu Jun 09 10:32:13 2016 +0000

Parent:

3:f0450e2b0d47

Child:

5:018659d4022a

Commit message:

Added example programm

Changed in this revision

--- a/Nucleo_Encoder_16_bits.h	Wed Jun 08 22:07:03 2016 +0000
+++ b/Nucleo_Encoder_16_bits.h	Thu Jun 09 10:32:13 2016 +0000
@@ -2,6 +2,80 @@
 #define ENCODER_H
 #include "mbed.h"
 #include "CAN.h"
+/*
+#include "mbed.h"
+#include "Nucleo_Encoder_16_bits.h"
+#include "CAN.h"
+
+/*
+ * HAL_TIM_Encoder_MspInit()
+ * Overrides the __weak function stub in stm32f4xx_hal_tim.h
+ *
+ * Edit the below for your preferred pin wiring & pullup/down
+ * I have encoder common at 3V3, using GPIO_PULLDOWN on inputs.
+ * Encoder A&B outputs connected directly to GPIOs.
+ *
+ * www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00102166.pdf
+ * www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00141306.pdf
+ *
+ * TIM1_CH1: AF1 @ PA_8, PE_9 
+ * TIM1_CH2: AF1 @ PA_9, PE_11 
+ *
+ * TIM2_CH1: AF1 @ PA_0, PA_5, PA_15, PB_8*     *F446 only
+ * TIM2_CH2: AF1 @ PA_1, PB_3, PB_9*            *F446 only
+ *
+ * TIM3_CH1: AF2 @ PA_6, PB_4, PC_6
+ * TIM3_CH2: AF2 @ PA_7, PB_5, PC_7
+ *
+ * TIM4_CH1: AF2 @ PB_6, PD_12
+ * TIM4_CH2: AF2 @ PB_7, PD_13
+ *
+ * TIM5_CH1: AF2 @ PA_0*    *TIM5 used by mbed system ticker so unavailable
+ * TIM5_CH2: AF2 @ PA_1*
+ *
+ */
+
+
+//STM mbed bug: these macros are MISSING from stm32f3xx_hal_tim.h
+#ifdef TARGET_STM32F3
+#define __HAL_TIM_GET_COUNTER(__HANDLE__) ((__HANDLE__)->Instance->CNT)
+#define __HAL_TIM_IS_TIM_COUNTING_DOWN(__HANDLE__)            (((__HANDLE__)->Instance->CR1 &(TIM_CR1_DIR)) == (TIM_CR1_DIR))
+#endif
+#define PERIMETRE_ROUE_CODEUSE 160.0
+#define LARGEUR_ROBOT 270.0
+#define PI 3.14159265359
+#define RESOLUTION_ROUE_CODEUSE 1024.0
+
+
+Nucleo_Encoder_16_bits encoder1(TIM3, 0xffff, TIM_ENCODERMODE_TI12);
+Nucleo_Encoder_16_bits encoder2(TIM1, 0xffff, TIM_ENCODERMODE_TI12);
+
+int cpt = 0, dist_d, dist_g;
+double D, theta, x, y;
+
+int main()
+{    
+    printf("Debut du prog");
+
+    
+    while(1)
+    {
+        wait_ms(10);
+        dist_d = encoder1.GetCounter() - dist_d;
+        dist_g = encoder2.GetCounter() - dist_g;
+        D = 0.5 * (dist_d + dist_g);
+        theta += 0.5 * (dist_d - dist_g) * 360.0 * PERIMETRE_ROUE_CODEUSE/(LARGEUR_ROBOT*PI*RESOLUTION_ROUE_CODEUSE);
+        x = D * cos(theta * PI / 180.0) * PERIMETRE_ROUE_CODEUSE / RESOLUTION_ROUE_CODEUSE;
+        y = D * sin(theta * PI / 180.0) * PERIMETRE_ROUE_CODEUSE / RESOLUTION_ROUE_CODEUSE;
+        cpt ++;
+        if(cpt >= 50)
+        {
+            printf("\n\rX : %d\n\rY : %d\n\rTheta : %d\n\r**********\n\r", (int)x, (int)y, (int)theta);    
+        }
+    }
+
+}
+*/
 
 void EncoderInit(TIM_Encoder_InitTypeDef * encoder, TIM_HandleTypeDef * timer, TIM_TypeDef * TIMx, uint32_t maxcount, uint32_t encmode);