Diff: main.cpp

Revision:

0:e3161ef4ffd9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Sep 16 10:17:12 2019 +0000
@@ -0,0 +1,67 @@
+/*
+    Software to read out rotary encoder through serial terminal readout
+    Rotary encoder: YUMO E6B2-CWZ3E
+    Connections: Brown to 5V supply on board
+                 Blue to Ground (0V) on board
+                 Data lines White and black to A0 and A1 (not sure which to which)
+                 Orange not connected (open)
+                 
+    Code based on "Nucleo_Hello_Encoder" on mbed by David Lowe:
+    https://os.mbed.com/users/gregeric/code/Nucleo_Hello_Encoder/
+    
+    Odacon B.V. - Ferry Musters - 2019
+*/
+
+#include "mbed.h"
+#include "Encoder.h"
+
+//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
+
+Serial pc(USBTX, USBRX); // tx, rx
+
+TIM_Encoder_InitTypeDef encoder1, encoder2, encoder3, encoder4;
+TIM_HandleTypeDef  timer1,  timer2,  timer3,  timer4;
+
+int main()
+{
+    //counting on both A&B inputs, 4 ticks per cycle, full 32-bit count
+    EncoderInit(&encoder2, &timer2, TIM2, 0xffffffff, TIM_ENCODERMODE_TI12);
+
+    uint32_t lastvalue = __HAL_TIM_GET_COUNTER(&timer2);
+    int overflowcount = 0;
+    while(1) {
+        uint32_t currentvalue =__HAL_TIM_GET_COUNTER(&timer2);
+        int8_t dir = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2);
+
+        float pulsesperrevolution = 1024*4;
+        //keep track of a possible overflow
+        if((float)lastvalue - (float)currentvalue > 30000) { //with this huge value we must have an overflow
+            //pc.printf("Overflow happened, curval: %d lastval: %d, overflowcount: %d\r\n", currentvalue, lastvalue, overflowcount);
+            overflowcount++;
+        }
+        if((float)currentvalue - (float)lastvalue > 30000) { //underflow
+            //pc.printf("Underflow happened, curval: %d lastval: %d, overflowcount: %d\r\n", currentvalue, lastvalue, overflowcount);
+            overflowcount--;
+        }
+        float pulsevalue = (float) currentvalue + (float) overflowcount * 0x10000;
+        float fullrotations = (currentvalue/pulsesperrevolution) + overflowcount * 0x10000/pulsesperrevolution;
+
+        char inchar = ' ';
+        scanf("%c",&inchar);
+        if(inchar == 'i' || inchar == 'I') {
+            pc.printf("Rotary\r\n");
+        } else if(inchar == 'm' || inchar == 'M') {
+            pc.printf("%f\r\n", fullrotations);
+            //pc.printf("%d, %f%s \r\n", overflowcount, fullrotations, dir==0 ? "+":"-");
+            //pc.printf("%d: %f%s \r\n", i++, (currentvalue/pulsesperrevolution), dir2==0 ? "+":"-");
+        } else if(inchar == 'p' || inchar == 'P') {
+            pc.printf("%f\r\n", pulsevalue);
+        }
+        lastvalue = currentvalue;
+    }
+}
+