Revision 0:1e31c3d92e90, committed 2017-12-21

Comitter:

Jecours

Date:

Thu Dec 21 04:16:17 2017 +0000

Commit message:

mbed otita;

Changed in this revision

diff -r 000000000000 -r 1e31c3d92e90 Encoder.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Encoder.h	Thu Dec 21 04:16:17 2017 +0000
@@ -0,0 +1,7 @@
+#ifndef ENCODER_H
+#define ENCODER_H
+
+void EncoderInit(TIM_Encoder_InitTypeDef * encoder, TIM_HandleTypeDef * timer, TIM_TypeDef * TIMx, uint32_t maxcount, uint32_t encmode);
+
+#endif
+

diff -r 000000000000 -r 1e31c3d92e90 EncoderInit.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/EncoderInit.cpp	Thu Dec 21 04:16:17 2017 +0000
@@ -0,0 +1,35 @@
+#include "mbed.h"
+
+void EncoderInit(TIM_Encoder_InitTypeDef * encoder, TIM_HandleTypeDef * timer, TIM_TypeDef * TIMx, uint32_t maxcount, uint32_t encmode)
+{
+
+    timer->Instance = TIMx;
+    timer->Init.Period = maxcount;
+    timer->Init.CounterMode = TIM_COUNTERMODE_UP;
+    timer->Init.Prescaler = 0;
+    timer->Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+
+    encoder->EncoderMode = encmode;
+
+    encoder->IC1Filter = 0x0F;
+    encoder->IC1Polarity  = TIM_INPUTCHANNELPOLARITY_RISING;
+    encoder->IC1Prescaler = TIM_ICPSC_DIV4;
+    encoder->IC1Selection = TIM_ICSELECTION_DIRECTTI;
+
+    encoder->IC2Filter = 0x0F;
+    encoder->IC2Polarity = TIM_INPUTCHANNELPOLARITY_FALLING;
+    encoder->IC2Prescaler = TIM_ICPSC_DIV4;
+    encoder->IC2Selection = TIM_ICSELECTION_DIRECTTI;
+
+
+    if (HAL_TIM_Encoder_Init(timer, encoder) != HAL_OK) {
+        printf("Couldn't Init Encoder\r\n");
+        while (1) {}
+    }
+
+    if(HAL_TIM_Encoder_Start(timer,TIM_CHANNEL_1)!=HAL_OK) {
+        printf("Couldn't Start Encoder\r\n");
+        while (1) {}
+    }
+}
+

diff -r 000000000000 -r 1e31c3d92e90 EncoderMspInitF7.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/EncoderMspInitF7.cpp	Thu Dec 21 04:16:17 2017 +0000
@@ -0,0 +1,30 @@
+#include "mbed.h"
+
+/*
+ TIM1_CH1: PA8
+ TIM1_CH2: PA9
+ TIM2_CH1: PA5
+ TIM2_CH2: PB3
+ TIM3_CH1: PB4
+ TIM3_CH2: PB5
+ TIM4_CH1: PB6
+ TIM4_CH2: PB7
+ TIM8_CH1: PC6
+ TIM8_CH2: PC7
+
+*/
+
+void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
+{
+    GPIO_InitTypeDef GPIO_InitStruct;
+    
+    if(htim->Instance == TIM1){
+        __TIM1_CLK_ENABLE();
+        __GPIOA_CLK_ENABLE();
+        GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
+        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+        GPIO_InitStruct.Speed =  GPIO_SPEED_FREQ_VERY_HIGH;
+        GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
+        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+    }
+}

diff -r 000000000000 -r 1e31c3d92e90 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Dec 21 04:16:17 2017 +0000
@@ -0,0 +1,52 @@
+#include "mbed.h"
+#include "Encoder.h"
+
+PwmOut motor1(PC_8);
+PwmOut motor2(PC_9);
+DigitalOut led1(LED1);
+TIM_Encoder_InitTypeDef encoder1;
+TIM_Handle_TypeDef timer;
+
+Ticker t;
+
+float kp = 2.0f;
+float kd = 0.0f;
+float ki = 0.0f;
+
+void motor(int16_t a);
+
+uint16_t count = 0;
+uint16_t countd = 0;
+uint16_t integral= 0;
+
+uint16_t counter = 32000;
+
+int main()
+{
+    EncoderInit(encoder1,timer,TIM8,65535,TIM_ENCODERMODE_TI12);
+    while(1) {
+        led1 = !led1;
+        wait(1);       
+    }
+}
+
+void calc_control(){
+    countd = count;
+    count = __HAL_TIM_GET_COUNTER(&timer);
+    integral += count-countd;
+    int output = (counter - count)*kp + (count - countd)*kd + integral * ki;
+    motor(output);
+}
+
+void motor(int16_t a)
+{
+    float x = a/32768;
+    if(x>0) {
+        motor1.write(x);
+        motor2.write(0);
+    }else{
+        x = abs(x);
+        motor2.write(x);
+        motor1.write(0);
+    }
+}
\ No newline at end of file

diff -r 000000000000 -r 1e31c3d92e90 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Dec 21 04:16:17 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/e7ca05fa8600
\ No newline at end of file