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Dependencies:   mbed

Fork of Versuch20 by Alexander Wyss

Classes/EncoderCounter.cpp@0:b886f13e4ac6, 2018-04-22 (annotated)

Committer:
baumgant
Date:
Sun Apr 22 16:14:54 2018 +0000
Revision:
0:b886f13e4ac6
Roebi

Who changed what in which revision?

UserRevisionLine numberNew contents of line
baumgant 0:b886f13e4ac6 1 /*
baumgant 0:b886f13e4ac6 2 * EncoderCounter.cpp
baumgant 0:b886f13e4ac6 3 * Copyright (c) 2018, ZHAW
baumgant 0:b886f13e4ac6 4 * All rights reserved.
baumgant 0:b886f13e4ac6 5 */
baumgant 0:b886f13e4ac6 6
baumgant 0:b886f13e4ac6 7 #include "EncoderCounter.h"
baumgant 0:b886f13e4ac6 8
baumgant 0:b886f13e4ac6 9 using namespace std;
baumgant 0:b886f13e4ac6 10
baumgant 0:b886f13e4ac6 11 /**
baumgant 0:b886f13e4ac6 12 * Creates and initializes the driver to read the quadrature
baumgant 0:b886f13e4ac6 13 * encoder counter of the STM32 microcontroller.
baumgant 0:b886f13e4ac6 14 * @param a the input pin for the channel A.
baumgant 0:b886f13e4ac6 15 * @param b the input pin for the channel B.
baumgant 0:b886f13e4ac6 16 */
baumgant 0:b886f13e4ac6 17 EncoderCounter::EncoderCounter(PinName a, PinName b) {
baumgant 0:b886f13e4ac6 18
baumgant 0:b886f13e4ac6 19 // check pins
baumgant 0:b886f13e4ac6 20
baumgant 0:b886f13e4ac6 21 if ((a == PA_0) && (b == PA_1)) {
baumgant 0:b886f13e4ac6 22
baumgant 0:b886f13e4ac6 23 // pinmap OK for TIM2 CH1 and CH2
baumgant 0:b886f13e4ac6 24
baumgant 0:b886f13e4ac6 25 TIM = TIM2;
baumgant 0:b886f13e4ac6 26
baumgant 0:b886f13e4ac6 27 // configure general purpose I/O registers
baumgant 0:b886f13e4ac6 28
baumgant 0:b886f13e4ac6 29 GPIOA->MODER &= ~GPIO_MODER_MODER0; // reset port A0
baumgant 0:b886f13e4ac6 30 GPIOA->MODER |= GPIO_MODER_MODER0_1; // set alternate mode of port A0
baumgant 0:b886f13e4ac6 31 GPIOA->PUPDR &= ~GPIO_PUPDR_PUPDR0; // reset pull-up/pull-down on port A0
baumgant 0:b886f13e4ac6 32 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR0_1; // set input as pull-down
baumgant 0:b886f13e4ac6 33 GPIOA->AFR[0] &= ~(0xF << 4*0); // reset alternate function of port A0
baumgant 0:b886f13e4ac6 34 GPIOA->AFR[0] |= 1 << 4*0; // set alternate funtion 1 of port A0
baumgant 0:b886f13e4ac6 35
baumgant 0:b886f13e4ac6 36 GPIOA->MODER &= ~GPIO_MODER_MODER1; // reset port A1
baumgant 0:b886f13e4ac6 37 GPIOA->MODER |= GPIO_MODER_MODER1_1; // set alternate mode of port A1
baumgant 0:b886f13e4ac6 38 GPIOA->PUPDR &= ~GPIO_PUPDR_PUPDR1; // reset pull-up/pull-down on port A1
baumgant 0:b886f13e4ac6 39 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR1_1; // set input as pull-down
baumgant 0:b886f13e4ac6 40 GPIOA->AFR[0] &= ~(0xF << 4*1); // reset alternate function of port A1
baumgant 0:b886f13e4ac6 41 GPIOA->AFR[0] |= 1 << 4*1; // set alternate funtion 1 of port A1
baumgant 0:b886f13e4ac6 42
baumgant 0:b886f13e4ac6 43 // configure reset and clock control registers
baumgant 0:b886f13e4ac6 44
baumgant 0:b886f13e4ac6 45 RCC->APB1RSTR |= RCC_APB1RSTR_TIM2RST; //reset TIM2 controller
baumgant 0:b886f13e4ac6 46 RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM2RST;
baumgant 0:b886f13e4ac6 47
baumgant 0:b886f13e4ac6 48 RCC->APB1ENR |= RCC_APB1ENR_TIM2EN; // TIM2 clock enable
baumgant 0:b886f13e4ac6 49
baumgant 0:b886f13e4ac6 50 } else if ((a == PA_6) && (b == PC_7)) {
baumgant 0:b886f13e4ac6 51
baumgant 0:b886f13e4ac6 52 // pinmap OK for TIM3 CH1 and CH2
baumgant 0:b886f13e4ac6 53
baumgant 0:b886f13e4ac6 54 TIM = TIM3;
baumgant 0:b886f13e4ac6 55
baumgant 0:b886f13e4ac6 56 // configure reset and clock control registers
baumgant 0:b886f13e4ac6 57
baumgant 0:b886f13e4ac6 58 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; // manually enable port C (port A enabled by mbed library)
baumgant 0:b886f13e4ac6 59
baumgant 0:b886f13e4ac6 60 // configure general purpose I/O registers
baumgant 0:b886f13e4ac6 61
baumgant 0:b886f13e4ac6 62 GPIOA->MODER &= ~GPIO_MODER_MODER6; // reset port A6
baumgant 0:b886f13e4ac6 63 GPIOA->MODER |= GPIO_MODER_MODER6_1; // set alternate mode of port A6
baumgant 0:b886f13e4ac6 64 GPIOA->PUPDR &= ~GPIO_PUPDR_PUPDR6; // reset pull-up/pull-down on port A6
baumgant 0:b886f13e4ac6 65 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR6_1; // set input as pull-down
baumgant 0:b886f13e4ac6 66 GPIOA->AFR[0] &= ~(0xF << 4*6); // reset alternate function of port A6
baumgant 0:b886f13e4ac6 67 GPIOA->AFR[0] |= 2 << 4*6; // set alternate funtion 2 of port A6
baumgant 0:b886f13e4ac6 68
baumgant 0:b886f13e4ac6 69 GPIOC->MODER &= ~GPIO_MODER_MODER7; // reset port C7
baumgant 0:b886f13e4ac6 70 GPIOC->MODER |= GPIO_MODER_MODER7_1; // set alternate mode of port C7
baumgant 0:b886f13e4ac6 71 GPIOC->PUPDR &= ~GPIO_PUPDR_PUPDR7; // reset pull-up/pull-down on port C7
baumgant 0:b886f13e4ac6 72 GPIOC->PUPDR |= GPIO_PUPDR_PUPDR7_1; // set input as pull-down
baumgant 0:b886f13e4ac6 73 GPIOC->AFR[0] &= ~0xF0000000; // reset alternate function of port C7
baumgant 0:b886f13e4ac6 74 GPIOC->AFR[0] |= 2 << 4*7; // set alternate funtion 2 of port C7
baumgant 0:b886f13e4ac6 75
baumgant 0:b886f13e4ac6 76 // configure reset and clock control registers
baumgant 0:b886f13e4ac6 77
baumgant 0:b886f13e4ac6 78 RCC->APB1RSTR |= RCC_APB1RSTR_TIM3RST; //reset TIM3 controller
baumgant 0:b886f13e4ac6 79 RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM3RST;
baumgant 0:b886f13e4ac6 80
baumgant 0:b886f13e4ac6 81 RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; // TIM3 clock enable
baumgant 0:b886f13e4ac6 82
baumgant 0:b886f13e4ac6 83 } else if ((a == PB_6) && (b == PB_7)) {
baumgant 0:b886f13e4ac6 84
baumgant 0:b886f13e4ac6 85 // pinmap OK for TIM4 CH1 and CH2
baumgant 0:b886f13e4ac6 86
baumgant 0:b886f13e4ac6 87 TIM = TIM4;
baumgant 0:b886f13e4ac6 88
baumgant 0:b886f13e4ac6 89 // configure reset and clock control registers
baumgant 0:b886f13e4ac6 90
baumgant 0:b886f13e4ac6 91 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN; // manually enable port B (port A enabled by mbed library)
baumgant 0:b886f13e4ac6 92
baumgant 0:b886f13e4ac6 93 // configure general purpose I/O registers
baumgant 0:b886f13e4ac6 94
baumgant 0:b886f13e4ac6 95 GPIOB->MODER &= ~GPIO_MODER_MODER6; // reset port B6
baumgant 0:b886f13e4ac6 96 GPIOB->MODER |= GPIO_MODER_MODER6_1; // set alternate mode of port B6
baumgant 0:b886f13e4ac6 97 GPIOB->PUPDR &= ~GPIO_PUPDR_PUPDR6; // reset pull-up/pull-down on port B6
baumgant 0:b886f13e4ac6 98 GPIOB->PUPDR |= GPIO_PUPDR_PUPDR6_1; // set input as pull-down
baumgant 0:b886f13e4ac6 99 GPIOB->AFR[0] &= ~(0xF << 4*6); // reset alternate function of port B6
baumgant 0:b886f13e4ac6 100 GPIOB->AFR[0] |= 2 << 4*6; // set alternate funtion 2 of port B6
baumgant 0:b886f13e4ac6 101
baumgant 0:b886f13e4ac6 102 GPIOB->MODER &= ~GPIO_MODER_MODER7; // reset port B7
baumgant 0:b886f13e4ac6 103 GPIOB->MODER |= GPIO_MODER_MODER7_1; // set alternate mode of port B7
baumgant 0:b886f13e4ac6 104 GPIOB->PUPDR &= ~GPIO_PUPDR_PUPDR7; // reset pull-up/pull-down on port B7
baumgant 0:b886f13e4ac6 105 GPIOB->PUPDR |= GPIO_PUPDR_PUPDR7_1; // set input as pull-down
baumgant 0:b886f13e4ac6 106 GPIOB->AFR[0] &= ~0xF0000000; // reset alternate function of port B7
baumgant 0:b886f13e4ac6 107 GPIOB->AFR[0] |= 2 << 4*7; // set alternate funtion 2 of port B7
baumgant 0:b886f13e4ac6 108
baumgant 0:b886f13e4ac6 109 // configure reset and clock control registers
baumgant 0:b886f13e4ac6 110
baumgant 0:b886f13e4ac6 111 RCC->APB1RSTR |= RCC_APB1RSTR_TIM4RST; //reset TIM4 controller
baumgant 0:b886f13e4ac6 112 RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM4RST;
baumgant 0:b886f13e4ac6 113
baumgant 0:b886f13e4ac6 114 RCC->APB1ENR |= RCC_APB1ENR_TIM4EN; // TIM4 clock enable
baumgant 0:b886f13e4ac6 115
baumgant 0:b886f13e4ac6 116 } else {
baumgant 0:b886f13e4ac6 117
baumgant 0:b886f13e4ac6 118 printf("pinmap not found for peripheral\n");
baumgant 0:b886f13e4ac6 119 }
baumgant 0:b886f13e4ac6 120
baumgant 0:b886f13e4ac6 121 // configure general purpose timer 3 or 4
baumgant 0:b886f13e4ac6 122
baumgant 0:b886f13e4ac6 123 TIM->CR1 = 0x0000; // counter disable
baumgant 0:b886f13e4ac6 124 TIM->CR2 = 0x0000; // reset master mode selection
baumgant 0:b886f13e4ac6 125 TIM->SMCR = TIM_SMCR_SMS_1 | TIM_SMCR_SMS_0; // counting on both TI1 & TI2 edges
baumgant 0:b886f13e4ac6 126 TIM->CCMR1 = TIM_CCMR1_CC2S_0 | TIM_CCMR1_CC1S_0;
baumgant 0:b886f13e4ac6 127 TIM->CCMR2 = 0x0000; // reset capture mode register 2
baumgant 0:b886f13e4ac6 128 TIM->CCER = TIM_CCER_CC2E | TIM_CCER_CC1E;
baumgant 0:b886f13e4ac6 129 TIM->CNT = 0x0000; // reset counter value
baumgant 0:b886f13e4ac6 130 TIM->ARR = 0xFFFF; // auto reload register
baumgant 0:b886f13e4ac6 131 TIM->CR1 = TIM_CR1_CEN; // counter enable
baumgant 0:b886f13e4ac6 132 }
baumgant 0:b886f13e4ac6 133
baumgant 0:b886f13e4ac6 134 EncoderCounter::~EncoderCounter() {}
baumgant 0:b886f13e4ac6 135
baumgant 0:b886f13e4ac6 136 /**
baumgant 0:b886f13e4ac6 137 * Resets the counter value to zero.
baumgant 0:b886f13e4ac6 138 */
baumgant 0:b886f13e4ac6 139 void EncoderCounter::reset() {
baumgant 0:b886f13e4ac6 140
baumgant 0:b886f13e4ac6 141 TIM->CNT = 0x0000;
baumgant 0:b886f13e4ac6 142 }
baumgant 0:b886f13e4ac6 143
baumgant 0:b886f13e4ac6 144 /**
baumgant 0:b886f13e4ac6 145 * Resets the counter value to a given offset value.
baumgant 0:b886f13e4ac6 146 * @param offset the offset value to reset the counter to.
baumgant 0:b886f13e4ac6 147 */
baumgant 0:b886f13e4ac6 148 void EncoderCounter::reset(short offset) {
baumgant 0:b886f13e4ac6 149
baumgant 0:b886f13e4ac6 150 TIM->CNT = -offset;
baumgant 0:b886f13e4ac6 151 }
baumgant 0:b886f13e4ac6 152
baumgant 0:b886f13e4ac6 153 /**
baumgant 0:b886f13e4ac6 154 * Reads the quadrature encoder counter value.
baumgant 0:b886f13e4ac6 155 * @return the quadrature encoder counter as a signed 16-bit integer value.
baumgant 0:b886f13e4ac6 156 */
baumgant 0:b886f13e4ac6 157 short EncoderCounter::read() {
baumgant 0:b886f13e4ac6 158
baumgant 0:b886f13e4ac6 159 return (short)(-TIM->CNT);
baumgant 0:b886f13e4ac6 160 }
baumgant 0:b886f13e4ac6 161
baumgant 0:b886f13e4ac6 162 /**
baumgant 0:b886f13e4ac6 163 * The empty operator is a shorthand notation of the <code>read()</code> method.
baumgant 0:b886f13e4ac6 164 */
baumgant 0:b886f13e4ac6 165 EncoderCounter::operator short() {
baumgant 0:b886f13e4ac6 166
baumgant 0:b886f13e4ac6 167 return read();
baumgant 0:b886f13e4ac6 168 }
baumgant 0:b886f13e4ac6 169