Ben Katz / Mbed 2 deprecated Quadrature_Test

quadrature testing

Dependencies:   FastPWM mbed

main.cpp@1:6e92984aacba, 2015-12-07 (annotated)

Committer:
benkatz
Date:
Mon Dec 07 08:26:22 2015 +0000
Revision:
1:6e92984aacba
Parent:
0:f3974679f594 
how do I quadrature;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 0:f3974679f594 1 #include "mbed.h"
benkatz 0:f3974679f594 2 #include "FastPWM.h"
benkatz 0:f3974679f594 3
benkatz 0:f3974679f594 4
benkatz 0:f3974679f594 5 //FastPWM duty(PA_3);
benkatz 0:f3974679f594 6 Ticker loop;
benkatz 0:f3974679f594 7 unsigned int old_velocity = 0;
benkatz 0:f3974679f594 8 unsigned int velocity;
benkatz 0:f3974679f594 9 AnalogOut output(A2);
benkatz 0:f3974679f594 10
benkatz 0:f3974679f594 11 void EncoderInitialise(void) {
benkatz 0:f3974679f594 12 // configure GPIO PA0 & PA1 as inputs for Encoder
benkatz 0:f3974679f594 13 RCC->AHB1ENR |= 0x00000001; // Enable clock for GPIOA
benkatz 0:f3974679f594 14
benkatz 0:f3974679f594 15 GPIOA->MODER |= GPIO_MODER_MODER0_1 | GPIO_MODER_MODER1_1 ; //PA0 & PA1 as Alternate Function /*!< GPIO port mode register, Address offset: 0x00 */
benkatz 0:f3974679f594 16 GPIOA->OTYPER |= GPIO_OTYPER_OT_0 | GPIO_OTYPER_OT_1 ; //PA0 & PA1 as Inputs /*!< GPIO port output type register, Address offset: 0x04 */
benkatz 0:f3974679f594 17 GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR0 | GPIO_OSPEEDER_OSPEEDR1 ; // Low speed /*!< GPIO port output speed register, Address offset: 0x08 */
benkatz 0:f3974679f594 18 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR0_1 | GPIO_PUPDR_PUPDR1_1 ; // Pull Down /*!< GPIO port pull-up/pull-down register, Address offset: 0x0C */
benkatz 0:f3974679f594 19 GPIOA->AFR[0] |= 0x00000011 ; // AF01 for PA0 & PA1 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
benkatz 0:f3974679f594 20 GPIOA->AFR[1] |= 0x00000000 ; // /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
benkatz 0:f3974679f594 21
benkatz 0:f3974679f594 22 // configure TIM2 as Encoder input
benkatz 0:f3974679f594 23 RCC->APB1ENR |= 0x00000001; // Enable clock for TIM2
benkatz 0:f3974679f594 24
benkatz 0:f3974679f594 25 TIM2->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1
benkatz 0:f3974679f594 26 TIM2->SMCR = 0x0003; // SMS='011' (Encoder mode 3) < TIM slave mode control register
benkatz 0:f3974679f594 27 TIM2->CCMR1 = 0xF1F1; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1
benkatz 0:f3974679f594 28 TIM2->CCMR2 = 0x0000; // < TIM capture/compare mode register 2
benkatz 0:f3974679f594 29 TIM2->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register
benkatz 0:f3974679f594 30 TIM2->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler
benkatz 0:f3974679f594 31 TIM2->ARR = 0xffffffff; // reload at 0xfffffff < TIM auto-reload register
benkatz 0:f3974679f594 32
benkatz 0:f3974679f594 33 TIM2->CNT = 0x0000; //reset the counter before we use it
benkatz 0:f3974679f594 34 }
benkatz 0:f3974679f594 35
benkatz 0:f3974679f594 36 // Z Pulse routine
benkatz 0:f3974679f594 37 void ZeroEncoderCount() {
benkatz 0:f3974679f594 38 TIM2->CNT=0 ; //reset count to zero
benkatz 0:f3974679f594 39 }
benkatz 0:f3974679f594 40
benkatz 0:f3974679f594 41 void setp(void){
benkatz 0:f3974679f594 42 output.write_u16((TIM2->CNT)<<4);
benkatz 0:f3974679f594 43 }
benkatz 0:f3974679f594 44
benkatz 0:f3974679f594 45 void print_serial(void){
benkatz 0:f3974679f594 46 velocity = (TIM2->CNT);
benkatz 0:f3974679f594 47 printf("%i\n\r",velocity-old_velocity);
benkatz 0:f3974679f594 48 old_velocity = velocity;
benkatz 0:f3974679f594 49 }
benkatz 0:f3974679f594 50
benkatz 0:f3974679f594 51 int main() {
benkatz 0:f3974679f594 52 EncoderInitialise() ;
benkatz 0:f3974679f594 53
benkatz 0:f3974679f594 54
benkatz 0:f3974679f594 55 unsigned int EncoderPosition ;
benkatz 0:f3974679f594 56 loop.attach(&setp, .000001);
benkatz 0:f3974679f594 57
benkatz 0:f3974679f594 58 while (true) {
benkatz 0:f3974679f594 59 // Print Encoder Quadrature count to debug port every 0.5 seconds
benkatz 0:f3974679f594 60 //EncoderPosition = TIM2->CNT ; // Get current position from Encoder
benkatz 0:f3974679f594 61 //printf("Encoder Position %i\r\n", EncoderPosition);
benkatz 0:f3974679f594 62 //wait(0.1);
benkatz 0:f3974679f594 63 }
benkatz 0:f3974679f594 64
benkatz 0:f3974679f594 65
benkatz 0:f3974679f594 66 }