hctl2032_encoder - hctl 2032 encoder for stm32

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paolo della vedova / hctl2032_encoder

hctl 2032 encoder for stm32

EncoderCounter.cpp@4:d99e7d8ed0be, 2014-09-05 (annotated)

Committer:: c128
Date:: Fri Sep 05 13:31:34 2014 +0000
Revision:: 4:d99e7d8ed0be
Parent:: 3:b83ec916ba01

Who changed what in which revision?

User	Revision	Line number	New contents of line
c128	0:b1faec368b5d	1
c128	0:b1faec368b5d	2
c128	0:b1faec368b5d	3	#include "EncoderCounter.h"
c128	0:b1faec368b5d	4
c128	0:b1faec368b5d	5	#include "FastIO.h"
c128	0:b1faec368b5d	6
c128	0:b1faec368b5d	7
c128	0:b1faec368b5d	8	FastOut<PA_0> HCTL_PIN_XY;
c128	0:b1faec368b5d	9	FastOut<PA_1> HCTL_PIN_OE; // Active LOW
c128	0:b1faec368b5d	10	FastOut<PA_4> HCTL_PIN_EN1;
c128	0:b1faec368b5d	11	FastOut<PB_3> HCTL_PIN_EN2;
c128	0:b1faec368b5d	12	FastOut<PC_10> HCTL_PIN_SEL1;
c128	0:b1faec368b5d	13	FastOut<PC_11> HCTL_PIN_SEL2;
c128	0:b1faec368b5d	14	FastOut<PB_6> HCTL_PIN_RSTX; // Active LOW
c128	0:b1faec368b5d	15	FastOut<PB_7> HCTL_PIN_RSTY; // Active LOW
c128	0:b1faec368b5d	16
c128	0:b1faec368b5d	17
c128	0:b1faec368b5d	18	FastIn<PC_0> bus0;
c128	0:b1faec368b5d	19	FastIn<PC_1> bus1;
c128	0:b1faec368b5d	20	FastIn<PC_2> bus2;
c128	0:b1faec368b5d	21	FastIn<PC_3> bus3;
c128	0:b1faec368b5d	22	FastIn<PC_4> bus4;
c128	4:d99e7d8ed0be	23	FastIn<PC_5> bus5;
c128	0:b1faec368b5d	24	FastIn<PC_6> bus6;
c128	0:b1faec368b5d	25	FastIn<PC_7> bus7;
c128	0:b1faec368b5d	26	//PortIn HCTL_DataBus(PortC, 0x00FF);
c128	0:b1faec368b5d	27
c128	0:b1faec368b5d	28
c128	0:b1faec368b5d	29
c128	0:b1faec368b5d	30	ENCODER::ENCODER(unsigned char countMode)
c128	0:b1faec368b5d	31
c128	0:b1faec368b5d	32	{
c128	0:b1faec368b5d	33
c128	0:b1faec368b5d	34
c128	0:b1faec368b5d	35	switchCountMode( countMode );
c128	0:b1faec368b5d	36
c128	0:b1faec368b5d	37
c128	0:b1faec368b5d	38
c128	0:b1faec368b5d	39	XAxisReset();
c128	0:b1faec368b5d	40	YAxisReset();
c128	0:b1faec368b5d	41
c128	0:b1faec368b5d	42	HCTL_PIN_RSTX = 1; // Active LOW
c128	0:b1faec368b5d	43	HCTL_PIN_RSTY = 1; // Active LOW
c128	0:b1faec368b5d	44	HCTL_PIN_OE = 1;
c128	0:b1faec368b5d	45	wait_ms(1);
c128	0:b1faec368b5d	46
c128	0:b1faec368b5d	47
c128	0:b1faec368b5d	48	}
c128	0:b1faec368b5d	49
c128	0:b1faec368b5d	50
c128	0:b1faec368b5d	51
c128	0:b1faec368b5d	52	// Communicates with a HCTL-2032 IC to get reset the X encoder count
c128	0:b1faec368b5d	53	// see Avago/Agilent/HP HCTL-2032 PDF for details
c128	0:b1faec368b5d	54	void ENCODER::XAxisReset()
c128	0:b1faec368b5d	55	{
c128	0:b1faec368b5d	56	HCTL_PIN_RSTX = 0;
c128	0:b1faec368b5d	57	wait_ms(0);
c128	0:b1faec368b5d	58	HCTL_PIN_RSTX = 1;
c128	0:b1faec368b5d	59	wait_ms(1);
c128	0:b1faec368b5d	60	}
c128	0:b1faec368b5d	61
c128	0:b1faec368b5d	62	void ENCODER::YAxisReset()
c128	0:b1faec368b5d	63	{
c128	0:b1faec368b5d	64	HCTL_PIN_RSTX = 0;
c128	0:b1faec368b5d	65	wait_ms(0);
c128	0:b1faec368b5d	66	HCTL_PIN_RSTX = 1;
c128	0:b1faec368b5d	67	wait_ms(1);
c128	0:b1faec368b5d	68	}
c128	0:b1faec368b5d	69
c128	0:b1faec368b5d	70	// Communicates with a HCTL-2032 IC to get the X Axis encoder count via an 8bit parallel bus
c128	0:b1faec368b5d	71	// see Avago/Agilent/HP HCTL-2032 Datasheet PDF for details
c128	0:b1faec368b5d	72	int ENCODER::XAxisGetCount( )
c128	0:b1faec368b5d	73	{
c128	0:b1faec368b5d	74
c128	0:b1faec368b5d	75	HCTL_PIN_XY = 0; //0
c128	0:b1faec368b5d	76	HCTL_PIN_OE = 0;
c128	0:b1faec368b5d	77	wait_ms(5);
c128	0:b1faec368b5d	78
c128	0:b1faec368b5d	79
c128	0:b1faec368b5d	80	//read MSB
c128	0:b1faec368b5d	81	HCTL_PIN_SEL1 = 0; //0
c128	0:b1faec368b5d	82	HCTL_PIN_SEL2 = 1; //1
c128	0:b1faec368b5d	83	wait_ms(5);
c128	0:b1faec368b5d	84	busByteMSB = (bus0 \| (bus1 << 1) \| (bus2 << 2) \| (bus3 << 3) \| (bus4 << 4) \| (bus5 << 5) \| (bus6 << 6) \| (bus7 << 7) );
c128	0:b1faec368b5d	85	countEnc = busByteMSB;
c128	0:b1faec368b5d	86	countEnc <<= 8 ;
c128	0:b1faec368b5d	87
c128	0:b1faec368b5d	88
c128	0:b1faec368b5d	89
c128	0:b1faec368b5d	90	//read 2nd byte
c128	0:b1faec368b5d	91	HCTL_PIN_SEL1 = 1;
c128	0:b1faec368b5d	92	HCTL_PIN_SEL2 = 1;
c128	0:b1faec368b5d	93	wait_ms(5);
c128	0:b1faec368b5d	94	busByte = (bus0 \| (bus1 << 1) \| (bus2 << 2) \| (bus3 << 3) \| (bus4 << 4) \| (bus5 << 5) \| (bus6 << 6) \| (bus7 << 7) );
c128	0:b1faec368b5d	95	countEnc = busByte + countEnc;
c128	0:b1faec368b5d	96	countEnc <<= 8 ;
c128	0:b1faec368b5d	97
c128	0:b1faec368b5d	98
c128	0:b1faec368b5d	99
c128	0:b1faec368b5d	100	//read 3rd byte
c128	0:b1faec368b5d	101	HCTL_PIN_SEL1 = 0;
c128	0:b1faec368b5d	102	HCTL_PIN_SEL2 = 0;
c128	0:b1faec368b5d	103	HCTL_PIN_OE = 0;
c128	0:b1faec368b5d	104	wait_ms(5);
c128	0:b1faec368b5d	105	busByte = (bus0 \| (bus1 << 1) \| (bus2 << 2) \| (bus3 << 3) \| (bus4 << 4) \| (bus5 << 5) \| (bus6 << 6) \| (bus7 << 7) );
c128	0:b1faec368b5d	106	countEnc = busByte + countEnc;
c128	0:b1faec368b5d	107	countEnc <<= 8;
c128	0:b1faec368b5d	108
c128	0:b1faec368b5d	109
c128	0:b1faec368b5d	110	//read LSB
c128	0:b1faec368b5d	111	HCTL_PIN_SEL1 = 1;
c128	0:b1faec368b5d	112	HCTL_PIN_SEL2 = 0;
c128	0:b1faec368b5d	113	wait_ms(5);
c128	0:b1faec368b5d	114	busByte = (bus0 \| (bus1 << 1) \| (bus2 << 2) \| (bus3 << 3) \| (bus4 << 4) \| (bus5 << 5) \| (bus6 << 6) \| (bus7 << 7) );
c128	0:b1faec368b5d	115	countEnc = busByte + countEnc;
c128	0:b1faec368b5d	116
c128	0:b1faec368b5d	117
c128	0:b1faec368b5d	118	HCTL_PIN_OE = 1; //1
c128	0:b1faec368b5d	119
c128	0:b1faec368b5d	120
c128	0:b1faec368b5d	121	return countEnc;
c128	0:b1faec368b5d	122	}
c128	0:b1faec368b5d	123
c128	0:b1faec368b5d	124	int ENCODER::YAxisGetCount( )
c128	0:b1faec368b5d	125	{
c128	0:b1faec368b5d	126
c128	0:b1faec368b5d	127	HCTL_PIN_XY = 0; //0
c128	0:b1faec368b5d	128	HCTL_PIN_OE = 0;
c128	0:b1faec368b5d	129	wait_ms(5);
c128	0:b1faec368b5d	130
c128	0:b1faec368b5d	131
c128	0:b1faec368b5d	132	//read MSB
c128	0:b1faec368b5d	133	HCTL_PIN_SEL1 = 0; //0
c128	0:b1faec368b5d	134	HCTL_PIN_SEL2 = 1; //1
c128	0:b1faec368b5d	135	wait_ms(5);
c128	0:b1faec368b5d	136	busByteMSB = (bus0 \| (bus1 << 1) \| (bus2 << 2) \| (bus3 << 3) \| (bus4 << 4) \| (bus5 << 5) \| (bus6 << 6) \| (bus7 << 7) );
c128	0:b1faec368b5d	137	countEnc = busByteMSB;
c128	0:b1faec368b5d	138	countEnc <<= 8 ;
c128	0:b1faec368b5d	139
c128	0:b1faec368b5d	140
c128	0:b1faec368b5d	141
c128	0:b1faec368b5d	142	//read 2nd byte
c128	0:b1faec368b5d	143	HCTL_PIN_SEL1 = 1;
c128	0:b1faec368b5d	144	HCTL_PIN_SEL2 = 1;
c128	0:b1faec368b5d	145	wait_ms(5);
c128	0:b1faec368b5d	146	busByte = (bus0 \| (bus1 << 1) \| (bus2 << 2) \| (bus3 << 3) \| (bus4 << 4) \| (bus5 << 5) \| (bus6 << 6) \| (bus7 << 7) );
c128	0:b1faec368b5d	147	countEnc = busByte + countEnc;
c128	0:b1faec368b5d	148	countEnc <<= 8 ;
c128	0:b1faec368b5d	149
c128	0:b1faec368b5d	150
c128	0:b1faec368b5d	151
c128	0:b1faec368b5d	152	//read 3rd byte
c128	0:b1faec368b5d	153	HCTL_PIN_SEL1 = 0;
c128	0:b1faec368b5d	154	HCTL_PIN_SEL2 = 0;
c128	0:b1faec368b5d	155	HCTL_PIN_OE = 0;
c128	0:b1faec368b5d	156	wait_ms(5);
c128	0:b1faec368b5d	157	busByte = (bus0 \| (bus1 << 1) \| (bus2 << 2) \| (bus3 << 3) \| (bus4 << 4) \| (bus5 << 5) \| (bus6 << 6) \| (bus7 << 7) );
c128	0:b1faec368b5d	158	countEnc = busByte + countEnc;
c128	0:b1faec368b5d	159	countEnc <<= 8;
c128	0:b1faec368b5d	160
c128	0:b1faec368b5d	161
c128	0:b1faec368b5d	162	//read LSB
c128	0:b1faec368b5d	163	HCTL_PIN_SEL1 = 1;
c128	0:b1faec368b5d	164	HCTL_PIN_SEL2 = 0;
c128	0:b1faec368b5d	165	wait_ms(5);
c128	0:b1faec368b5d	166	busByte = (bus0 \| (bus1 << 1) \| (bus2 << 2) \| (bus3 << 3) \| (bus4 << 4) \| (bus5 << 5) \| (bus6 << 6) \| (bus7 << 7) );
c128	0:b1faec368b5d	167	countEnc = busByte + countEnc;
c128	0:b1faec368b5d	168
c128	0:b1faec368b5d	169
c128	0:b1faec368b5d	170	HCTL_PIN_OE = 1; //1
c128	0:b1faec368b5d	171
c128	0:b1faec368b5d	172
c128	0:b1faec368b5d	173	return countEnc;
c128	0:b1faec368b5d	174	}
c128	0:b1faec368b5d	175
c128	0:b1faec368b5d	176	void ENCODER::switchCountMode( unsigned char countMode )
c128	0:b1faec368b5d	177	{
c128	0:b1faec368b5d	178	// Count Mode Illegal Mode EN1 LOW EN2 LOW
c128	0:b1faec368b5d	179	// Count Mode 4X EN1 HIGH EN2 LOW
c128	0:b1faec368b5d	180	// Count Mode 2X EN1 LOW EN2 HIGH
c128	0:b1faec368b5d	181	// Count Mode 1X EN1 HIGH EN2 HIGH
c128	0:b1faec368b5d	182	switch(countMode)
c128	0:b1faec368b5d	183	{
c128	0:b1faec368b5d	184	case 1: // 1X Count Mode
c128	0:b1faec368b5d	185	HCTL_PIN_EN1 = 1;
c128	0:b1faec368b5d	186	HCTL_PIN_EN2 = 1;
c128	0:b1faec368b5d	187	break;
c128	0:b1faec368b5d	188	case 2: // 2X Count Mode
c128	0:b1faec368b5d	189	HCTL_PIN_EN1 = 0;
c128	0:b1faec368b5d	190	HCTL_PIN_EN2 = 1;
c128	0:b1faec368b5d	191	break;
c128	0:b1faec368b5d	192	case 4: // 4X Count Mode is the default
c128	0:b1faec368b5d	193	HCTL_PIN_EN1 = 1;
c128	0:b1faec368b5d	194	HCTL_PIN_EN2 = 0;
c128	0:b1faec368b5d	195	break;
c128	0:b1faec368b5d	196	default:
c128	0:b1faec368b5d	197	HCTL_PIN_EN1 = 1;
c128	0:b1faec368b5d	198	HCTL_PIN_EN2 = 0;
c128	0:b1faec368b5d	199	break;
c128	0:b1faec368b5d	200
c128	0:b1faec368b5d	201
c128	0:b1faec368b5d	202	}
c128	0:b1faec368b5d	203	wait_ms(1);
c128	0:b1faec368b5d	204	}
c128	0:b1faec368b5d	205
c128	0:b1faec368b5d	206

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Type:	Library
Created:	05 Sep 2014
Imports:	13
Forks:	0
Commits:	5
Dependents:	0
Dependencies:	1
Followers:	2

EncoderCounter.cpp@4:d99e7d8ed0be, 2014-09-05 (annotated)

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