Calmantara Sumpono Putra
-
Revision 0:1c05321d03a4, committed 2019-04-10
- Comitter:
- calmantara186
- Date:
- Wed Apr 10 19:48:18 2019 +0000
- Commit message:
- external encoder;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/EncoderInit.cpp Wed Apr 10 19:48:18 2019 +0000
@@ -0,0 +1,36 @@
+#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) {}
+ }
+}
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/EncoderMspInitF4.cpp Wed Apr 10 19:48:18 2019 +0000
@@ -0,0 +1,96 @@
+#include "mbed.h"
+/*
+ * HAL_TIM_Encoder_MspInit()
+ * Overrides the __weak function stub in stm32f4xx_hal_tim.h
+ *
+ * Edit the below for your preferred pin wiring & pullup/down
+ * I have encoder common at 3V3, using GPIO_PULLDOWN on inputs.
+ * Encoder A&B outputs connected directly to GPIOs.
+ *
+ * www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00102166.pdf
+ * www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00141306.pdf
+ *
+ * TIM1_CH1: AF1 @ PA_8, PE_9
+ * TIM1_CH2: AF1 @ PA_9, PE_11
+ *
+ * TIM2_CH1: AF1 @ PA_0, PA_5, PA_15, PB_8* *F446 only
+ * TIM2_CH2: AF1 @ PA_1, PB_3, PB_9* *F446 only
+ *
+ * TIM3_CH1: AF2 @ PA_6, PB_4, PC_6
+ * TIM3_CH2: AF2 @ PA_7, PB_5, PC_7
+ *
+ * TIM4_CH1: AF2 @ PB_6, PD_12
+ * TIM4_CH2: AF2 @ PB_7, PD_13
+ *
+ * TIM5_CH1: AF2 @ PA_0* *TIM5 used by mbed system ticker so unavailable
+ * TIM5_CH2: AF2 @ PA_1*
+ *
+ * TIM8_CH1: AF3 @ PC_6
+ * TIM8_CH2: AF3 @ PC_7
+ */
+
+#ifdef TARGET_STM32F4
+void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
+{
+ GPIO_InitTypeDef GPIO_InitStruct;
+
+ if (htim->Instance == TIM1) { //PA8 PA9 = Nucleo D7 D8
+ __TIM1_CLK_ENABLE();
+ __GPIOA_CLK_ENABLE();
+ GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
+ GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+ GPIO_InitStruct.Pull = GPIO_PULLDOWN;
+ GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
+ GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
+ HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+ }
+ else if (htim->Instance == TIM2) { //PA0 PA1 = Nucleo A0 A1 //USANDO ALTERNO PB8 Y PB 9 para el pololulu funcione
+ __TIM2_CLK_ENABLE();
+ __GPIOB_CLK_ENABLE();
+ GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
+ GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+ GPIO_InitStruct.Pull = GPIO_PULLDOWN;
+ GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
+ GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+ }
+ else if (htim->Instance == TIM3) { //PB4 PB5 = Nucleo D5 D4
+ __TIM3_CLK_ENABLE();
+ __GPIOB_CLK_ENABLE();
+ GPIO_InitStruct.Pin = GPIO_PIN_4 | GPIO_PIN_5;
+ GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+ GPIO_InitStruct.Pull = GPIO_PULLDOWN;
+ GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
+ GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+ }
+ else if (htim->Instance == TIM4) { // PB6 PB7 = Nucleo D10 MORPHO_PB7
+ __TIM4_CLK_ENABLE();
+ __GPIOB_CLK_ENABLE();
+ GPIO_InitStruct.Pin = GPIO_PIN_7 | GPIO_PIN_6;
+ GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+ GPIO_InitStruct.Pull = GPIO_PULLDOWN;
+ GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
+ GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+ }
+
+
+ else if (htim->Instance == TIM8) { // PC7 PC8 = D9 PC6
+ __TIM8_CLK_ENABLE();
+ __GPIOC_CLK_ENABLE();
+ GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
+ GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+ GPIO_InitStruct.Pull = GPIO_PULLDOWN;
+ GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
+ GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
+ HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+ }
+
+
+
+
+
+
+}
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/encoderHAL.cpp Wed Apr 10 19:48:18 2019 +0000
@@ -0,0 +1,112 @@
+#include "encoderHAL.h"
+
+namespace mbed
+{
+
+ encoderHAL::encoderHAL(TIM_TypeDef * _TIM)
+ {
+ TIM = _TIM;
+ // Initialisation of the TIM module as an encoder counter
+ EncoderInit(&encoder, &timer, _TIM, 0xffff, TIM_ENCODERMODE_TI12);
+
+ // Update (aka over- and underflow) interrupt enabled
+ TIM->DIER |= 0x0001;
+ // The initialisation process generates an update interrupt, so we'll have to clear the update flag before anything else
+ TIM->SR &= 0xfffe;
+ //generate update event
+ TIM->EGR = 1;
+ //enable counter
+ TIM->CR1 = 1;
+
+ }
+
+ encoderHAL::encoderHAL(TIM_TypeDef * _TIM, uint32_t _maxcount, uint32_t _encmode)
+ {
+ TIM = _TIM;
+ // Initialisation of the TIM module as an encoder counter
+ EncoderInit(&encoder, &timer, _TIM, _maxcount, _encmode);
+
+ // Update (aka over- and underflow) interrupt enabled
+ TIM->DIER |= 0x0001;
+ // The initialisation process generates an update interrupt, so we'll have to clear the update flag before anything else
+ TIM->SR &= 0xfffe;
+ }
+
+ encoderHAL::encoderHAL(TIM_Encoder_InitTypeDef * _encoder, TIM_HandleTypeDef * _timer, TIM_TypeDef * _TIM, uint32_t _maxcount, uint32_t _encmode)
+ {
+ timer = *_timer;
+ encoder = *_encoder;
+ TIM = _TIM;
+ // Initialisation of the TIM module as an encoder counter
+ EncoderInit(&encoder, &timer, _TIM, _maxcount, _encmode);
+
+ // Update (aka over- and underflow) interrupt enabled
+ TIM->DIER |= 0x0001;
+ // The initialisation process generates an update interrupt, so we'll have to clear the update flag before anything else
+ TIM->SR &= 0xfffe;
+ }
+
+
+ int32_t encoderHAL::getPulses(bool reset)
+ {
+ int16_t count = TIM->CNT;
+ if(reset){
+ switch((uint32_t)TIM){
+ case TIM1_BASE :
+ TIM1->CNT = 0;
+ break;
+
+ case TIM2_BASE :
+ TIM2->CNT = 0;
+ break;
+
+ case TIM3_BASE :
+ TIM3->CNT = 0;
+ break;
+
+ case TIM4_BASE :
+ TIM4->CNT = 0;
+ break;
+
+ case TIM5_BASE :
+ TIM5->CNT = 0;
+ break;
+
+ case TIM8_BASE :
+ TIM8->CNT = 0;
+ break;
+ }
+ }
+ else{
+ switch((uint32_t)TIM)
+ {
+ case TIM1_BASE :
+ return (int32_t)count;
+
+ case TIM2_BASE :
+ return (int32_t)count;
+
+ case TIM3_BASE :
+ return (int32_t)count;
+
+ case TIM4_BASE :
+ return (int32_t)count;
+
+ case TIM5_BASE :
+ return (int32_t)count;
+
+ case TIM8_BASE :
+ return (int32_t)count;
+ }
+ }
+
+ return (int32_t)count;
+ }
+
+
+ TIM_HandleTypeDef* encoderHAL::GetTimer()
+ {
+ return &timer;
+ }
+
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/encoderHAL.h Wed Apr 10 19:48:18 2019 +0000
@@ -0,0 +1,30 @@
+#ifndef ENCODER_H
+#define ENCODER_H
+#include "mbed.h"
+
+void EncoderInit(TIM_Encoder_InitTypeDef * encoder, TIM_HandleTypeDef * timer, TIM_TypeDef * TIMx, uint32_t maxcount, uint32_t encmode);
+
+namespace mbed{
+
+ class encoderHAL {
+
+ public :
+ encoderHAL(TIM_TypeDef * _TIM);
+ encoderHAL(TIM_TypeDef * _TIM, uint32_t _maxcount, uint32_t _encmode);
+ encoderHAL(TIM_Encoder_InitTypeDef * _encoder, TIM_HandleTypeDef * _timer, TIM_TypeDef * _TIM, uint32_t _maxcount, uint32_t _encmode);
+ int32_t getPulses(bool reset);
+ TIM_HandleTypeDef* GetTimer();
+
+ private :
+
+
+ protected :
+ TIM_Encoder_InitTypeDef encoder;
+ TIM_HandleTypeDef timer;
+ TIM_TypeDef * TIM;
+
+ };
+
+}// namespace mbed
+
+#endif
\ No newline at end of file