David Lowe / Nucleo_Hello_Encoder

Hello World example for interfacing up to four rotary encoders to the STM32's timer/counter hardware, without interrupts.

Dependencies:   mbed-dev

main.cpp@1:cd7b42c99ff8, 2015-10-04 (annotated)

Committer:
gregeric
Date:
Sun Oct 04 11:58:58 2015 +0000
Revision:
1:cd7b42c99ff8
Parent:
0:ee5cb967aa17 
Added more targets, use HAL macros to read counter value & direction.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gregeric 0:ee5cb967aa17 1 /*
gregeric 0:ee5cb967aa17 2 * Using STM32's counter peripherals to interface rotary encoders.
gregeric 0:ee5cb967aa17 3 * Encoders are supported on F4xx's TIM1,2,3,4,5. TIM2 & TIM5 have 32bit count, others 16bit.
gregeric 1:cd7b42c99ff8 4 * Beware mbed uses TIM5 for system timer, SPI needs TIM1, others used for PWM.
gregeric 0:ee5cb967aa17 5 * Check your platform's PeripheralPins.c & PeripheralNames.h if you need both PWM & encoders.
gregeric 0:ee5cb967aa17 6 *
gregeric 0:ee5cb967aa17 7 * Edit HAL_TIM_Encoder_MspInitFx.cpp to suit your mcu & board's available pinouts & pullups/downs.
gregeric 0:ee5cb967aa17 8 *
gregeric 0:ee5cb967aa17 9 * Thanks to:
gregeric 0:ee5cb967aa17 10 * http://petoknm.wordpress.com/2015/01/05/rotary-encoder-and-stm32/
gregeric 0:ee5cb967aa17 11 *
gregeric 0:ee5cb967aa17 12 * References:
gregeric 0:ee5cb967aa17 13 * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/user_manual/DM00122015.pdf
gregeric 0:ee5cb967aa17 14 * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/reference_manual/DM00096844.pdf
gregeric 0:ee5cb967aa17 15 * http://www.st.com/web/en/resource/technical/document/application_note/DM00042534.pdf
gregeric 0:ee5cb967aa17 16 * http://www.st.com/web/en/resource/technical/document/datasheet/DM00102166.pdf
gregeric 0:ee5cb967aa17 17 *
gregeric 0:ee5cb967aa17 18 * David Lowe Jan 2015
gregeric 0:ee5cb967aa17 19 */
gregeric 0:ee5cb967aa17 20
gregeric 0:ee5cb967aa17 21 #include "mbed.h"
gregeric 0:ee5cb967aa17 22 #include "Encoder.h"
gregeric 0:ee5cb967aa17 23
gregeric 1:cd7b42c99ff8 24 //STM mbed bug: these macros are MISSING from stm32f3xx_hal_tim.h
gregeric 1:cd7b42c99ff8 25 #ifdef TARGET_STM32F3
gregeric 1:cd7b42c99ff8 26 #define __HAL_TIM_GET_COUNTER(__HANDLE__) ((__HANDLE__)->Instance->CNT)
gregeric 1:cd7b42c99ff8 27 #define __HAL_TIM_IS_TIM_COUNTING_DOWN(__HANDLE__) (((__HANDLE__)->Instance->CR1 &(TIM_CR1_DIR)) == (TIM_CR1_DIR))
gregeric 1:cd7b42c99ff8 28 #endif
gregeric 1:cd7b42c99ff8 29
gregeric 0:ee5cb967aa17 30 TIM_Encoder_InitTypeDef encoder1, encoder2, encoder3, encoder4;
gregeric 1:cd7b42c99ff8 31 TIM_HandleTypeDef timer1, timer2, timer3, timer4;
gregeric 0:ee5cb967aa17 32
gregeric 0:ee5cb967aa17 33 int main()
gregeric 0:ee5cb967aa17 34 {
gregeric 0:ee5cb967aa17 35 //examples
gregeric 0:ee5cb967aa17 36
gregeric 0:ee5cb967aa17 37 //counting on A-input only, 2 ticks per cycle, rolls over at 100
gregeric 1:cd7b42c99ff8 38 EncoderInit(&encoder1, &timer1, TIM1, 99, TIM_ENCODERMODE_TI1);
gregeric 1:cd7b42c99ff8 39
gregeric 0:ee5cb967aa17 40 //counting on both A&B inputs, 4 ticks per cycle, full 32-bit count
gregeric 1:cd7b42c99ff8 41 EncoderInit(&encoder2, &timer2, TIM2, 0xffffffff, TIM_ENCODERMODE_TI12);
gregeric 0:ee5cb967aa17 42
gregeric 0:ee5cb967aa17 43 //counting on B-input only, 2 ticks per cycle, full 16-bit count
gregeric 1:cd7b42c99ff8 44 EncoderInit(&encoder3, &timer3, TIM3, 0xffff, TIM_ENCODERMODE_TI2);
gregeric 0:ee5cb967aa17 45
gregeric 0:ee5cb967aa17 46 //counting on both A&B inputs, 4 ticks per cycle, full 16-bit count
gregeric 1:cd7b42c99ff8 47 EncoderInit(&encoder4, &timer4, TIM4, 0xffff, TIM_ENCODERMODE_TI12);
gregeric 0:ee5cb967aa17 48
gregeric 0:ee5cb967aa17 49 //TIM5 is used by mbed for systick
gregeric 0:ee5cb967aa17 50 //EncoderInit(encoder2, timer2, TIM5, 0xffffffff, TIM_ENCODERMODE_TI12);
gregeric 0:ee5cb967aa17 51
gregeric 0:ee5cb967aa17 52 printf("STM HAL encoder demo\n\r");
gregeric 0:ee5cb967aa17 53
gregeric 0:ee5cb967aa17 54 while(1) {
gregeric 1:cd7b42c99ff8 55 uint16_t count1=0, count3=0, count4=0;
gregeric 1:cd7b42c99ff8 56 uint32_t count2=0;
gregeric 1:cd7b42c99ff8 57 int8_t dir1, dir2, dir3, dir4;
gregeric 1:cd7b42c99ff8 58
gregeric 0:ee5cb967aa17 59
gregeric 1:cd7b42c99ff8 60 //OK 401 411 446 TICKER 030
gregeric 1:cd7b42c99ff8 61 //count1=TIM1->CNT;
gregeric 1:cd7b42c99ff8 62 //dir1=TIM1->CR1&TIM_CR1_DIR;
gregeric 1:cd7b42c99ff8 63 count1=__HAL_TIM_GET_COUNTER(&timer1);
gregeric 1:cd7b42c99ff8 64 dir1 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer1);
gregeric 1:cd7b42c99ff8 65
gregeric 1:cd7b42c99ff8 66 //OK 401 411 446 NOK 030
gregeric 1:cd7b42c99ff8 67 //count2=TIM2->CNT;
gregeric 1:cd7b42c99ff8 68 //dir2=TIM2->CR1&TIM_CR1_DIR;
gregeric 1:cd7b42c99ff8 69 count2=__HAL_TIM_GET_COUNTER(&timer2);
gregeric 1:cd7b42c99ff8 70 dir2 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2);
gregeric 1:cd7b42c99ff8 71
gregeric 1:cd7b42c99ff8 72 //OK 401 411 446 030
gregeric 1:cd7b42c99ff8 73 //count3=TIM3->CNT;
gregeric 1:cd7b42c99ff8 74 //dir3=TIM3->CR1&TIM_CR1_DIR;
gregeric 1:cd7b42c99ff8 75 count3=__HAL_TIM_GET_COUNTER(&timer3);
gregeric 1:cd7b42c99ff8 76 dir3 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer3);
gregeric 1:cd7b42c99ff8 77
gregeric 1:cd7b42c99ff8 78 //OK 401 411 446 N/A 030
gregeric 1:cd7b42c99ff8 79 //count4=TIM4->CNT;
gregeric 1:cd7b42c99ff8 80 //dir4=TIM4->CR1&TIM_CR1_DIR;
gregeric 1:cd7b42c99ff8 81 count4=__HAL_TIM_GET_COUNTER(&timer4);
gregeric 1:cd7b42c99ff8 82 dir4 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer4);
gregeric 1:cd7b42c99ff8 83
gregeric 1:cd7b42c99ff8 84 //TICKER 401 411 446 N/A 030
gregeric 1:cd7b42c99ff8 85 // count5=__HAL_TIM_GET_COUNTER(&timer5);
gregeric 1:cd7b42c99ff8 86 // dir5 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer5);
gregeric 1:cd7b42c99ff8 87
gregeric 1:cd7b42c99ff8 88 printf("%d%s %d%s %d%s %d%s\r\n", count1, dir1==0 ? "+":"-",
gregeric 1:cd7b42c99ff8 89 count2, dir2==0 ? "+":"-",
gregeric 1:cd7b42c99ff8 90 count3, dir3==0 ? "+":"-",
gregeric 1:cd7b42c99ff8 91 count4, dir4==0 ? "+":"-" );
gregeric 1:cd7b42c99ff8 92 wait(0.5);
gregeric 0:ee5cb967aa17 93 }
gregeric 0:ee5cb967aa17 94 }