tarou yamada / nucleo_rotary_encoder

Dependents:   serial_connected_mcu_nucleo rotary_encoder_mbed serial_connected_mcu_nucleo omuni_speed_pid ... more

Fork of rotary_encoder by tarou yamada

このライブラリは以下のプログラムに基いています https://developer.mbed.org/users/gregeric/code/Nucleo_Hello_Encoder/

rotary_encoder_base/rotary_encoder_base.cpp@7:3b51e2c660b6, 2016-05-21 (annotated)

Committer:
inst
Date:
Sat May 21 02:50:07 2016 +0000
Revision:
7:3b51e2c660b6
Parent:
4:d07f58c46a79
Child:
9:d1e6284a13ab
???????;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
inst 0:caf1d0bc4b90 1 #include "rotary_encoder_base.hpp"
inst 0:caf1d0bc4b90 2 #include "rotary_encoder.hpp"
inst 3:65021ea3fae5 3 #include "mbed.h"
inst 0:caf1d0bc4b90 4
inst 0:caf1d0bc4b90 5 rotary_encoder_base::rotary_encoder_base(TIM_TypeDef* timer_type,
inst 0:caf1d0bc4b90 6 uint32_t encoder_mode,
inst 0:caf1d0bc4b90 7 size_t resolution) : rotary_encoder(resolution) {
inst 3:65021ea3fae5 8 timer_handler_.Instance = timer_type;
inst 3:65021ea3fae5 9 timer_handler_.Init.Period = max_counts_;
inst 3:65021ea3fae5 10 timer_handler_.Init.CounterMode = TIM_COUNTERMODE_UP;
inst 3:65021ea3fae5 11 timer_handler_.Init.Prescaler = 0;
inst 3:65021ea3fae5 12 timer_handler_.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
inst 3:65021ea3fae5 13
inst 3:65021ea3fae5 14 TIM_Encoder_InitTypeDef encoder;
inst 0:caf1d0bc4b90 15 encoder.EncoderMode = encoder_mode;
inst 3:65021ea3fae5 16
inst 0:caf1d0bc4b90 17 encoder.IC1Filter = 0x0F;
inst 0:caf1d0bc4b90 18 encoder.IC1Polarity = TIM_INPUTCHANNELPOLARITY_RISING;
inst 0:caf1d0bc4b90 19 encoder.IC1Prescaler = TIM_ICPSC_DIV4;
inst 0:caf1d0bc4b90 20 encoder.IC1Selection = TIM_ICSELECTION_DIRECTTI;
inst 0:caf1d0bc4b90 21
inst 0:caf1d0bc4b90 22 encoder.IC2Filter = 0x0F;
inst 0:caf1d0bc4b90 23 encoder.IC2Polarity = TIM_INPUTCHANNELPOLARITY_FALLING;
inst 0:caf1d0bc4b90 24 encoder.IC2Prescaler = TIM_ICPSC_DIV4;
inst 0:caf1d0bc4b90 25 encoder.IC2Selection = TIM_ICSELECTION_DIRECTTI;
inst 3:65021ea3fae5 26
inst 3:65021ea3fae5 27 if (HAL_TIM_Encoder_Init(&timer_handler_, &encoder) != HAL_OK) {
inst 3:65021ea3fae5 28 error("couldn't init encoder\n");
inst 0:caf1d0bc4b90 29 }
inst 0:caf1d0bc4b90 30 }
inst 0:caf1d0bc4b90 31
inst 3:65021ea3fae5 32 rotary_encoder_base::~rotary_encoder_base() {}
inst 3:65021ea3fae5 33
inst 0:caf1d0bc4b90 34 int32_t rotary_encoder_base::get_counts() const {
inst 3:65021ea3fae5 35 int32_t counts = timer_handler_.Instance->CNT;
inst 0:caf1d0bc4b90 36
inst 0:caf1d0bc4b90 37 if (counts > (max_counts_ >> 1)) {
inst 0:caf1d0bc4b90 38 return counts - max_counts_;
inst 0:caf1d0bc4b90 39 }
inst 0:caf1d0bc4b90 40 return counts;
inst 0:caf1d0bc4b90 41 }
inst 0:caf1d0bc4b90 42
inst 0:caf1d0bc4b90 43 void rotary_encoder_base::reset() {
inst 3:65021ea3fae5 44 timer_handler_.Instance->CNT = 0;
inst 0:caf1d0bc4b90 45 }
inst 0:caf1d0bc4b90 46
inst 0:caf1d0bc4b90 47 void rotary_encoder_base::start() {
inst 3:65021ea3fae5 48 if(HAL_TIM_Encoder_Start(&timer_handler_, TIM_CHANNEL_1) != HAL_OK) {
inst 0:caf1d0bc4b90 49 error("couldn't start encoder\r\n");
inst 0:caf1d0bc4b90 50 }
inst 0:caf1d0bc4b90 51 }
inst 0:caf1d0bc4b90 52
inst 0:caf1d0bc4b90 53 void rotary_encoder_base::stop() {
inst 3:65021ea3fae5 54 if(HAL_TIM_Encoder_Stop(&timer_handler_, TIM_CHANNEL_1) != HAL_OK) {
inst 0:caf1d0bc4b90 55 error("couldn't start encoder\r\n");
inst 0:caf1d0bc4b90 56 }
inst 0:caf1d0bc4b90 57 }