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_impl.cpp@9:d1e6284a13ab, 2016-05-21 (annotated)

Committer:
inst
Date:
Sat May 21 03:19:33 2016 +0000
Revision:
9:d1e6284a13ab

        

        
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#include "rotary_encoder_base_impl.hpp"





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#include "rotary_encoder.hpp"





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#include "mbed.h"





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rotary_encoder_base_impl::rotary_encoder_base_impl(TIM_TypeDef* timer_type,





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                                                   uint32_t encoder_mode,





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                                                   size_t resolution) : rotary_encoder(resolution) {





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    timer_handler_.Instance              = timer_type;





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    timer_handler_.Init.Period           = max_counts_;





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    timer_handler_.Init.CounterMode      = TIM_COUNTERMODE_UP;





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    timer_handler_.Init.Prescaler        = 0;





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    timer_handler_.Init.ClockDivision    = TIM_CLOCKDIVISION_DIV1;





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    TIM_Encoder_InitTypeDef encoder;





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    encoder.EncoderMode = encoder_mode;





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    encoder.IC1Filter       = 0x0F;





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    encoder.IC1Polarity     = TIM_INPUTCHANNELPOLARITY_RISING;





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    encoder.IC1Prescaler    = TIM_ICPSC_DIV4;





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    encoder.IC1Selection    = TIM_ICSELECTION_DIRECTTI;





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    encoder.IC2Filter       = 0x0F;





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    encoder.IC2Polarity     = TIM_INPUTCHANNELPOLARITY_FALLING;





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    encoder.IC2Prescaler    = TIM_ICPSC_DIV4;





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    encoder.IC2Selection    = TIM_ICSELECTION_DIRECTTI;





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    if (HAL_TIM_Encoder_Init(&timer_handler_, &encoder) != HAL_OK) {





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        error("couldn't init encoder\n");





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    }





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}





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rotary_encoder_base_impl::~rotary_encoder_base_impl() {}





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int32_t rotary_encoder_base_impl::get_counts() const {





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    int32_t counts = timer_handler_.Instance->CNT;





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    if (counts > (max_counts_ >> 1)) {





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        return counts - max_counts_;





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    }





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    return  counts;





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}





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void rotary_encoder_base_impl::reset() {





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    timer_handler_.Instance->CNT = 0;





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}





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void rotary_encoder_base_impl::start() {





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    if(HAL_TIM_Encoder_Start(&timer_handler_, TIM_CHANNEL_1) != HAL_OK) {





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        error("couldn't start encoder\r\n");





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    }





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}





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void rotary_encoder_base_impl::stop() {





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    if(HAL_TIM_Encoder_Stop(&timer_handler_, TIM_CHANNEL_1) != HAL_OK) {





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        error("couldn't start encoder\r\n");





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    }





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}