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@2:4580c3869b7b, 2016-02-26 (annotated)

Committer:
inst
Date:
Fri Feb 26 16:08:52 2016 +0000
Revision:
2:4580c3869b7b
Parent:
0:caf1d0bc4b90
Child:
3:65021ea3fae5
add servo and PID

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 0:caf1d0bc4b90 3
inst 2:4580c3869b7b 4 namespace mbed_stl {
inst 2:4580c3869b7b 5
inst 0:caf1d0bc4b90 6 rotary_encoder_base::rotary_encoder_base(TIM_TypeDef* timer_type,
inst 0:caf1d0bc4b90 7 uint32_t encoder_mode,
inst 0:caf1d0bc4b90 8 size_t resolution) : rotary_encoder(resolution) {
inst 0:caf1d0bc4b90 9 TIM_Encoder_InitTypeDef encoder;
inst 0:caf1d0bc4b90 10 timer_handler_ = new TIM_HandleTypeDef;
inst 0:caf1d0bc4b90 11
inst 0:caf1d0bc4b90 12 timer_handler_->Instance = timer_type;
inst 0:caf1d0bc4b90 13 timer_handler_->Init.Period = max_counts_;
inst 0:caf1d0bc4b90 14 timer_handler_->Init.CounterMode = TIM_COUNTERMODE_UP;
inst 0:caf1d0bc4b90 15 timer_handler_->Init.Prescaler = 0;
inst 0:caf1d0bc4b90 16 timer_handler_->Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
inst 0:caf1d0bc4b90 17
inst 0:caf1d0bc4b90 18 encoder.EncoderMode = encoder_mode;
inst 0:caf1d0bc4b90 19
inst 0:caf1d0bc4b90 20 encoder.IC1Filter = 0x0F;
inst 0:caf1d0bc4b90 21 encoder.IC1Polarity = TIM_INPUTCHANNELPOLARITY_RISING;
inst 0:caf1d0bc4b90 22 encoder.IC1Prescaler = TIM_ICPSC_DIV4;
inst 0:caf1d0bc4b90 23 encoder.IC1Selection = TIM_ICSELECTION_DIRECTTI;
inst 0:caf1d0bc4b90 24
inst 0:caf1d0bc4b90 25 encoder.IC2Filter = 0x0F;
inst 0:caf1d0bc4b90 26 encoder.IC2Polarity = TIM_INPUTCHANNELPOLARITY_FALLING;
inst 0:caf1d0bc4b90 27 encoder.IC2Prescaler = TIM_ICPSC_DIV4;
inst 0:caf1d0bc4b90 28 encoder.IC2Selection = TIM_ICSELECTION_DIRECTTI;
inst 0:caf1d0bc4b90 29
inst 0:caf1d0bc4b90 30 if (HAL_TIM_Encoder_Init(timer_handler_, &encoder) != HAL_OK) {
inst 0:caf1d0bc4b90 31 error("couldn't init encoder\r\n");
inst 0:caf1d0bc4b90 32 }
inst 0:caf1d0bc4b90 33 }
inst 0:caf1d0bc4b90 34
inst 0:caf1d0bc4b90 35 int32_t rotary_encoder_base::get_counts() const {
inst 0:caf1d0bc4b90 36 int32_t counts = timer_handler_->Instance->CNT;
inst 0:caf1d0bc4b90 37
inst 0:caf1d0bc4b90 38 if (counts > (max_counts_ >> 1)) {
inst 0:caf1d0bc4b90 39 return counts - max_counts_;
inst 0:caf1d0bc4b90 40 }
inst 0:caf1d0bc4b90 41
inst 0:caf1d0bc4b90 42 return counts;
inst 0:caf1d0bc4b90 43 }
inst 0:caf1d0bc4b90 44
inst 0:caf1d0bc4b90 45 void rotary_encoder_base::reset() {
inst 0:caf1d0bc4b90 46 timer_handler_->Instance->CNT = 0;
inst 0:caf1d0bc4b90 47 }
inst 0:caf1d0bc4b90 48
inst 0:caf1d0bc4b90 49 void rotary_encoder_base::start() {
inst 0:caf1d0bc4b90 50 if(HAL_TIM_Encoder_Start(timer_handler_, TIM_CHANNEL_1) != HAL_OK) {
inst 0:caf1d0bc4b90 51 error("couldn't start encoder\r\n");
inst 0:caf1d0bc4b90 52 }
inst 0:caf1d0bc4b90 53 }
inst 0:caf1d0bc4b90 54
inst 0:caf1d0bc4b90 55 void rotary_encoder_base::stop() {
inst 0:caf1d0bc4b90 56 if(HAL_TIM_Encoder_Stop(timer_handler_, TIM_CHANNEL_1) != HAL_OK) {
inst 0:caf1d0bc4b90 57 error("couldn't start encoder\r\n");
inst 0:caf1d0bc4b90 58 }
inst 0:caf1d0bc4b90 59 }
inst 2:4580c3869b7b 60
inst 2:4580c3869b7b 61 } /* namespace mbed_stl */