Diff: rotary_encoder_base/rotary_encoder_base.cpp

Revision:

3:65021ea3fae5

Parent:

2:4580c3869b7b

Child:

4:d07f58c46a79

diff -r 4580c3869b7b -r 65021ea3fae5 rotary_encoder_base/rotary_encoder_base.cpp
--- a/rotary_encoder_base/rotary_encoder_base.cpp	Fri Feb 26 16:08:52 2016 +0000
+++ b/rotary_encoder_base/rotary_encoder_base.cpp	Thu Mar 31 04:42:31 2016 +0000
@@ -1,22 +1,24 @@
 #include "rotary_encoder_base.hpp"
 #include "rotary_encoder.hpp"
+#include "mbed.h"
 
 namespace mbed_stl {
 
 rotary_encoder_base::rotary_encoder_base(TIM_TypeDef* timer_type,
                                         uint32_t encoder_mode,
                                         size_t resolution) : rotary_encoder(resolution) {
-    TIM_Encoder_InitTypeDef encoder;
-    timer_handler_ = new TIM_HandleTypeDef;
+    static size_t cnt = 0;
+    //printf("cnt : %d\n", cnt);
     
-    timer_handler_->Instance              = timer_type;
-    timer_handler_->Init.Period           = max_counts_;
-    timer_handler_->Init.CounterMode      = TIM_COUNTERMODE_UP;
-    timer_handler_->Init.Prescaler        = 0;
-    timer_handler_->Init.ClockDivision    = TIM_CLOCKDIVISION_DIV1;
-
+    timer_handler_.Instance              = timer_type;
+    timer_handler_.Init.Period           = max_counts_;
+    timer_handler_.Init.CounterMode      = TIM_COUNTERMODE_UP;
+    timer_handler_.Init.Prescaler        = 0;
+    timer_handler_.Init.ClockDivision    = TIM_CLOCKDIVISION_DIV1;
+    
+    TIM_Encoder_InitTypeDef encoder;
     encoder.EncoderMode = encoder_mode;
-
+    
     encoder.IC1Filter       = 0x0F;
     encoder.IC1Polarity     = TIM_INPUTCHANNELPOLARITY_RISING;
     encoder.IC1Prescaler    = TIM_ICPSC_DIV4;
@@ -26,34 +28,41 @@
     encoder.IC2Polarity     = TIM_INPUTCHANNELPOLARITY_FALLING;
     encoder.IC2Prescaler    = TIM_ICPSC_DIV4;
     encoder.IC2Selection    = TIM_ICSELECTION_DIRECTTI;
-
-    if (HAL_TIM_Encoder_Init(timer_handler_, &encoder) != HAL_OK) {
-        error("couldn't init encoder\r\n");
+    
+    ////////////////////////////////////////
+    //printf("t:%d, e:%d", &timer_handler_, &encoder);
+/*
+    if (HAL_TIM_Encoder_Init(&timer_handler_, &encoder) != HAL_OK) {
+        error("couldn't init encoder\n");
     }
+*/
+    //printf("%d end\n", cnt++);
+    ///////////////////////////////////////////
 }
 
+rotary_encoder_base::~rotary_encoder_base() {}
+
 int32_t rotary_encoder_base::get_counts() const {
-    int32_t counts = timer_handler_->Instance->CNT;
+    int32_t counts = timer_handler_.Instance->CNT;
     
     if (counts > (max_counts_ >> 1)) {
         return counts - max_counts_;
     }
-    
     return  counts;
 }
 
 void rotary_encoder_base::reset() {
-    timer_handler_->Instance->CNT = 0;
+    timer_handler_.Instance->CNT = 0;
 }
 
 void rotary_encoder_base::start() {
-    if(HAL_TIM_Encoder_Start(timer_handler_, TIM_CHANNEL_1) != HAL_OK) {
+    if(HAL_TIM_Encoder_Start(&timer_handler_, TIM_CHANNEL_1) != HAL_OK) {
         error("couldn't start encoder\r\n");
     }
 }
 
 void rotary_encoder_base::stop() {
-    if(HAL_TIM_Encoder_Stop(timer_handler_, TIM_CHANNEL_1) != HAL_OK) {
+    if(HAL_TIM_Encoder_Stop(&timer_handler_, TIM_CHANNEL_1) != HAL_OK) {
         error("couldn't start encoder\r\n");
     }
 }