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/

Files at this revision

API Documentation at this revision

Revision 3:65021ea3fae5, committed 2016-03-31

Comitter:
inst
Date:
Thu Mar 31 04:42:31 2016 +0000
Parent:
2:4580c3869b7b
Child:
4:d07f58c46a79
Commit message:

Changed in this revision

rotary_encoder_abz_phase/rotary_encoder_abz_phase.cpp Show annotated file Show diff for this revision Revisions of this file
rotary_encoder_abz_phase/rotary_encoder_abz_phase.hpp Show annotated file Show diff for this revision Revisions of this file
rotary_encoder_base/rotary_encoder_base.cpp Show annotated file Show diff for this revision Revisions of this file
rotary_encoder_base/rotary_encoder_base.hpp Show annotated file Show diff for this revision Revisions of this file 
--- a/rotary_encoder_abz_phase/rotary_encoder_abz_phase.cpp	Fri Feb 26 16:08:52 2016 +0000
+++ b/rotary_encoder_abz_phase/rotary_encoder_abz_phase.cpp	Thu Mar 31 04:42:31 2016 +0000
@@ -12,7 +12,7 @@
 }
 
 int32_t rotary_encoder_abz_phase::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_;
@@ -21,22 +21,22 @@
 }
 
 void rotary_encoder_abz_phase::intr_z_phase_first() {
-    counts_in_prev_intr_ = timer_handler_->Instance->CNT;
+    counts_in_prev_intr_ = timer_handler_.Instance->CNT;
     z_phase_intr_.fall(this, &rotary_encoder_abz_phase::intr_z_phase);
 }
 
 void rotary_encoder_abz_phase::intr_z_phase() {
-    uint32_t counts = timer_handler_->Instance->CNT;
+    uint32_t counts = timer_handler_.Instance->CNT;
     // Z相の割り込みが入る時は、前回とのカウントの差は分解能で割り切れるはず
     int64_t error = (counts - counts_in_prev_intr_) % resolution_;
-    timer_handler_->Instance->CNT -= error;
+    timer_handler_.Instance->CNT -= error;
     
     counts_in_prev_intr_ = counts;
 }
 
 void rotary_encoder_abz_phase::reset() {
     counts_in_prev_intr_ = 0;
-    timer_handler_->Instance->CNT = 0;
+    timer_handler_.Instance->CNT = 0;
 }
 
 } /* namespace mbed_stl */

--- a/rotary_encoder_abz_phase/rotary_encoder_abz_phase.hpp	Fri Feb 26 16:08:52 2016 +0000
+++ b/rotary_encoder_abz_phase/rotary_encoder_abz_phase.hpp	Thu Mar 31 04:42:31 2016 +0000
@@ -30,7 +30,6 @@
     virtual ~rotary_encoder_abz_phase() {}
     
     virtual int32_t get_counts() const;
-    
     virtual void reset();
     
 private:

--- 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");
     }
 }

--- a/rotary_encoder_base/rotary_encoder_base.hpp	Fri Feb 26 16:08:52 2016 +0000
+++ b/rotary_encoder_base/rotary_encoder_base.hpp	Thu Mar 31 04:42:31 2016 +0000
@@ -10,7 +10,7 @@
     rotary_encoder_base(TIM_TypeDef* timer_type,
                         uint32_t encoder_mode,
                         size_t resolution);
-    virtual ~rotary_encoder_base() {}
+    virtual ~rotary_encoder_base();
     
     virtual int32_t get_counts() const;
     
@@ -19,7 +19,7 @@
     virtual void stop();
     
 protected:
-    TIM_HandleTypeDef* timer_handler_;
+    TIM_HandleTypeDef timer_handler_;
 };