It is based on https://developer.mbed.org/users/gregeric/code/Nucleo_Hello_Encoder/
Diff: rotary_encoder_base/rotary_encoder_base.cpp
- Revision:
- 3:65021ea3fae5
- Parent:
- 2:4580c3869b7b
- Child:
- 4:d07f58c46a79
--- 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"); } }