It is based on https://developer.mbed.org/users/gregeric/code/Nucleo_Hello_Encoder/
rotary_encoder_base/rotary_encoder_base.cpp
- Committer:
- inst
- Date:
- 2016-02-06
- Revision:
- 0:caf1d0bc4b90
- Child:
- 2:4580c3869b7b
File content as of revision 0:caf1d0bc4b90:
#include "rotary_encoder_base.hpp" #include "rotary_encoder.hpp" 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; 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; encoder.EncoderMode = encoder_mode; encoder.IC1Filter = 0x0F; encoder.IC1Polarity = TIM_INPUTCHANNELPOLARITY_RISING; encoder.IC1Prescaler = TIM_ICPSC_DIV4; encoder.IC1Selection = TIM_ICSELECTION_DIRECTTI; encoder.IC2Filter = 0x0F; 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"); } } int32_t rotary_encoder_base::get_counts() const { 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; } void rotary_encoder_base::start() { 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) { error("couldn't start encoder\r\n"); } }