Alexander Lüthard / Mbed 2 deprecated Micromouse

Alle Prinf's auskommentiert

Dependencies:   mbed

Fork of Micromouse by Helvijs Kiselis

EncoderCounter.cpp@19:e2cb5b8a7a29, 2018-05-10 (annotated)

Committer:
luethale
Date:
Thu May 10 16:33:32 2018 +0000
Revision:
19:e2cb5b8a7a29
Parent:
1:2b5f79285a3e 
Alle Printf's auskommentiert

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Helvis 1:2b5f79285a3e 1 /*
Helvis 1:2b5f79285a3e 2 * EncoderCounter.cpp
Helvis 1:2b5f79285a3e 3 * Copyright (c) 2018, ZHAW
Helvis 1:2b5f79285a3e 4 * All rights reserved.
Helvis 1:2b5f79285a3e 5 */
Helvis 1:2b5f79285a3e 6
Helvis 1:2b5f79285a3e 7 #include "EncoderCounter.h"
Helvis 1:2b5f79285a3e 8
Helvis 1:2b5f79285a3e 9 using namespace std;
Helvis 1:2b5f79285a3e 10
Helvis 1:2b5f79285a3e 11 /**
Helvis 1:2b5f79285a3e 12 * Creates and initializes the driver to read the quadrature
Helvis 1:2b5f79285a3e 13 * encoder counter of the STM32 microcontroller.
Helvis 1:2b5f79285a3e 14 * @param a the input pin for the channel A.
Helvis 1:2b5f79285a3e 15 * @param b the input pin for the channel B.
Helvis 1:2b5f79285a3e 16 */
Helvis 1:2b5f79285a3e 17 EncoderCounter::EncoderCounter(PinName a, PinName b) {
Helvis 1:2b5f79285a3e 18
Helvis 1:2b5f79285a3e 19 // check pins
Helvis 1:2b5f79285a3e 20
Helvis 1:2b5f79285a3e 21 if ((a == PA_0) && (b == PA_1)) {
Helvis 1:2b5f79285a3e 22
Helvis 1:2b5f79285a3e 23 // pinmap OK for TIM2 CH1 and CH2
Helvis 1:2b5f79285a3e 24
Helvis 1:2b5f79285a3e 25 TIM = TIM2;
Helvis 1:2b5f79285a3e 26
Helvis 1:2b5f79285a3e 27 // configure general purpose I/O registers
Helvis 1:2b5f79285a3e 28
Helvis 1:2b5f79285a3e 29 GPIOA->MODER &= ~GPIO_MODER_MODER0; // reset port A0
Helvis 1:2b5f79285a3e 30 GPIOA->MODER |= GPIO_MODER_MODER0_1; // set alternate mode of port A0
Helvis 1:2b5f79285a3e 31 GPIOA->PUPDR &= ~GPIO_PUPDR_PUPDR0; // reset pull-up/pull-down on port A0
Helvis 1:2b5f79285a3e 32 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR0_1; // set input as pull-down
Helvis 1:2b5f79285a3e 33 GPIOA->AFR[0] &= ~(0xF << 4*0); // reset alternate function of port A0
Helvis 1:2b5f79285a3e 34 GPIOA->AFR[0] |= 1 << 4*0; // set alternate funtion 1 of port A0
Helvis 1:2b5f79285a3e 35
Helvis 1:2b5f79285a3e 36 GPIOA->MODER &= ~GPIO_MODER_MODER1; // reset port A1
Helvis 1:2b5f79285a3e 37 GPIOA->MODER |= GPIO_MODER_MODER1_1; // set alternate mode of port A1
Helvis 1:2b5f79285a3e 38 GPIOA->PUPDR &= ~GPIO_PUPDR_PUPDR1; // reset pull-up/pull-down on port A1
Helvis 1:2b5f79285a3e 39 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR1_1; // set input as pull-down
Helvis 1:2b5f79285a3e 40 GPIOA->AFR[0] &= ~(0xF << 4*1); // reset alternate function of port A1
Helvis 1:2b5f79285a3e 41 GPIOA->AFR[0] |= 1 << 4*1; // set alternate funtion 1 of port A1
Helvis 1:2b5f79285a3e 42
Helvis 1:2b5f79285a3e 43 // configure reset and clock control registers
Helvis 1:2b5f79285a3e 44
Helvis 1:2b5f79285a3e 45 RCC->APB1RSTR |= RCC_APB1RSTR_TIM2RST; //reset TIM2 controller
Helvis 1:2b5f79285a3e 46 RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM2RST;
Helvis 1:2b5f79285a3e 47
Helvis 1:2b5f79285a3e 48 RCC->APB1ENR |= RCC_APB1ENR_TIM2EN; // TIM2 clock enable
Helvis 1:2b5f79285a3e 49
Helvis 1:2b5f79285a3e 50 } else if ((a == PA_6) && (b == PC_7)) {
Helvis 1:2b5f79285a3e 51
Helvis 1:2b5f79285a3e 52 // pinmap OK for TIM3 CH1 and CH2
Helvis 1:2b5f79285a3e 53
Helvis 1:2b5f79285a3e 54 TIM = TIM3;
Helvis 1:2b5f79285a3e 55
Helvis 1:2b5f79285a3e 56 // configure reset and clock control registers
Helvis 1:2b5f79285a3e 57
Helvis 1:2b5f79285a3e 58 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; // manually enable port C (port A enabled by mbed library)
Helvis 1:2b5f79285a3e 59
Helvis 1:2b5f79285a3e 60 // configure general purpose I/O registers
Helvis 1:2b5f79285a3e 61
Helvis 1:2b5f79285a3e 62 GPIOA->MODER &= ~GPIO_MODER_MODER6; // reset port A6
Helvis 1:2b5f79285a3e 63 GPIOA->MODER |= GPIO_MODER_MODER6_1; // set alternate mode of port A6
Helvis 1:2b5f79285a3e 64 GPIOA->PUPDR &= ~GPIO_PUPDR_PUPDR6; // reset pull-up/pull-down on port A6
Helvis 1:2b5f79285a3e 65 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR6_1; // set input as pull-down
Helvis 1:2b5f79285a3e 66 GPIOA->AFR[0] &= ~(0xF << 4*6); // reset alternate function of port A6
Helvis 1:2b5f79285a3e 67 GPIOA->AFR[0] |= 2 << 4*6; // set alternate funtion 2 of port A6
Helvis 1:2b5f79285a3e 68
Helvis 1:2b5f79285a3e 69 GPIOC->MODER &= ~GPIO_MODER_MODER7; // reset port C7
Helvis 1:2b5f79285a3e 70 GPIOC->MODER |= GPIO_MODER_MODER7_1; // set alternate mode of port C7
Helvis 1:2b5f79285a3e 71 GPIOC->PUPDR &= ~GPIO_PUPDR_PUPDR7; // reset pull-up/pull-down on port C7
Helvis 1:2b5f79285a3e 72 GPIOC->PUPDR |= GPIO_PUPDR_PUPDR7_1; // set input as pull-down
Helvis 1:2b5f79285a3e 73 GPIOC->AFR[0] &= ~0xF0000000; // reset alternate function of port C7
Helvis 1:2b5f79285a3e 74 GPIOC->AFR[0] |= 2 << 4*7; // set alternate funtion 2 of port C7
Helvis 1:2b5f79285a3e 75
Helvis 1:2b5f79285a3e 76 // configure reset and clock control registers
Helvis 1:2b5f79285a3e 77
Helvis 1:2b5f79285a3e 78 RCC->APB1RSTR |= RCC_APB1RSTR_TIM3RST; //reset TIM3 controller
Helvis 1:2b5f79285a3e 79 RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM3RST;
Helvis 1:2b5f79285a3e 80
Helvis 1:2b5f79285a3e 81 RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; // TIM3 clock enable
Helvis 1:2b5f79285a3e 82
Helvis 1:2b5f79285a3e 83 } else if ((a == PB_6) && (b == PB_7)) {
Helvis 1:2b5f79285a3e 84
Helvis 1:2b5f79285a3e 85 // pinmap OK for TIM4 CH1 and CH2
Helvis 1:2b5f79285a3e 86
Helvis 1:2b5f79285a3e 87 TIM = TIM4;
Helvis 1:2b5f79285a3e 88
Helvis 1:2b5f79285a3e 89 // configure reset and clock control registers
Helvis 1:2b5f79285a3e 90
Helvis 1:2b5f79285a3e 91 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN; // manually enable port B (port A enabled by mbed library)
Helvis 1:2b5f79285a3e 92
Helvis 1:2b5f79285a3e 93 // configure general purpose I/O registers
Helvis 1:2b5f79285a3e 94
Helvis 1:2b5f79285a3e 95 GPIOB->MODER &= ~GPIO_MODER_MODER6; // reset port B6
Helvis 1:2b5f79285a3e 96 GPIOB->MODER |= GPIO_MODER_MODER6_1; // set alternate mode of port B6
Helvis 1:2b5f79285a3e 97 GPIOB->PUPDR &= ~GPIO_PUPDR_PUPDR6; // reset pull-up/pull-down on port B6
Helvis 1:2b5f79285a3e 98 GPIOB->PUPDR |= GPIO_PUPDR_PUPDR6_1; // set input as pull-down
Helvis 1:2b5f79285a3e 99 GPIOB->AFR[0] &= ~(0xF << 4*6); // reset alternate function of port B6
Helvis 1:2b5f79285a3e 100 GPIOB->AFR[0] |= 2 << 4*6; // set alternate funtion 2 of port B6
Helvis 1:2b5f79285a3e 101
Helvis 1:2b5f79285a3e 102 GPIOB->MODER &= ~GPIO_MODER_MODER7; // reset port B7
Helvis 1:2b5f79285a3e 103 GPIOB->MODER |= GPIO_MODER_MODER7_1; // set alternate mode of port B7
Helvis 1:2b5f79285a3e 104 GPIOB->PUPDR &= ~GPIO_PUPDR_PUPDR7; // reset pull-up/pull-down on port B7
Helvis 1:2b5f79285a3e 105 GPIOB->PUPDR |= GPIO_PUPDR_PUPDR7_1; // set input as pull-down
Helvis 1:2b5f79285a3e 106 GPIOB->AFR[0] &= ~0xF0000000; // reset alternate function of port B7
Helvis 1:2b5f79285a3e 107 GPIOB->AFR[0] |= 2 << 4*7; // set alternate funtion 2 of port B7
Helvis 1:2b5f79285a3e 108
Helvis 1:2b5f79285a3e 109 // configure reset and clock control registers
Helvis 1:2b5f79285a3e 110
Helvis 1:2b5f79285a3e 111 RCC->APB1RSTR |= RCC_APB1RSTR_TIM4RST; //reset TIM4 controller
Helvis 1:2b5f79285a3e 112 RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM4RST;
Helvis 1:2b5f79285a3e 113
Helvis 1:2b5f79285a3e 114 RCC->APB1ENR |= RCC_APB1ENR_TIM4EN; // TIM4 clock enable
Helvis 1:2b5f79285a3e 115
Helvis 1:2b5f79285a3e 116 } else {
Helvis 1:2b5f79285a3e 117
Helvis 1:2b5f79285a3e 118 printf("pinmap not found for peripheral\n");
Helvis 1:2b5f79285a3e 119 }
Helvis 1:2b5f79285a3e 120
Helvis 1:2b5f79285a3e 121 // configure general purpose timer 3 or 4
Helvis 1:2b5f79285a3e 122
Helvis 1:2b5f79285a3e 123 TIM->CR1 = 0x0000; // counter disable
Helvis 1:2b5f79285a3e 124 TIM->CR2 = 0x0000; // reset master mode selection
Helvis 1:2b5f79285a3e 125 TIM->SMCR = TIM_SMCR_SMS_1 | TIM_SMCR_SMS_0; // counting on both TI1 & TI2 edges
Helvis 1:2b5f79285a3e 126 TIM->CCMR1 = TIM_CCMR1_CC2S_0 | TIM_CCMR1_CC1S_0;
Helvis 1:2b5f79285a3e 127 TIM->CCMR2 = 0x0000; // reset capture mode register 2
Helvis 1:2b5f79285a3e 128 TIM->CCER = TIM_CCER_CC2E | TIM_CCER_CC1E;
Helvis 1:2b5f79285a3e 129 TIM->CNT = 0x0000; // reset counter value
Helvis 1:2b5f79285a3e 130 TIM->ARR = 0xFFFF; // auto reload register
Helvis 1:2b5f79285a3e 131 TIM->CR1 = TIM_CR1_CEN; // counter enable
Helvis 1:2b5f79285a3e 132 }
Helvis 1:2b5f79285a3e 133
Helvis 1:2b5f79285a3e 134 EncoderCounter::~EncoderCounter() {}
Helvis 1:2b5f79285a3e 135
Helvis 1:2b5f79285a3e 136 /**
Helvis 1:2b5f79285a3e 137 * Resets the counter value to zero.
Helvis 1:2b5f79285a3e 138 */
Helvis 1:2b5f79285a3e 139 void EncoderCounter::reset() {
Helvis 1:2b5f79285a3e 140
Helvis 1:2b5f79285a3e 141 TIM->CNT = 0x0000;
Helvis 1:2b5f79285a3e 142 }
Helvis 1:2b5f79285a3e 143
Helvis 1:2b5f79285a3e 144 /**
Helvis 1:2b5f79285a3e 145 * Resets the counter value to a given offset value.
Helvis 1:2b5f79285a3e 146 * @param offset the offset value to reset the counter to.
Helvis 1:2b5f79285a3e 147 */
Helvis 1:2b5f79285a3e 148 void EncoderCounter::reset(short offset) {
Helvis 1:2b5f79285a3e 149
Helvis 1:2b5f79285a3e 150 TIM->CNT = -offset;
Helvis 1:2b5f79285a3e 151 }
Helvis 1:2b5f79285a3e 152
Helvis 1:2b5f79285a3e 153 /**
Helvis 1:2b5f79285a3e 154 * Reads the quadrature encoder counter value.
Helvis 1:2b5f79285a3e 155 * @return the quadrature encoder counter as a signed 16-bit integer value.
Helvis 1:2b5f79285a3e 156 */
Helvis 1:2b5f79285a3e 157 short EncoderCounter::read() {
Helvis 1:2b5f79285a3e 158
Helvis 1:2b5f79285a3e 159 return (short)(-TIM->CNT);
Helvis 1:2b5f79285a3e 160 }
Helvis 1:2b5f79285a3e 161
Helvis 1:2b5f79285a3e 162 /**
Helvis 1:2b5f79285a3e 163 * The empty operator is a shorthand notation of the <code>read()</code> method.
Helvis 1:2b5f79285a3e 164 */
Helvis 1:2b5f79285a3e 165 EncoderCounter::operator short() {
Helvis 1:2b5f79285a3e 166
Helvis 1:2b5f79285a3e 167 return read();
Helvis 1:2b5f79285a3e 168 }