Variation Nigel Webb's. AB encoders, using pullups and diodes for connecting 5V (or higher voltage) encoders.
Fork of HardwareQuadratureEncoderABZ by
main.cpp@1:e63be50a9453, 2015-01-25 (annotated)
- Committer:
- misan
- Date:
- Sun Jan 25 23:01:30 2015 +0000
- Revision:
- 1:e63be50a9453
- Parent:
- 0:25c34018702c
Adapting Nigel Webb code for my encoders, using internal pullups and a diode for the connection of the encoder inputs. No index signal though.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Nigel945426 | 0:25c34018702c | 1 | #include "mbed.h" |
Nigel945426 | 0:25c34018702c | 2 | |
Nigel945426 | 0:25c34018702c | 3 | // Hardware Quadrature Encoder ABZ for Nucleo F401RE |
Nigel945426 | 0:25c34018702c | 4 | // Output on debug port to host PC @ 9600 baud |
Nigel945426 | 0:25c34018702c | 5 | // |
Nigel945426 | 0:25c34018702c | 6 | // By Nigel Webb, November 2014 |
misan | 1:e63be50a9453 | 7 | // Modified by Miguel Sánchez, January 2015 |
Nigel945426 | 0:25c34018702c | 8 | |
Nigel945426 | 0:25c34018702c | 9 | /* Connections |
Nigel945426 | 0:25c34018702c | 10 | PA_0 = Encoder A |
Nigel945426 | 0:25c34018702c | 11 | PA_1 = Encoder B |
Nigel945426 | 0:25c34018702c | 12 | PA_4 = Encoder Z |
Nigel945426 | 0:25c34018702c | 13 | */ |
Nigel945426 | 0:25c34018702c | 14 | |
misan | 1:e63be50a9453 | 15 | // ZPulse(PA_4) ; // Setup Interrupt for Z Pulse --> no index needed here |
misan | 1:e63be50a9453 | 16 | |
misan | 1:e63be50a9453 | 17 | DigitalIn A(PA_0); |
misan | 1:e63be50a9453 | 18 | DigitalIn B(PA_1); |
misan | 1:e63be50a9453 | 19 | |
Nigel945426 | 0:25c34018702c | 20 | |
Nigel945426 | 0:25c34018702c | 21 | void EncoderInitialise(void) { |
Nigel945426 | 0:25c34018702c | 22 | // configure GPIO PA0 & PA1 as inputs for Encoder |
Nigel945426 | 0:25c34018702c | 23 | RCC->AHB1ENR |= 0x00000001; // Enable clock for GPIOA |
Nigel945426 | 0:25c34018702c | 24 | |
Nigel945426 | 0:25c34018702c | 25 | GPIOA->MODER |= GPIO_MODER_MODER0_1 | GPIO_MODER_MODER1_1 ; //PA0 & PA1 as Alternate Function /*!< GPIO port mode register, Address offset: 0x00 */ |
Nigel945426 | 0:25c34018702c | 26 | GPIOA->OTYPER |= GPIO_OTYPER_OT_0 | GPIO_OTYPER_OT_1 ; //PA0 & PA1 as Inputs /*!< GPIO port output type register, Address offset: 0x04 */ |
Nigel945426 | 0:25c34018702c | 27 | GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR0 | GPIO_OSPEEDER_OSPEEDR1 ; // Low speed /*!< GPIO port output speed register, Address offset: 0x08 */ |
Nigel945426 | 0:25c34018702c | 28 | GPIOA->PUPDR |= GPIO_PUPDR_PUPDR0_1 | GPIO_PUPDR_PUPDR1_1 ; // Pull Down /*!< GPIO port pull-up/pull-down register, Address offset: 0x0C */ |
Nigel945426 | 0:25c34018702c | 29 | GPIOA->AFR[0] |= 0x00000011 ; // AF01 for PA0 & PA1 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ |
Nigel945426 | 0:25c34018702c | 30 | GPIOA->AFR[1] |= 0x00000000 ; // /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ |
Nigel945426 | 0:25c34018702c | 31 | |
Nigel945426 | 0:25c34018702c | 32 | // configure TIM2 as Encoder input |
Nigel945426 | 0:25c34018702c | 33 | RCC->APB1ENR |= 0x00000001; // Enable clock for TIM2 |
Nigel945426 | 0:25c34018702c | 34 | |
Nigel945426 | 0:25c34018702c | 35 | TIM2->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1 |
Nigel945426 | 0:25c34018702c | 36 | TIM2->SMCR = 0x0003; // SMS='011' (Encoder mode 3) < TIM slave mode control register |
Nigel945426 | 0:25c34018702c | 37 | TIM2->CCMR1 = 0xF1F1; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1 |
Nigel945426 | 0:25c34018702c | 38 | TIM2->CCMR2 = 0x0000; // < TIM capture/compare mode register 2 |
Nigel945426 | 0:25c34018702c | 39 | TIM2->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register |
Nigel945426 | 0:25c34018702c | 40 | TIM2->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler |
Nigel945426 | 0:25c34018702c | 41 | TIM2->ARR = 0xffffffff; // reload at 0xfffffff < TIM auto-reload register |
Nigel945426 | 0:25c34018702c | 42 | |
Nigel945426 | 0:25c34018702c | 43 | TIM2->CNT = 0x0000; //reset the counter before we use it |
Nigel945426 | 0:25c34018702c | 44 | } |
Nigel945426 | 0:25c34018702c | 45 | |
misan | 1:e63be50a9453 | 46 | |
misan | 1:e63be50a9453 | 47 | void EncoderInitialiseTIM3(void) { |
misan | 1:e63be50a9453 | 48 | // configure GPIO PA0 & PA1 aka A0 & A1 as inputs for Encoder |
misan | 1:e63be50a9453 | 49 | // Enable clock for GPIOA |
misan | 1:e63be50a9453 | 50 | __GPIOA_CLK_ENABLE(); //equivalent from hal_rcc.h |
misan | 1:e63be50a9453 | 51 | |
misan | 1:e63be50a9453 | 52 | //stm32f4xx.h |
misan | 1:e63be50a9453 | 53 | GPIOA->MODER |= GPIO_MODER_MODER6_1 | GPIO_MODER_MODER7_1 ; //PA6 & PA7 as Alternate Function /*!< GPIO port mode register, Address offset: 0x00 */ |
misan | 1:e63be50a9453 | 54 | GPIOA->OTYPER |= GPIO_OTYPER_OT_6 | GPIO_OTYPER_OT_7 ; //PA6 & PA7 as Inputs /*!< GPIO port output type register, Address offset: 0x04 */ |
misan | 1:e63be50a9453 | 55 | GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed /*!< GPIO port output speed register, Address offset: 0x08 */ |
misan | 1:e63be50a9453 | 56 | GPIOA->PUPDR |= GPIO_PUPDR_PUPDR6_1 | GPIO_PUPDR_PUPDR7_1 ; //Pull Down /*!< GPIO port pull-up/pull-down register, Address offset: 0x0C */ |
misan | 1:e63be50a9453 | 57 | GPIOA->AFR[0] |= 0x22000000 ; //AF02 for PA6 & PA7 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ |
misan | 1:e63be50a9453 | 58 | GPIOA->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ |
misan | 1:e63be50a9453 | 59 | |
misan | 1:e63be50a9453 | 60 | // configure TIM3 as Encoder input |
misan | 1:e63be50a9453 | 61 | // Enable clock for TIM3 |
misan | 1:e63be50a9453 | 62 | __TIM3_CLK_ENABLE(); |
misan | 1:e63be50a9453 | 63 | |
misan | 1:e63be50a9453 | 64 | TIM3->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1 |
misan | 1:e63be50a9453 | 65 | TIM3->SMCR = TIM_ENCODERMODE_TI12; // SMS='011' (Encoder mode 3) < TIM slave mode control register |
misan | 1:e63be50a9453 | 66 | TIM3->CCMR1 = 0xF1F1; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1 |
misan | 1:e63be50a9453 | 67 | TIM3->CCMR2 = 0x0000; // < TIM capture/compare mode register 2 |
misan | 1:e63be50a9453 | 68 | TIM3->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register |
misan | 1:e63be50a9453 | 69 | TIM3->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler |
misan | 1:e63be50a9453 | 70 | TIM3->ARR = 0xffffffff; // reload at 0xfffffff < TIM auto-reload register |
misan | 1:e63be50a9453 | 71 | |
misan | 1:e63be50a9453 | 72 | TIM3->CNT = 0x0000; //reset the counter before we use it |
misan | 1:e63be50a9453 | 73 | } |
misan | 1:e63be50a9453 | 74 | |
misan | 1:e63be50a9453 | 75 | void EncoderInitialiseTIM4(void) { |
misan | 1:e63be50a9453 | 76 | //PB6 PB7 aka D10 MORPHO_PB7 |
misan | 1:e63be50a9453 | 77 | // Enable clock for GPIOA |
misan | 1:e63be50a9453 | 78 | __GPIOB_CLK_ENABLE(); //equivalent from hal_rcc.h |
misan | 1:e63be50a9453 | 79 | |
misan | 1:e63be50a9453 | 80 | //stm32f4xx.h |
misan | 1:e63be50a9453 | 81 | GPIOB->MODER |= GPIO_MODER_MODER6_1 | GPIO_MODER_MODER7_1 ; //PB6 & PB7 as Alternate Function /*!< GPIO port mode register, Address offset: 0x00 */ |
misan | 1:e63be50a9453 | 82 | GPIOB->OTYPER |= GPIO_OTYPER_OT_6 | GPIO_OTYPER_OT_7 ; //PB6 & PB7 as Inputs /*!< GPIO port output type register, Address offset: 0x04 */ |
misan | 1:e63be50a9453 | 83 | GPIOB->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed /*!< GPIO port output speed register, Address offset: 0x08 */ |
misan | 1:e63be50a9453 | 84 | GPIOB->PUPDR |= GPIO_PUPDR_PUPDR6_1 | GPIO_PUPDR_PUPDR7_1 ; //Pull Down /*!< GPIO port pull-up/pull-down register, Address offset: 0x0C */ |
misan | 1:e63be50a9453 | 85 | GPIOB->AFR[0] |= 0x22000000 ; //AF02 for PB6 & PB7 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ |
misan | 1:e63be50a9453 | 86 | GPIOB->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ |
misan | 1:e63be50a9453 | 87 | |
misan | 1:e63be50a9453 | 88 | // configure TIM4 as Encoder input |
misan | 1:e63be50a9453 | 89 | // Enable clock for TIM4 |
misan | 1:e63be50a9453 | 90 | __TIM4_CLK_ENABLE(); |
misan | 1:e63be50a9453 | 91 | |
misan | 1:e63be50a9453 | 92 | TIM4->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1 |
misan | 1:e63be50a9453 | 93 | TIM4->SMCR = TIM_ENCODERMODE_TI12; // < TIM slave mode control register |
misan | 1:e63be50a9453 | 94 | //TIM_ENCODERMODE_TI1 input 1 edges trigger count |
misan | 1:e63be50a9453 | 95 | //TIM_ENCODERMODE_TI2 input 2 edges trigger count |
misan | 1:e63be50a9453 | 96 | //TIM_ENCODERMODE_TI12 all edges trigger count |
misan | 1:e63be50a9453 | 97 | TIM4->CCMR1 = 0xF1F1; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1 |
misan | 1:e63be50a9453 | 98 | //0xF nibble sets up filter |
misan | 1:e63be50a9453 | 99 | TIM4->CCMR2 = 0x0000; // < TIM capture/compare mode register 2 |
misan | 1:e63be50a9453 | 100 | TIM4->CCER = TIM_CCER_CC1E | TIM_CCER_CC2E; // < TIM capture/compare enable register |
misan | 1:e63be50a9453 | 101 | TIM4->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler |
misan | 1:e63be50a9453 | 102 | TIM4->ARR = 0xffff; // reload at 0xfffffff < TIM auto-reload register |
misan | 1:e63be50a9453 | 103 | |
misan | 1:e63be50a9453 | 104 | TIM4->CNT = 0x0000; //reset the counter before we use it |
misan | 1:e63be50a9453 | 105 | } |
misan | 1:e63be50a9453 | 106 | |
misan | 1:e63be50a9453 | 107 | |
misan | 1:e63be50a9453 | 108 | |
misan | 1:e63be50a9453 | 109 | |
misan | 1:e63be50a9453 | 110 | /* |
Nigel945426 | 0:25c34018702c | 111 | // Z Pulse routine |
Nigel945426 | 0:25c34018702c | 112 | void ZeroEncoderCount() { |
Nigel945426 | 0:25c34018702c | 113 | TIM2->CNT=0 ; //reset count to zero |
Nigel945426 | 0:25c34018702c | 114 | } |
misan | 1:e63be50a9453 | 115 | */ |
misan | 1:e63be50a9453 | 116 | |
misan | 1:e63be50a9453 | 117 | |
Nigel945426 | 0:25c34018702c | 118 | |
Nigel945426 | 0:25c34018702c | 119 | int main() { |
Nigel945426 | 0:25c34018702c | 120 | EncoderInitialise() ; |
Nigel945426 | 0:25c34018702c | 121 | |
misan | 1:e63be50a9453 | 122 | //ZPulse.rise(&ZeroEncoderCount) ; //Setup Interrupt for rising edge of Z pulse |
misan | 1:e63be50a9453 | 123 | //ZPulse.mode(PullDown) ; // Set input as pull down |
misan | 1:e63be50a9453 | 124 | A.mode(PullUp); |
misan | 1:e63be50a9453 | 125 | B.mode(PullUp); |
Nigel945426 | 0:25c34018702c | 126 | |
Nigel945426 | 0:25c34018702c | 127 | unsigned int EncoderPosition ; |
Nigel945426 | 0:25c34018702c | 128 | |
Nigel945426 | 0:25c34018702c | 129 | while (true) { |
Nigel945426 | 0:25c34018702c | 130 | // Print Encoder Quadrature count to debug port every 0.5 seconds |
Nigel945426 | 0:25c34018702c | 131 | EncoderPosition = TIM2->CNT ; // Get current position from Encoder |
Nigel945426 | 0:25c34018702c | 132 | printf("Encoder Position %i\r\n", EncoderPosition); |
Nigel945426 | 0:25c34018702c | 133 | wait(0.5); |
Nigel945426 | 0:25c34018702c | 134 | } |
Nigel945426 | 0:25c34018702c | 135 | |
Nigel945426 | 0:25c34018702c | 136 | |
Nigel945426 | 0:25c34018702c | 137 | } |