Miguel Sánchez / Mbed 2 deprecated HardwareQuadratureEncoderAB

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Dependencies:   mbed

Fork of HardwareQuadratureEncoderABZ by Nigel Webb

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?

UserRevisionLine numberNew 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 }