Miguel Sánchez
/
HardwareQuadratureEncoderAB
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HardwareQuadratureEncoderABZ
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Nigel Webb
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main.cpp
00001 #include "mbed.h" 00002 00003 // Hardware Quadrature Encoder ABZ for Nucleo F401RE 00004 // Output on debug port to host PC @ 9600 baud 00005 // 00006 // By Nigel Webb, November 2014 00007 // Modified by Miguel Sánchez, January 2015 00008 00009 /* Connections 00010 PA_0 = Encoder A 00011 PA_1 = Encoder B 00012 PA_4 = Encoder Z 00013 */ 00014 00015 // ZPulse(PA_4) ; // Setup Interrupt for Z Pulse --> no index needed here 00016 00017 DigitalIn A(PA_0); 00018 DigitalIn B(PA_1); 00019 00020 00021 void EncoderInitialise(void) { 00022 // configure GPIO PA0 & PA1 as inputs for Encoder 00023 RCC->AHB1ENR |= 0x00000001; // Enable clock for GPIOA 00024 00025 GPIOA->MODER |= GPIO_MODER_MODER0_1 | GPIO_MODER_MODER1_1 ; //PA0 & PA1 as Alternate Function /*!< GPIO port mode register, Address offset: 0x00 */ 00026 GPIOA->OTYPER |= GPIO_OTYPER_OT_0 | GPIO_OTYPER_OT_1 ; //PA0 & PA1 as Inputs /*!< GPIO port output type register, Address offset: 0x04 */ 00027 GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR0 | GPIO_OSPEEDER_OSPEEDR1 ; // Low speed /*!< GPIO port output speed register, Address offset: 0x08 */ 00028 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR0_1 | GPIO_PUPDR_PUPDR1_1 ; // Pull Down /*!< GPIO port pull-up/pull-down register, Address offset: 0x0C */ 00029 GPIOA->AFR[0] |= 0x00000011 ; // AF01 for PA0 & PA1 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ 00030 GPIOA->AFR[1] |= 0x00000000 ; // /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ 00031 00032 // configure TIM2 as Encoder input 00033 RCC->APB1ENR |= 0x00000001; // Enable clock for TIM2 00034 00035 TIM2->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1 00036 TIM2->SMCR = 0x0003; // SMS='011' (Encoder mode 3) < TIM slave mode control register 00037 TIM2->CCMR1 = 0xF1F1; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1 00038 TIM2->CCMR2 = 0x0000; // < TIM capture/compare mode register 2 00039 TIM2->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register 00040 TIM2->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler 00041 TIM2->ARR = 0xffffffff; // reload at 0xfffffff < TIM auto-reload register 00042 00043 TIM2->CNT = 0x0000; //reset the counter before we use it 00044 } 00045 00046 00047 void EncoderInitialiseTIM3(void) { 00048 // configure GPIO PA0 & PA1 aka A0 & A1 as inputs for Encoder 00049 // Enable clock for GPIOA 00050 __GPIOA_CLK_ENABLE(); //equivalent from hal_rcc.h 00051 00052 //stm32f4xx.h 00053 GPIOA->MODER |= GPIO_MODER_MODER6_1 | GPIO_MODER_MODER7_1 ; //PA6 & PA7 as Alternate Function /*!< GPIO port mode register, Address offset: 0x00 */ 00054 GPIOA->OTYPER |= GPIO_OTYPER_OT_6 | GPIO_OTYPER_OT_7 ; //PA6 & PA7 as Inputs /*!< GPIO port output type register, Address offset: 0x04 */ 00055 GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed /*!< GPIO port output speed register, Address offset: 0x08 */ 00056 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR6_1 | GPIO_PUPDR_PUPDR7_1 ; //Pull Down /*!< GPIO port pull-up/pull-down register, Address offset: 0x0C */ 00057 GPIOA->AFR[0] |= 0x22000000 ; //AF02 for PA6 & PA7 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ 00058 GPIOA->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ 00059 00060 // configure TIM3 as Encoder input 00061 // Enable clock for TIM3 00062 __TIM3_CLK_ENABLE(); 00063 00064 TIM3->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1 00065 TIM3->SMCR = TIM_ENCODERMODE_TI12; // SMS='011' (Encoder mode 3) < TIM slave mode control register 00066 TIM3->CCMR1 = 0xF1F1; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1 00067 TIM3->CCMR2 = 0x0000; // < TIM capture/compare mode register 2 00068 TIM3->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register 00069 TIM3->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler 00070 TIM3->ARR = 0xffffffff; // reload at 0xfffffff < TIM auto-reload register 00071 00072 TIM3->CNT = 0x0000; //reset the counter before we use it 00073 } 00074 00075 void EncoderInitialiseTIM4(void) { 00076 //PB6 PB7 aka D10 MORPHO_PB7 00077 // Enable clock for GPIOA 00078 __GPIOB_CLK_ENABLE(); //equivalent from hal_rcc.h 00079 00080 //stm32f4xx.h 00081 GPIOB->MODER |= GPIO_MODER_MODER6_1 | GPIO_MODER_MODER7_1 ; //PB6 & PB7 as Alternate Function /*!< GPIO port mode register, Address offset: 0x00 */ 00082 GPIOB->OTYPER |= GPIO_OTYPER_OT_6 | GPIO_OTYPER_OT_7 ; //PB6 & PB7 as Inputs /*!< GPIO port output type register, Address offset: 0x04 */ 00083 GPIOB->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed /*!< GPIO port output speed register, Address offset: 0x08 */ 00084 GPIOB->PUPDR |= GPIO_PUPDR_PUPDR6_1 | GPIO_PUPDR_PUPDR7_1 ; //Pull Down /*!< GPIO port pull-up/pull-down register, Address offset: 0x0C */ 00085 GPIOB->AFR[0] |= 0x22000000 ; //AF02 for PB6 & PB7 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ 00086 GPIOB->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ 00087 00088 // configure TIM4 as Encoder input 00089 // Enable clock for TIM4 00090 __TIM4_CLK_ENABLE(); 00091 00092 TIM4->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1 00093 TIM4->SMCR = TIM_ENCODERMODE_TI12; // < TIM slave mode control register 00094 //TIM_ENCODERMODE_TI1 input 1 edges trigger count 00095 //TIM_ENCODERMODE_TI2 input 2 edges trigger count 00096 //TIM_ENCODERMODE_TI12 all edges trigger count 00097 TIM4->CCMR1 = 0xF1F1; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1 00098 //0xF nibble sets up filter 00099 TIM4->CCMR2 = 0x0000; // < TIM capture/compare mode register 2 00100 TIM4->CCER = TIM_CCER_CC1E | TIM_CCER_CC2E; // < TIM capture/compare enable register 00101 TIM4->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler 00102 TIM4->ARR = 0xffff; // reload at 0xfffffff < TIM auto-reload register 00103 00104 TIM4->CNT = 0x0000; //reset the counter before we use it 00105 } 00106 00107 00108 00109 00110 /* 00111 // Z Pulse routine 00112 void ZeroEncoderCount() { 00113 TIM2->CNT=0 ; //reset count to zero 00114 } 00115 */ 00116 00117 00118 00119 int main() { 00120 EncoderInitialise() ; 00121 00122 //ZPulse.rise(&ZeroEncoderCount) ; //Setup Interrupt for rising edge of Z pulse 00123 //ZPulse.mode(PullDown) ; // Set input as pull down 00124 A.mode(PullUp); 00125 B.mode(PullUp); 00126 00127 unsigned int EncoderPosition ; 00128 00129 while (true) { 00130 // Print Encoder Quadrature count to debug port every 0.5 seconds 00131 EncoderPosition = TIM2->CNT ; // Get current position from Encoder 00132 printf("Encoder Position %i\r\n", EncoderPosition); 00133 wait(0.5); 00134 } 00135 00136 00137 }
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