Diff: EncoderCounter.cpp

Revision:

4:9c003c402033

Parent:

0:86129f1b4a93

--- a/EncoderCounter.cpp	Thu Apr 01 14:31:43 2021 +0000
+++ b/EncoderCounter.cpp	Tue Apr 06 11:21:54 2021 +0000
@@ -14,112 +14,112 @@
  * @param a the input pin for the channel A.
  * @param b the input pin for the channel B.
  */
-EncoderCounter::EncoderCounter(PinName a, PinName b) {
-    
+EncoderCounter::EncoderCounter(PinName a, PinName b)
+{
     // check pins
-    
+
     if ((a == PA_0) && (b == PA_1)) {
-        
+
         // pinmap OK for TIM2 CH1 and CH2
-        
+
         TIM = TIM2;
-        
+
         // configure general purpose I/O registers
-        
+
         GPIOA->MODER &= ~GPIO_MODER_MODER0;     // reset port A0
         GPIOA->MODER |= GPIO_MODER_MODER0_1;    // set alternate mode of port A0
         GPIOA->PUPDR &= ~GPIO_PUPDR_PUPDR0;     // reset pull-up/pull-down on port A0
         GPIOA->PUPDR |= GPIO_PUPDR_PUPDR0_1;    // set input as pull-down
         GPIOA->AFR[0] &= ~(0xF << 4*0);         // reset alternate function of port A0
         GPIOA->AFR[0] |= 1 << 4*0;              // set alternate funtion 1 of port A0
-        
+
         GPIOA->MODER &= ~GPIO_MODER_MODER1;     // reset port A1
         GPIOA->MODER |= GPIO_MODER_MODER1_1;    // set alternate mode of port A1
         GPIOA->PUPDR &= ~GPIO_PUPDR_PUPDR1;     // reset pull-up/pull-down on port A1
         GPIOA->PUPDR |= GPIO_PUPDR_PUPDR1_1;    // set input as pull-down
         GPIOA->AFR[0] &= ~(0xF << 4*1);         // reset alternate function of port A1
         GPIOA->AFR[0] |= 1 << 4*1;              // set alternate funtion 1 of port A1
-        
+
         // configure reset and clock control registers
-        
+
         RCC->APB1RSTR |= RCC_APB1RSTR_TIM2RST;  //reset TIM2 controller
         RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM2RST;
-        
+
         RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;     // TIM2 clock enable
-        
+
     } else if ((a == PA_6) && (b == PC_7)) {
-        
+
         // pinmap OK for TIM3 CH1 and CH2
-        
+
         TIM = TIM3;
-        
+
         // configure reset and clock control registers
-        
+
         RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;    // manually enable port C (port A enabled by mbed library)
-        
+
         // configure general purpose I/O registers
-        
+
         GPIOA->MODER &= ~GPIO_MODER_MODER6;     // reset port A6
         GPIOA->MODER |= GPIO_MODER_MODER6_1;    // set alternate mode of port A6
         GPIOA->PUPDR &= ~GPIO_PUPDR_PUPDR6;     // reset pull-up/pull-down on port A6
         GPIOA->PUPDR |= GPIO_PUPDR_PUPDR6_1;    // set input as pull-down
         GPIOA->AFR[0] &= ~(0xF << 4*6);         // reset alternate function of port A6
         GPIOA->AFR[0] |= 2 << 4*6;              // set alternate funtion 2 of port A6
-        
+
         GPIOC->MODER &= ~GPIO_MODER_MODER7;     // reset port C7
         GPIOC->MODER |= GPIO_MODER_MODER7_1;    // set alternate mode of port C7
         GPIOC->PUPDR &= ~GPIO_PUPDR_PUPDR7;     // reset pull-up/pull-down on port C7
         GPIOC->PUPDR |= GPIO_PUPDR_PUPDR7_1;    // set input as pull-down
         GPIOC->AFR[0] &= ~0xF0000000;           // reset alternate function of port C7
         GPIOC->AFR[0] |= 2 << 4*7;              // set alternate funtion 2 of port C7
-        
+
         // configure reset and clock control registers
-        
+
         RCC->APB1RSTR |= RCC_APB1RSTR_TIM3RST;  //reset TIM3 controller
         RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM3RST;
-        
+
         RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;     // TIM3 clock enable
-        
+
     } else if ((a == PB_6) && (b == PB_7)) {
-        
+
         // pinmap OK for TIM4 CH1 and CH2
-        
+
         TIM = TIM4;
-        
+
         // configure reset and clock control registers
-        
+
         RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;    // manually enable port B (port A enabled by mbed library)
-        
+
         // configure general purpose I/O registers
-        
+
         GPIOB->MODER &= ~GPIO_MODER_MODER6;     // reset port B6
         GPIOB->MODER |= GPIO_MODER_MODER6_1;    // set alternate mode of port B6
         GPIOB->PUPDR &= ~GPIO_PUPDR_PUPDR6;     // reset pull-up/pull-down on port B6
         GPIOB->PUPDR |= GPIO_PUPDR_PUPDR6_1;    // set input as pull-down
         GPIOB->AFR[0] &= ~(0xF << 4*6);         // reset alternate function of port B6
         GPIOB->AFR[0] |= 2 << 4*6;              // set alternate funtion 2 of port B6
-        
+
         GPIOB->MODER &= ~GPIO_MODER_MODER7;     // reset port B7
         GPIOB->MODER |= GPIO_MODER_MODER7_1;    // set alternate mode of port B7
         GPIOB->PUPDR &= ~GPIO_PUPDR_PUPDR7;     // reset pull-up/pull-down on port B7
         GPIOB->PUPDR |= GPIO_PUPDR_PUPDR7_1;    // set input as pull-down
         GPIOB->AFR[0] &= ~0xF0000000;           // reset alternate function of port B7
         GPIOB->AFR[0] |= 2 << 4*7;              // set alternate funtion 2 of port B7
-        
+
         // configure reset and clock control registers
-        
+
         RCC->APB1RSTR |= RCC_APB1RSTR_TIM4RST;  //reset TIM4 controller
         RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM4RST;
-        
+
         RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;     // TIM4 clock enable
-        
+
     } else {
-        
+
         printf("pinmap not found for peripheral\n");
     }
-    
+
     // configure general purpose timer 3 or 4
-    
+
     TIM->CR1 = 0x0000;          // counter disable
     TIM->CR2 = 0x0000;          // reset master mode selection
     TIM->SMCR = TIM_SMCR_SMS_1 | TIM_SMCR_SMS_0; // counting on both TI1 & TI2 edges
@@ -136,8 +136,8 @@
 /**
  * Resets the counter value to zero.
  */
-void EncoderCounter::reset() {
-    
+void EncoderCounter::reset()
+{
     TIM->CNT = 0x0000;
 }
 
@@ -145,8 +145,8 @@
  * Resets the counter value to a given offset value.
  * @param offset the offset value to reset the counter to.
  */
-void EncoderCounter::reset(int16_t offset) {
-    
+void EncoderCounter::reset(int16_t offset)
+{
     TIM->CNT = -offset;
 }
 
@@ -154,16 +154,16 @@
  * Reads the quadrature encoder counter value.
  * @return the quadrature encoder counter as a signed 16-bit integer value.
  */
-int16_t EncoderCounter::read() {
-    
+int16_t EncoderCounter::read()
+{
     return static_cast<int16_t>(-TIM->CNT);
 }
 
 /**
  * The empty operator is a shorthand notation of the <code>read()</code> method.
  */
-EncoderCounter::operator int16_t() {
-    
+EncoderCounter::operator int16_t()
+{
     return read();
 }