駿 高世 / Mbed 2 deprecated abu2019_mr1

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Dependencies:   mbed BNO055_fusion Adafruit_GFX ros_lib_kinetic

odometry/encoder.h@3:a45557a0dcb8, 2018-12-11 (annotated)

Committer:
nakedt555
Date:
Tue Dec 11 17:51:47 2018 +0000
Revision:
3:a45557a0dcb8
Parent:
encoder.h@1:bdd17feaa4ce 
12/10iikanji

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nakedt555 1:bdd17feaa4ce 1 #ifndef _ENCODER_H_
nakedt555 1:bdd17feaa4ce 2 #define _ENCODER_H_
nakedt555 1:bdd17feaa4ce 3
nakedt555 1:bdd17feaa4ce 4 #include "mbed.h"
nakedt555 1:bdd17feaa4ce 5
nakedt555 1:bdd17feaa4ce 6 #define ENC_ZERO_POINT (0x7FFF)
nakedt555 1:bdd17feaa4ce 7
nakedt555 1:bdd17feaa4ce 8 class TIM2Encoder{
nakedt555 1:bdd17feaa4ce 9 public:
nakedt555 1:bdd17feaa4ce 10 TIM2Encoder(){
nakedt555 1:bdd17feaa4ce 11 GPIO_InitTypeDef GPIO_InitStruct;
nakedt555 1:bdd17feaa4ce 12
nakedt555 1:bdd17feaa4ce 13 __HAL_RCC_TIM2_CLK_ENABLE();
nakedt555 1:bdd17feaa4ce 14 __HAL_RCC_GPIOA_CLK_ENABLE();
nakedt555 1:bdd17feaa4ce 15
nakedt555 1:bdd17feaa4ce 16 GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
nakedt555 1:bdd17feaa4ce 17 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
nakedt555 1:bdd17feaa4ce 18 GPIO_InitStruct.Pull = GPIO_NOPULL;
nakedt555 1:bdd17feaa4ce 19 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
nakedt555 1:bdd17feaa4ce 20 GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
nakedt555 1:bdd17feaa4ce 21 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
nakedt555 1:bdd17feaa4ce 22
nakedt555 1:bdd17feaa4ce 23 TIM_Encoder_InitTypeDef sConfig;
nakedt555 1:bdd17feaa4ce 24 TIM_MasterConfigTypeDef sMasterConfig;
nakedt555 1:bdd17feaa4ce 25
nakedt555 1:bdd17feaa4ce 26 htim2.Instance = TIM2;
nakedt555 1:bdd17feaa4ce 27 htim2.Init.Prescaler = 0;
nakedt555 1:bdd17feaa4ce 28 htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
nakedt555 1:bdd17feaa4ce 29 htim2.Init.Period = 65535;
nakedt555 1:bdd17feaa4ce 30 htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
nakedt555 1:bdd17feaa4ce 31 sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
nakedt555 1:bdd17feaa4ce 32 sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
nakedt555 1:bdd17feaa4ce 33 sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
nakedt555 1:bdd17feaa4ce 34 sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
nakedt555 1:bdd17feaa4ce 35 sConfig.IC1Filter = 0;
nakedt555 1:bdd17feaa4ce 36 sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
nakedt555 1:bdd17feaa4ce 37 sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
nakedt555 1:bdd17feaa4ce 38 sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
nakedt555 1:bdd17feaa4ce 39 sConfig.IC2Filter = 0;
nakedt555 1:bdd17feaa4ce 40
nakedt555 1:bdd17feaa4ce 41 HAL_TIM_Encoder_Init(&htim2, &sConfig);
nakedt555 1:bdd17feaa4ce 42
nakedt555 1:bdd17feaa4ce 43 sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
nakedt555 1:bdd17feaa4ce 44 sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
nakedt555 1:bdd17feaa4ce 45 HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig);
nakedt555 1:bdd17feaa4ce 46
nakedt555 1:bdd17feaa4ce 47 HAL_TIM_Encoder_Start(&htim2, TIM_CHANNEL_ALL);
nakedt555 1:bdd17feaa4ce 48 __HAL_TIM_SET_COUNTER(&htim2, ENC_ZERO_POINT);
nakedt555 1:bdd17feaa4ce 49
nakedt555 1:bdd17feaa4ce 50 encoder = 0;
nakedt555 1:bdd17feaa4ce 51 }
nakedt555 1:bdd17feaa4ce 52 int32_t get_encoder_pulse(){
nakedt555 1:bdd17feaa4ce 53 int32_t diff;
nakedt555 1:bdd17feaa4ce 54 diff = (__HAL_TIM_GET_COUNTER(&htim2) - ENC_ZERO_POINT);
nakedt555 1:bdd17feaa4ce 55 __HAL_TIM_SET_COUNTER(&htim2, ENC_ZERO_POINT);
nakedt555 1:bdd17feaa4ce 56 encoder -= diff;
nakedt555 1:bdd17feaa4ce 57
nakedt555 1:bdd17feaa4ce 58 return -diff;
nakedt555 1:bdd17feaa4ce 59 }
nakedt555 1:bdd17feaa4ce 60 int32_t get_encoder(){
nakedt555 1:bdd17feaa4ce 61 return encoder;
nakedt555 1:bdd17feaa4ce 62 }
nakedt555 1:bdd17feaa4ce 63 private:
nakedt555 1:bdd17feaa4ce 64 TIM_HandleTypeDef htim2;
nakedt555 1:bdd17feaa4ce 65 uint32_t encoder;
nakedt555 1:bdd17feaa4ce 66 };
nakedt555 1:bdd17feaa4ce 67
nakedt555 1:bdd17feaa4ce 68 class TIM3Encoder{
nakedt555 1:bdd17feaa4ce 69 public:
nakedt555 1:bdd17feaa4ce 70 TIM3Encoder(){
nakedt555 1:bdd17feaa4ce 71 GPIO_InitTypeDef GPIO_InitStruct;
nakedt555 1:bdd17feaa4ce 72
nakedt555 1:bdd17feaa4ce 73 __HAL_RCC_TIM3_CLK_ENABLE();
nakedt555 1:bdd17feaa4ce 74 __HAL_RCC_GPIOA_CLK_ENABLE();
nakedt555 1:bdd17feaa4ce 75 __HAL_RCC_GPIOB_CLK_ENABLE();
nakedt555 1:bdd17feaa4ce 76
nakedt555 1:bdd17feaa4ce 77 GPIO_InitStruct.Pin = GPIO_PIN_6;
nakedt555 1:bdd17feaa4ce 78 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
nakedt555 1:bdd17feaa4ce 79 GPIO_InitStruct.Pull = GPIO_NOPULL;
nakedt555 1:bdd17feaa4ce 80 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
nakedt555 1:bdd17feaa4ce 81 GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
nakedt555 1:bdd17feaa4ce 82 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
nakedt555 1:bdd17feaa4ce 83
nakedt555 1:bdd17feaa4ce 84 GPIO_InitStruct.Pin = GPIO_PIN_5;
nakedt555 1:bdd17feaa4ce 85 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
nakedt555 1:bdd17feaa4ce 86 GPIO_InitStruct.Pull = GPIO_NOPULL;
nakedt555 1:bdd17feaa4ce 87 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
nakedt555 1:bdd17feaa4ce 88 GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
nakedt555 1:bdd17feaa4ce 89 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
nakedt555 1:bdd17feaa4ce 90
nakedt555 1:bdd17feaa4ce 91 TIM_Encoder_InitTypeDef sConfig;
nakedt555 1:bdd17feaa4ce 92 TIM_MasterConfigTypeDef sMasterConfig;
nakedt555 1:bdd17feaa4ce 93
nakedt555 1:bdd17feaa4ce 94 htim3.Instance = TIM3;
nakedt555 1:bdd17feaa4ce 95 htim3.Init.Prescaler = 0;
nakedt555 1:bdd17feaa4ce 96 htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
nakedt555 1:bdd17feaa4ce 97 htim3.Init.Period = 65535;
nakedt555 1:bdd17feaa4ce 98 htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
nakedt555 1:bdd17feaa4ce 99 sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
nakedt555 1:bdd17feaa4ce 100 sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
nakedt555 1:bdd17feaa4ce 101 sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
nakedt555 1:bdd17feaa4ce 102 sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
nakedt555 1:bdd17feaa4ce 103 sConfig.IC1Filter = 0;
nakedt555 1:bdd17feaa4ce 104 sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
nakedt555 1:bdd17feaa4ce 105 sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
nakedt555 1:bdd17feaa4ce 106 sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
nakedt555 1:bdd17feaa4ce 107 sConfig.IC2Filter = 0;
nakedt555 1:bdd17feaa4ce 108 HAL_TIM_Encoder_Init(&htim3, &sConfig);
nakedt555 1:bdd17feaa4ce 109
nakedt555 1:bdd17feaa4ce 110 sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
nakedt555 1:bdd17feaa4ce 111 sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
nakedt555 1:bdd17feaa4ce 112 HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig);
nakedt555 1:bdd17feaa4ce 113
nakedt555 1:bdd17feaa4ce 114 HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);
nakedt555 1:bdd17feaa4ce 115 __HAL_TIM_SET_COUNTER(&htim3, ENC_ZERO_POINT);
nakedt555 1:bdd17feaa4ce 116
nakedt555 1:bdd17feaa4ce 117 encoder = 0;
nakedt555 1:bdd17feaa4ce 118 }
nakedt555 1:bdd17feaa4ce 119 int32_t get_encoder_pulse(){
nakedt555 1:bdd17feaa4ce 120 int32_t diff;
nakedt555 1:bdd17feaa4ce 121 diff = (__HAL_TIM_GET_COUNTER(&htim3) - ENC_ZERO_POINT);
nakedt555 1:bdd17feaa4ce 122 __HAL_TIM_SET_COUNTER(&htim3, ENC_ZERO_POINT);
nakedt555 1:bdd17feaa4ce 123 encoder -= diff;
nakedt555 1:bdd17feaa4ce 124
nakedt555 1:bdd17feaa4ce 125 return -diff;
nakedt555 1:bdd17feaa4ce 126 }
nakedt555 1:bdd17feaa4ce 127 int32_t get_encoder(){
nakedt555 1:bdd17feaa4ce 128 return encoder;
nakedt555 1:bdd17feaa4ce 129 }
nakedt555 1:bdd17feaa4ce 130 private:
nakedt555 1:bdd17feaa4ce 131 TIM_HandleTypeDef htim3;
nakedt555 1:bdd17feaa4ce 132 uint32_t encoder;
nakedt555 1:bdd17feaa4ce 133 };
nakedt555 1:bdd17feaa4ce 134
nakedt555 1:bdd17feaa4ce 135 #endif