File content as of revision 12:f726eb78b54c:

#ifndef _ENCODER_H_
#define _ENCODER_H_

#include "mbed.h"

#define ENC_ZERO_POINT  (0x7FFF)

class TIM2Encoder{
public:
    TIM2Encoder(){
        GPIO_InitTypeDef GPIO_InitStruct;
        
        __HAL_RCC_TIM2_CLK_ENABLE();
        __HAL_RCC_GPIOA_CLK_ENABLE();
        
        GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
        GPIO_InitStruct.Pull = GPIO_NOPULL;
        GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
        GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
        
        TIM_Encoder_InitTypeDef sConfig;
        TIM_MasterConfigTypeDef sMasterConfig;
        
        htim2.Instance = TIM2;
        htim2.Init.Prescaler = 0;
        htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
        htim2.Init.Period = 65535;
        htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
        sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
        sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
        sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
        sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
        sConfig.IC1Filter = 0;
        sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
        sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
        sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
        sConfig.IC2Filter = 0;
        
        HAL_TIM_Encoder_Init(&htim2, &sConfig);
        
        sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
        sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
        HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig);
        
        HAL_TIM_Encoder_Start(&htim2, TIM_CHANNEL_ALL);
        __HAL_TIM_SET_COUNTER(&htim2, ENC_ZERO_POINT);
        
        encoder = 0;
    }
    int32_t get_encoder_pulse(){
        int32_t diff;
        diff = (__HAL_TIM_GET_COUNTER(&htim2) - ENC_ZERO_POINT);
        __HAL_TIM_SET_COUNTER(&htim2, ENC_ZERO_POINT);
        encoder -= diff;
    
        return -diff;
    }
    int32_t get_encoder(){
        return encoder;   
    }
private:
    TIM_HandleTypeDef htim2;
    uint32_t encoder;
};

class TIM3Encoder{
public:
    TIM3Encoder(){
        GPIO_InitTypeDef GPIO_InitStruct;
        
        __HAL_RCC_TIM3_CLK_ENABLE();
        __HAL_RCC_GPIOA_CLK_ENABLE();
        __HAL_RCC_GPIOB_CLK_ENABLE();
      
        GPIO_InitStruct.Pin = GPIO_PIN_6;
        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
        GPIO_InitStruct.Pull = GPIO_NOPULL;
        GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
        GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
    
        GPIO_InitStruct.Pin = GPIO_PIN_5;
        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
        GPIO_InitStruct.Pull = GPIO_NOPULL;
        GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
        GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
        HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
        
        TIM_Encoder_InitTypeDef sConfig;
        TIM_MasterConfigTypeDef sMasterConfig;
        
        htim3.Instance = TIM3;
        htim3.Init.Prescaler = 0;
        htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
        htim3.Init.Period = 65535;
        htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
        sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
        sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
        sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
        sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
        sConfig.IC1Filter = 0;
        sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
        sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
        sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
        sConfig.IC2Filter = 0;
        HAL_TIM_Encoder_Init(&htim3, &sConfig);
        
        sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
        sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
        HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig);
        
        HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);
        __HAL_TIM_SET_COUNTER(&htim3, ENC_ZERO_POINT);
        
        encoder = 0;
    }
    int32_t get_encoder_pulse(){
        int32_t diff;
        diff = (__HAL_TIM_GET_COUNTER(&htim3) - ENC_ZERO_POINT);
        __HAL_TIM_SET_COUNTER(&htim3, ENC_ZERO_POINT);
        encoder -= diff;
    
        return -diff;
    }
    int32_t get_encoder(){
        return encoder;   
    }
private:
    TIM_HandleTypeDef htim3;
    uint32_t encoder;
};

#endif