Diff: odometry/encoder.h

Revision:

3:a45557a0dcb8

Parent:

1:bdd17feaa4ce

diff -r 086272a2da1c -r a45557a0dcb8 odometry/encoder.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/odometry/encoder.h	Tue Dec 11 17:51:47 2018 +0000
@@ -0,0 +1,135 @@
+#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
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