Diff: EncoderCounterROME2.cpp

Revision:

42:d2d2db5974c9

Parent:

41:7484471403aa

Child:

43:0a124a21e227

--- a/EncoderCounterROME2.cpp	Wed May 11 09:44:25 2022 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,185 +0,0 @@
-/*
- * EncoderCounterROME2.cpp
- * Copyright (c) 2022, ZHAW
- * All rights reserved.
- */
-
-#include "EncoderCounterROME2.h"
-
-using namespace std;
-
-/**
- * Creates and initialises the driver to read the quadrature
- * encoder counter of the STM32 microcontroller.
- * @param a the input pin for the channel A.
- * @param b the input pin for the channel B.
- */
-EncoderCounterROME2::EncoderCounterROME2(PinName a, PinName b) {
-    
-    // check pins
-    
-    if ((a == PA_15) && (b == PB_3)) {
-        
-        // pinmap OK for TIM2 CH1 and CH2
-        
-        TIM = TIM2;
-        
-        // 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
-        
-        GPIOA->MODER &= ~GPIO_MODER_MODER15;    // reset port A15
-        GPIOA->MODER |= GPIO_MODER_MODER15_1;   // set alternate mode of port A15
-        GPIOA->PUPDR &= ~GPIO_PUPDR_PUPDR15;    // reset pull-up/pull-down on port A15
-        GPIOA->PUPDR |= GPIO_PUPDR_PUPDR15_1;   // set input as pull-down
-        GPIOA->AFR[1] &= ~0xF0000000;           // reset alternate function of port A15
-        GPIOA->AFR[1] |= 1 << 4*7;              // set alternate funtion 1 of port A15
-        
-        GPIOB->MODER &= ~GPIO_MODER_MODER3;     // reset port B3
-        GPIOB->MODER |= GPIO_MODER_MODER3_1;    // set alternate mode of port B3
-        GPIOB->PUPDR &= ~GPIO_PUPDR_PUPDR3;     // reset pull-up/pull-down on port B3
-        GPIOB->PUPDR |= GPIO_PUPDR_PUPDR3_1;    // set input as pull-down
-        GPIOB->AFR[0] &= ~(0xF << 4*3);         // reset alternate function of port B3
-        GPIOB->AFR[0] |= 1 << 4*3;              // set alternate funtion 1 of port B3
-        
-        // 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 == PB_4) && (b == PC_7)) {
-        
-        // pinmap OK for TIM3 CH1 and CH2
-        
-        TIM = TIM3;
-        
-        // configure reset and clock control registers
-        
-        RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;    // manually enable port B
-        RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;    // manually enable port C
-        
-        // configure general purpose I/O registers
-        
-        GPIOB->MODER &= ~GPIO_MODER_MODER4;     // reset port B4
-        GPIOB->MODER |= GPIO_MODER_MODER4_1;    // set alternate mode of port B4
-        GPIOB->PUPDR &= ~GPIO_PUPDR_PUPDR4;     // reset pull-up/pull-down on port B4
-        GPIOB->PUPDR |= GPIO_PUPDR_PUPDR4_1;    // set input as pull-down
-        GPIOB->AFR[0] &= ~(0xF << 4*4);         // reset alternate function of port B4
-        GPIOB->AFR[0] |= 2 << 4*4;              // set alternate funtion 2 of port B4
-        
-        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 == PD_12) && (b == PD_13)) {
-        
-        // pinmap OK for TIM4 CH1 and CH2
-        
-        TIM = TIM4;
-        
-        // configure reset and clock control registers
-        
-        RCC->AHB1ENR |= RCC_AHB1ENR_GPIODEN;    // manually enable port D
-        
-        // configure general purpose I/O registers
-        
-        GPIOD->MODER &= ~GPIO_MODER_MODER12;    // reset port D12
-        GPIOD->MODER |= GPIO_MODER_MODER12_1;   // set alternate mode of port D12
-        GPIOD->PUPDR &= ~GPIO_PUPDR_PUPDR12;    // reset pull-up/pull-down on port D12
-        GPIOD->PUPDR |= GPIO_PUPDR_PUPDR12_1;   // set input as pull-down
-        GPIOD->AFR[1] &= ~(0xF << 4*4);         // reset alternate function of port D12
-        GPIOD->AFR[1] |= 2 << 4*4;              // set alternate funtion 2 of port D12
-        
-        GPIOD->MODER &= ~GPIO_MODER_MODER13;    // reset port D13
-        GPIOD->MODER |= GPIO_MODER_MODER13_1;   // set alternate mode of port D13
-        GPIOD->PUPDR &= ~GPIO_PUPDR_PUPDR13;    // reset pull-up/pull-down on port D13
-        GPIOD->PUPDR |= GPIO_PUPDR_PUPDR13_1;   // set input as pull-down
-        GPIOD->AFR[1] &= ~(0xF << 4*5);         // reset alternate function of port D13
-        GPIOD->AFR[1] |= 2 << 4*5;              // set alternate funtion 2 of port D13
-        
-        // 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");
-        
-        TIM = NULL;
-    }
-    
-    // disable deep sleep for timer clocks
-    
-    sleep_manager_lock_deep_sleep();
-    
-    // configure general purpose timer 2, 3 or 4
-    
-    if (TIM != NULL) {
-        
-        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
-        TIM->CCMR1 = TIM_CCMR1_CC2S_0 | TIM_CCMR1_CC1S_0;
-        TIM->CCMR2 = 0x0000;        // reset capture mode register 2
-        TIM->CCER = TIM_CCER_CC2E | TIM_CCER_CC1E;
-        TIM->CNT = 0x0000;          // reset counter value
-        TIM->ARR = 0xFFFF;          // auto reload register
-        TIM->CR1 = TIM_CR1_CEN;     // counter enable
-    }
-}
-
-/**
- * Deletes this EncoderCounterROME2 object.
- */
-EncoderCounterROME2::~EncoderCounterROME2() {}
-
-/**
- * Resets the counter value to zero.
- */
-void EncoderCounterROME2::reset() {
-    
-    TIM->CNT = 0x0000;
-}
-
-/**
- * Resets the counter value to a given offset value.
- * @param offset the offset value to reset the counter to.
- */
-void EncoderCounterROME2::reset(short offset) {
-    
-    TIM->CNT = -offset;
-}
-
-/**
- * Reads the quadrature encoder counter value.
- * @return the quadrature encoder counter as a signed 16-bit integer value.
- */
-short EncoderCounterROME2::read() {
-    
-    return (short)(-TIM->CNT);
-}
-
-/**
- * The empty operator is a shorthand notation of the <code>read()</code> method.
- */
-EncoderCounterROME2::operator short() {
-    
-    return read();
-}