Diff: main.cpp

Revision:

1:cd7b42c99ff8

Parent:

0:ee5cb967aa17

--- a/main.cpp	Sat Jan 10 20:06:07 2015 +0000
+++ b/main.cpp	Sun Oct 04 11:58:58 2015 +0000
@@ -1,7 +1,7 @@
 /*
  * Using STM32's counter peripherals to interface rotary encoders.
  * Encoders are supported on F4xx's TIM1,2,3,4,5. TIM2 & TIM5 have 32bit count, others 16bit.
- * Beware mbed uses TIM5 for system timer, others for PWM.
+ * Beware mbed uses TIM5 for system timer, SPI needs TIM1, others used for PWM.
  * Check your platform's PeripheralPins.c & PeripheralNames.h if you need both PWM & encoders.
  *
  * Edit HAL_TIM_Encoder_MspInitFx.cpp to suit your mcu & board's available pinouts & pullups/downs.
@@ -21,24 +21,30 @@
 #include "mbed.h"
 #include "Encoder.h"
 
+//STM mbed bug: these macros are MISSING from stm32f3xx_hal_tim.h
+#ifdef TARGET_STM32F3
+#define __HAL_TIM_GET_COUNTER(__HANDLE__) ((__HANDLE__)->Instance->CNT)
+#define __HAL_TIM_IS_TIM_COUNTING_DOWN(__HANDLE__)            (((__HANDLE__)->Instance->CR1 &(TIM_CR1_DIR)) == (TIM_CR1_DIR))
+#endif
+
 TIM_Encoder_InitTypeDef encoder1, encoder2, encoder3, encoder4;
-TIM_HandleTypeDef timer1, timer2, timer3, timer4;
+TIM_HandleTypeDef  timer1,  timer2,  timer3,  timer4;
 
 int main()
 {
     //examples
     
     //counting on A-input only, 2 ticks per cycle, rolls over at 100
-    EncoderInit(encoder1, timer1, TIM1, 99, TIM_ENCODERMODE_TI1);
-    
+    EncoderInit(&encoder1, &timer1, TIM1, 99, TIM_ENCODERMODE_TI1);
+
     //counting on both A&B inputs, 4 ticks per cycle, full 32-bit count
-    EncoderInit(encoder2, timer2, TIM2, 0xffffffff, TIM_ENCODERMODE_TI12);
+    EncoderInit(&encoder2, &timer2, TIM2, 0xffffffff, TIM_ENCODERMODE_TI12);
 
     //counting on B-input only, 2 ticks per cycle, full 16-bit count
-    EncoderInit(encoder3, timer3, TIM3, 0xffff, TIM_ENCODERMODE_TI2);
+    EncoderInit(&encoder3, &timer3, TIM3, 0xffff, TIM_ENCODERMODE_TI2);
     
     //counting on both A&B inputs, 4 ticks per cycle, full 16-bit count
-    EncoderInit(encoder4, timer4, TIM4, 0xffff, TIM_ENCODERMODE_TI12);
+    EncoderInit(&encoder4, &timer4, TIM4, 0xffff, TIM_ENCODERMODE_TI12);
     
     //TIM5 is used by mbed for systick
     //EncoderInit(encoder2, timer2, TIM5, 0xffffffff, TIM_ENCODERMODE_TI12);
@@ -46,15 +52,43 @@
     printf("STM HAL encoder demo\n\r");
     
     while(1) {
-        int16_t count1=0, count3=0, count4=0;
-        int32_t count2=0, count5=0;
+        uint16_t count1=0, count3=0, count4=0;
+        uint32_t count2=0;
+        int8_t dir1, dir2, dir3, dir4;
+
         
-        count1=TIM1->CNT; //OK 401 411 TICKER 030
-        count2=TIM2->CNT; //OK 401 411 N/A 030
-        count3=TIM3->CNT; //OK 401 411 030
-        count4=TIM4->CNT; //OK 401 NOK 411 N/A 030
-        count5=TIM5->CNT; //TICKER 401 411 N/A 030
-        printf("%d %d %d %d %d\r\n", count1, count2, count3, count4, count5);
-        wait(1.0);
+        //OK 401 411 446 TICKER 030
+        //count1=TIM1->CNT;
+        //dir1=TIM1->CR1&TIM_CR1_DIR;
+        count1=__HAL_TIM_GET_COUNTER(&timer1);
+        dir1 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer1);
+
+        //OK 401 411 446 NOK 030
+        //count2=TIM2->CNT;
+        //dir2=TIM2->CR1&TIM_CR1_DIR;
+        count2=__HAL_TIM_GET_COUNTER(&timer2);
+        dir2 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2);
+
+        //OK 401 411 446 030
+        //count3=TIM3->CNT;
+        //dir3=TIM3->CR1&TIM_CR1_DIR;
+        count3=__HAL_TIM_GET_COUNTER(&timer3);
+        dir3 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer3);
+
+        //OK 401 411 446 N/A 030
+        //count4=TIM4->CNT;
+        //dir4=TIM4->CR1&TIM_CR1_DIR;
+        count4=__HAL_TIM_GET_COUNTER(&timer4);
+        dir4 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer4);
+
+        //TICKER 401 411 446 N/A 030
+//        count5=__HAL_TIM_GET_COUNTER(&timer5);
+//        dir5 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer5);
+        
+        printf("%d%s %d%s %d%s %d%s\r\n", count1, dir1==0 ? "+":"-",
+                                             count2, dir2==0 ? "+":"-",
+                                             count3, dir3==0 ? "+":"-",
+                                             count4, dir4==0 ? "+":"-" );
+        wait(0.5);
     }
 }