Sebastian Grünwald / PM2_Libary

PM2_Lib

Dependencies:   LSM9DS1 RangeFinder FastPWM

EncoderCounter.cpp@23:1926540ebbec, 2022-03-23 (annotated)

Committer:
pmic
Date:
Wed Mar 23 09:46:07 2022 +0000
Revision:
23:1926540ebbec
Parent:
4:9c003c402033 
Renamed ReEnalbe function to Enable in Servo class

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pmic 0:86129f1b4a93 1 /*
pmic 0:86129f1b4a93 2 * EncoderCounter.cpp
pmic 0:86129f1b4a93 3 * Copyright (c) 2018, ZHAW
pmic 0:86129f1b4a93 4 * All rights reserved.
pmic 0:86129f1b4a93 5 */
pmic 0:86129f1b4a93 6
pmic 0:86129f1b4a93 7 #include "EncoderCounter.h"
pmic 0:86129f1b4a93 8
pmic 0:86129f1b4a93 9 using namespace std;
pmic 0:86129f1b4a93 10
pmic 0:86129f1b4a93 11 /**
pmic 0:86129f1b4a93 12 * Creates and initializes the driver to read the quadrature
pmic 0:86129f1b4a93 13 * encoder counter of the STM32 microcontroller.
pmic 0:86129f1b4a93 14 * @param a the input pin for the channel A.
pmic 0:86129f1b4a93 15 * @param b the input pin for the channel B.
pmic 0:86129f1b4a93 16 */
pmic 4:9c003c402033 17 EncoderCounter::EncoderCounter(PinName a, PinName b)
pmic 4:9c003c402033 18 {
pmic 0:86129f1b4a93 19 // check pins
pmic 4:9c003c402033 20
pmic 0:86129f1b4a93 21 if ((a == PA_0) && (b == PA_1)) {
pmic 4:9c003c402033 22
pmic 0:86129f1b4a93 23 // pinmap OK for TIM2 CH1 and CH2
pmic 4:9c003c402033 24
pmic 0:86129f1b4a93 25 TIM = TIM2;
pmic 4:9c003c402033 26
pmic 0:86129f1b4a93 27 // configure general purpose I/O registers
pmic 4:9c003c402033 28
pmic 0:86129f1b4a93 29 GPIOA->MODER &= ~GPIO_MODER_MODER0; // reset port A0
pmic 0:86129f1b4a93 30 GPIOA->MODER |= GPIO_MODER_MODER0_1; // set alternate mode of port A0
pmic 0:86129f1b4a93 31 GPIOA->PUPDR &= ~GPIO_PUPDR_PUPDR0; // reset pull-up/pull-down on port A0
pmic 0:86129f1b4a93 32 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR0_1; // set input as pull-down
pmic 0:86129f1b4a93 33 GPIOA->AFR[0] &= ~(0xF << 4*0); // reset alternate function of port A0
pmic 0:86129f1b4a93 34 GPIOA->AFR[0] |= 1 << 4*0; // set alternate funtion 1 of port A0
pmic 4:9c003c402033 35
pmic 0:86129f1b4a93 36 GPIOA->MODER &= ~GPIO_MODER_MODER1; // reset port A1
pmic 0:86129f1b4a93 37 GPIOA->MODER |= GPIO_MODER_MODER1_1; // set alternate mode of port A1
pmic 0:86129f1b4a93 38 GPIOA->PUPDR &= ~GPIO_PUPDR_PUPDR1; // reset pull-up/pull-down on port A1
pmic 0:86129f1b4a93 39 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR1_1; // set input as pull-down
pmic 0:86129f1b4a93 40 GPIOA->AFR[0] &= ~(0xF << 4*1); // reset alternate function of port A1
pmic 0:86129f1b4a93 41 GPIOA->AFR[0] |= 1 << 4*1; // set alternate funtion 1 of port A1
pmic 4:9c003c402033 42
pmic 0:86129f1b4a93 43 // configure reset and clock control registers
pmic 4:9c003c402033 44
pmic 0:86129f1b4a93 45 RCC->APB1RSTR |= RCC_APB1RSTR_TIM2RST; //reset TIM2 controller
pmic 0:86129f1b4a93 46 RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM2RST;
pmic 4:9c003c402033 47
pmic 0:86129f1b4a93 48 RCC->APB1ENR |= RCC_APB1ENR_TIM2EN; // TIM2 clock enable
pmic 4:9c003c402033 49
pmic 0:86129f1b4a93 50 } else if ((a == PA_6) && (b == PC_7)) {
pmic 4:9c003c402033 51
pmic 0:86129f1b4a93 52 // pinmap OK for TIM3 CH1 and CH2
pmic 4:9c003c402033 53
pmic 0:86129f1b4a93 54 TIM = TIM3;
pmic 4:9c003c402033 55
pmic 0:86129f1b4a93 56 // configure reset and clock control registers
pmic 4:9c003c402033 57
pmic 0:86129f1b4a93 58 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; // manually enable port C (port A enabled by mbed library)
pmic 4:9c003c402033 59
pmic 0:86129f1b4a93 60 // configure general purpose I/O registers
pmic 4:9c003c402033 61
pmic 0:86129f1b4a93 62 GPIOA->MODER &= ~GPIO_MODER_MODER6; // reset port A6
pmic 0:86129f1b4a93 63 GPIOA->MODER |= GPIO_MODER_MODER6_1; // set alternate mode of port A6
pmic 0:86129f1b4a93 64 GPIOA->PUPDR &= ~GPIO_PUPDR_PUPDR6; // reset pull-up/pull-down on port A6
pmic 0:86129f1b4a93 65 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR6_1; // set input as pull-down
pmic 0:86129f1b4a93 66 GPIOA->AFR[0] &= ~(0xF << 4*6); // reset alternate function of port A6
pmic 0:86129f1b4a93 67 GPIOA->AFR[0] |= 2 << 4*6; // set alternate funtion 2 of port A6
pmic 4:9c003c402033 68
pmic 0:86129f1b4a93 69 GPIOC->MODER &= ~GPIO_MODER_MODER7; // reset port C7
pmic 0:86129f1b4a93 70 GPIOC->MODER |= GPIO_MODER_MODER7_1; // set alternate mode of port C7
pmic 0:86129f1b4a93 71 GPIOC->PUPDR &= ~GPIO_PUPDR_PUPDR7; // reset pull-up/pull-down on port C7
pmic 0:86129f1b4a93 72 GPIOC->PUPDR |= GPIO_PUPDR_PUPDR7_1; // set input as pull-down
pmic 0:86129f1b4a93 73 GPIOC->AFR[0] &= ~0xF0000000; // reset alternate function of port C7
pmic 0:86129f1b4a93 74 GPIOC->AFR[0] |= 2 << 4*7; // set alternate funtion 2 of port C7
pmic 4:9c003c402033 75
pmic 0:86129f1b4a93 76 // configure reset and clock control registers
pmic 4:9c003c402033 77
pmic 0:86129f1b4a93 78 RCC->APB1RSTR |= RCC_APB1RSTR_TIM3RST; //reset TIM3 controller
pmic 0:86129f1b4a93 79 RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM3RST;
pmic 4:9c003c402033 80
pmic 0:86129f1b4a93 81 RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; // TIM3 clock enable
pmic 4:9c003c402033 82
pmic 0:86129f1b4a93 83 } else if ((a == PB_6) && (b == PB_7)) {
pmic 4:9c003c402033 84
pmic 0:86129f1b4a93 85 // pinmap OK for TIM4 CH1 and CH2
pmic 4:9c003c402033 86
pmic 0:86129f1b4a93 87 TIM = TIM4;
pmic 4:9c003c402033 88
pmic 0:86129f1b4a93 89 // configure reset and clock control registers
pmic 4:9c003c402033 90
pmic 0:86129f1b4a93 91 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN; // manually enable port B (port A enabled by mbed library)
pmic 4:9c003c402033 92
pmic 0:86129f1b4a93 93 // configure general purpose I/O registers
pmic 4:9c003c402033 94
pmic 0:86129f1b4a93 95 GPIOB->MODER &= ~GPIO_MODER_MODER6; // reset port B6
pmic 0:86129f1b4a93 96 GPIOB->MODER |= GPIO_MODER_MODER6_1; // set alternate mode of port B6
pmic 0:86129f1b4a93 97 GPIOB->PUPDR &= ~GPIO_PUPDR_PUPDR6; // reset pull-up/pull-down on port B6
pmic 0:86129f1b4a93 98 GPIOB->PUPDR |= GPIO_PUPDR_PUPDR6_1; // set input as pull-down
pmic 0:86129f1b4a93 99 GPIOB->AFR[0] &= ~(0xF << 4*6); // reset alternate function of port B6
pmic 0:86129f1b4a93 100 GPIOB->AFR[0] |= 2 << 4*6; // set alternate funtion 2 of port B6
pmic 4:9c003c402033 101
pmic 0:86129f1b4a93 102 GPIOB->MODER &= ~GPIO_MODER_MODER7; // reset port B7
pmic 0:86129f1b4a93 103 GPIOB->MODER |= GPIO_MODER_MODER7_1; // set alternate mode of port B7
pmic 0:86129f1b4a93 104 GPIOB->PUPDR &= ~GPIO_PUPDR_PUPDR7; // reset pull-up/pull-down on port B7
pmic 0:86129f1b4a93 105 GPIOB->PUPDR |= GPIO_PUPDR_PUPDR7_1; // set input as pull-down
pmic 0:86129f1b4a93 106 GPIOB->AFR[0] &= ~0xF0000000; // reset alternate function of port B7
pmic 0:86129f1b4a93 107 GPIOB->AFR[0] |= 2 << 4*7; // set alternate funtion 2 of port B7
pmic 4:9c003c402033 108
pmic 0:86129f1b4a93 109 // configure reset and clock control registers
pmic 4:9c003c402033 110
pmic 0:86129f1b4a93 111 RCC->APB1RSTR |= RCC_APB1RSTR_TIM4RST; //reset TIM4 controller
pmic 0:86129f1b4a93 112 RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM4RST;
pmic 4:9c003c402033 113
pmic 0:86129f1b4a93 114 RCC->APB1ENR |= RCC_APB1ENR_TIM4EN; // TIM4 clock enable
pmic 4:9c003c402033 115
pmic 0:86129f1b4a93 116 } else {
pmic 4:9c003c402033 117
pmic 0:86129f1b4a93 118 printf("pinmap not found for peripheral\n");
pmic 0:86129f1b4a93 119 }
pmic 4:9c003c402033 120
pmic 0:86129f1b4a93 121 // configure general purpose timer 3 or 4
pmic 4:9c003c402033 122
pmic 0:86129f1b4a93 123 TIM->CR1 = 0x0000; // counter disable
pmic 0:86129f1b4a93 124 TIM->CR2 = 0x0000; // reset master mode selection
pmic 0:86129f1b4a93 125 TIM->SMCR = TIM_SMCR_SMS_1 | TIM_SMCR_SMS_0; // counting on both TI1 & TI2 edges
pmic 0:86129f1b4a93 126 TIM->CCMR1 = TIM_CCMR1_CC2S_0 | TIM_CCMR1_CC1S_0;
pmic 0:86129f1b4a93 127 TIM->CCMR2 = 0x0000; // reset capture mode register 2
pmic 0:86129f1b4a93 128 TIM->CCER = TIM_CCER_CC2E | TIM_CCER_CC1E;
pmic 0:86129f1b4a93 129 TIM->CNT = 0x0000; // reset counter value
pmic 0:86129f1b4a93 130 TIM->ARR = 0xFFFF; // auto reload register
pmic 0:86129f1b4a93 131 TIM->CR1 = TIM_CR1_CEN; // counter enable
pmic 0:86129f1b4a93 132 }
pmic 0:86129f1b4a93 133
pmic 0:86129f1b4a93 134 EncoderCounter::~EncoderCounter() {}
pmic 0:86129f1b4a93 135
pmic 0:86129f1b4a93 136 /**
pmic 0:86129f1b4a93 137 * Resets the counter value to zero.
pmic 0:86129f1b4a93 138 */
pmic 4:9c003c402033 139 void EncoderCounter::reset()
pmic 4:9c003c402033 140 {
pmic 0:86129f1b4a93 141 TIM->CNT = 0x0000;
pmic 0:86129f1b4a93 142 }
pmic 0:86129f1b4a93 143
pmic 0:86129f1b4a93 144 /**
pmic 0:86129f1b4a93 145 * Resets the counter value to a given offset value.
pmic 0:86129f1b4a93 146 * @param offset the offset value to reset the counter to.
pmic 0:86129f1b4a93 147 */
pmic 4:9c003c402033 148 void EncoderCounter::reset(int16_t offset)
pmic 4:9c003c402033 149 {
pmic 0:86129f1b4a93 150 TIM->CNT = -offset;
pmic 0:86129f1b4a93 151 }
pmic 0:86129f1b4a93 152
pmic 0:86129f1b4a93 153 /**
pmic 0:86129f1b4a93 154 * Reads the quadrature encoder counter value.
pmic 0:86129f1b4a93 155 * @return the quadrature encoder counter as a signed 16-bit integer value.
pmic 0:86129f1b4a93 156 */
pmic 4:9c003c402033 157 int16_t EncoderCounter::read()
pmic 4:9c003c402033 158 {
pmic 0:86129f1b4a93 159 return static_cast<int16_t>(-TIM->CNT);
pmic 0:86129f1b4a93 160 }
pmic 0:86129f1b4a93 161
pmic 0:86129f1b4a93 162 /**
pmic 0:86129f1b4a93 163 * The empty operator is a shorthand notation of the <code>read()</code> method.
pmic 0:86129f1b4a93 164 */
pmic 4:9c003c402033 165 EncoderCounter::operator int16_t()
pmic 4:9c003c402033 166 {
pmic 0:86129f1b4a93 167 return read();
pmic 0:86129f1b4a93 168 }
pmic 0:86129f1b4a93 169
pmic 0:86129f1b4a93 170
pmic 0:86129f1b4a93 171