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Diff: hallsensor_hardware_decoder.h
- Revision:
- 0:0532a6e10a23
diff -r 000000000000 -r 0532a6e10a23 hallsensor_hardware_decoder.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/hallsensor_hardware_decoder.h Wed Mar 13 06:22:03 2019 +0000
@@ -0,0 +1,98 @@
+#ifndef _HALLSENSOR_HARDWARE_DECODER_H
+#define _HALLSENSOR_HARDWARE_DECODER_H
+
+
+
+#include "mbed.h"
+
+// Hardware Quadrature Encoder ABZ for Nucleo F401RE
+// Output on debug port to host PC @ 9600 baud
+
+
+/* Connections
+ PA_0 = Encoder A
+ PA_1 = Encoder B
+ PA_4 = Encoder Z
+*/
+
+InterruptIn ZPulse(PA_4) ; // Setup Interrupt for Z Pulse
+
+
+void EncoderInitialise(void)
+{
+ // configure GPIO PA0 & PA1 as inputs for Encoder
+ RCC->AHB1ENR |= 0x00000001; // Enable clock for GPIOA
+
+ GPIOA->MODER |= 0x0000000A;//GPIO_MODER_MODER0_1 | GPIO_MODER_MODER1_1 ; //PA0 & PA1 as Alternate Function /*!< GPIO port mode register, Address offset: 0x00 */
+ GPIOA->OTYPER |= 0x00000003;//GPIO_OTYPER_OT_0 | GPIO_OTYPER_OT_1 ; //PA0 & PA1 as Inputs /*!< GPIO port output type register, Address offset: 0x04 */
+ GPIOA->OSPEEDR |= 0x0000000F;//high speed //GPIO_OSPEEDER_OSPEEDR0 | GPIO_OSPEEDER_OSPEEDR1 ; // Low speed /*!< GPIO port output speed register, Address offset: 0x08 */
+ GPIOA->PUPDR |= 0x00000005;//pull high //GPIO_PUPDR_PUPDR0_1 | GPIO_PUPDR_PUPDR1_1 ; // Pull Down /*!< GPIO port pull-up/pull-down register, Address offset: 0x0C */
+ GPIOA->AFR[0] |= 0x00000011 ; // AF01 for PA0 & PA1 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
+ GPIOA->AFR[1] |= 0x00000000 ; // /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
+
+ // configure TIM2 as Encoder input
+ RCC->APB1ENR |= 0x00000001; // Enable clock for TIM2
+
+ TIM2->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1
+ TIM2->SMCR = 0x0003; // SMS='011' (Encoder mode 3) < TIM slave mode control register
+ TIM2->CCMR1 = 0xF1F1; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1
+ TIM2->CCMR2 = 0x0000; // < TIM capture/compare mode register 2
+ TIM2->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register
+ TIM2->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler
+ TIM2->ARR = 0xffffffff; // reload at 0xfffffff < TIM auto-reload register
+
+ TIM2->CNT = 0x0000; //reset the counter before we use it
+}
+
+void EncoderInitialise_HAL(void)
+{
+
+
+ // init structure
+ TIM_HandleTypeDef htim2;
+ TIM_Encoder_InitTypeDef sConfig;
+ TIM_MasterConfigTypeDef sMasterConfig;
+ GPIO_InitTypeDef GPIO_InitStruct;
+ // timer GPIO setup
+ __HAL_RCC_GPIOA_CLK_ENABLE();
+ GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;//pin num PA "0"
+ GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+ GPIO_InitStruct.Pull = GPIO_PULLUP;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+ GPIO_InitStruct.Alternate = GPIO_AF1_TIM2; //timer
+ HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); //port P"A"0
+ // basic timer setup
+ __HAL_RCC_TIM2_CLK_ENABLE();
+ htim2.Instance = TIM2; //timer
+ htim2.Init.Prescaler = 0;
+ htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
+ htim2.Init.Period = 0x000fffff;
+ htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+ //encoder mode setup
+ sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
+ sConfig.IC1Polarity = TIM_ICPOLARITY_FALLING;
+ sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
+ sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
+ sConfig.IC1Filter = 2;
+ sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
+ sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
+ sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
+ sConfig.IC2Filter = 2;
+ HAL_TIM_Encoder_Init(&htim2, &sConfig);
+ // timer mode setup
+ sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+ sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+ HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig);
+ // timer start
+ HAL_TIM_Encoder_Start(&htim2, TIM_CHANNEL_ALL);
+
+}
+
+// Z Pulse routine
+void ZeroEncoderCount()
+{
+ TIM2->CNT=0 ; //reset count to zero
+}
+
+
+#endif
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