Diff: main.cpp

Revision:

0:534dccd9b32a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun May 17 07:03:08 2020 +0000
@@ -0,0 +1,77 @@
+#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
+
+// For encoder
+TIM_Encoder_InitTypeDef encoder2, encoder3;
+TIM_HandleTypeDef   timer2, timer3;
+
+//For usb port serial 
+Serial pc(USBTX, USBRX);
+//Led on F4446RE
+DigitalOut  my_led(LED1);
+// Blue button on F446RE
+InterruptIn my_button(USER_BUTTON);
+
+// For PWM for control DC-motor
+PwmOut      motor_R(D2);
+DigitalOut  motor_R_dir(D3);
+PwmOut      motor_L(D7);
+DigitalOut  motor_L_dir(D6);
+
+void pressed() {
+    // Event handler, pressed blue button 
+    // Reverse direction of motor 
+    motor_R_dir = !motor_R_dir;
+    motor_L_dir = !motor_L_dir;
+}
+
+int main()
+{
+    motor_R_dir = 0;
+    motor_L_dir = 0;
+    // Set PWM
+    motor_R.period_ms(10);
+    motor_L.period_ms(10);
+    
+    // Set button
+    my_button.fall(&pressed); // falling trigger
+
+    pc.baud (115200); // USB port baud rate
+    
+    //counting on both A&B inputs, 4 ticks per cycle, full 32-bit count
+    EncoderInit(&encoder2, &timer2, TIM2, 0xffffffff, TIM_ENCODERMODE_TI12);//PA0 PA1 = Nucleo A0 A1 // right motor encoder
+
+    //counting on both A&B inputs, 4 ticks per cycle, full 32-bit count
+    EncoderInit(&encoder3, &timer3, TIM3, 0xffffffff, TIM_ENCODERMODE_TI12);//PB4 PB5 = Nucleo D5 D4// left motor encoder
+    
+    while (1) {
+        uint32_t en_count_R=0, en_count_L=0;
+        int8_t en_dir_R, en_dir_L;
+        
+        //OK 401 411 446 NOK 030
+        //count2=TIM2->CNT;
+        //dir2=TIM2->CR1&TIM_CR1_DIR;
+        en_count_R=__HAL_TIM_GET_COUNTER(&timer2);
+        en_dir_R = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2);
+
+        //OK 401 411 446 030
+        //count3=TIM3->CNT;
+        //dir3=TIM3->CR1&TIM_CR1_DIR;
+        en_count_L=__HAL_TIM_GET_COUNTER(&timer3);
+        en_dir_L = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer3);
+        
+        printf("%d%s %d%s \r\n", en_count_R, en_dir_R==0 ? "+":"-",en_count_L, en_dir_L==0 ? "+":"-");
+        
+        // Controll motor                                      
+        motor_R.write(0.1); // duty time 10%
+        motor_L.write(0.1);
+        my_led = !my_led; // blink LED on STM
+        wait(0.01); // 10 ms
+    }
+}