Brandon Modon Encoder_Nucleo_16_bits
Diff: Nucleo_Encoder_16_bits.h
- Revision:
- 4:734474ae54b9
- Parent:
- 2:b83f2956cc8e
- Child:
- 5:018659d4022a
--- a/Nucleo_Encoder_16_bits.h Wed Jun 08 22:07:03 2016 +0000 +++ b/Nucleo_Encoder_16_bits.h Thu Jun 09 10:32:13 2016 +0000 @@ -2,6 +2,80 @@ #define ENCODER_H #include "mbed.h" #include "CAN.h" +/* +#include "mbed.h" +#include "Nucleo_Encoder_16_bits.h" +#include "CAN.h" + +/* + * HAL_TIM_Encoder_MspInit() + * Overrides the __weak function stub in stm32f4xx_hal_tim.h + * + * Edit the below for your preferred pin wiring & pullup/down + * I have encoder common at 3V3, using GPIO_PULLDOWN on inputs. + * Encoder A&B outputs connected directly to GPIOs. + * + * www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00102166.pdf + * www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00141306.pdf + * + * TIM1_CH1: AF1 @ PA_8, PE_9 + * TIM1_CH2: AF1 @ PA_9, PE_11 + * + * TIM2_CH1: AF1 @ PA_0, PA_5, PA_15, PB_8* *F446 only + * TIM2_CH2: AF1 @ PA_1, PB_3, PB_9* *F446 only + * + * TIM3_CH1: AF2 @ PA_6, PB_4, PC_6 + * TIM3_CH2: AF2 @ PA_7, PB_5, PC_7 + * + * TIM4_CH1: AF2 @ PB_6, PD_12 + * TIM4_CH2: AF2 @ PB_7, PD_13 + * + * TIM5_CH1: AF2 @ PA_0* *TIM5 used by mbed system ticker so unavailable + * TIM5_CH2: AF2 @ PA_1* + * + */ + + +//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 +#define PERIMETRE_ROUE_CODEUSE 160.0 +#define LARGEUR_ROBOT 270.0 +#define PI 3.14159265359 +#define RESOLUTION_ROUE_CODEUSE 1024.0 + + +Nucleo_Encoder_16_bits encoder1(TIM3, 0xffff, TIM_ENCODERMODE_TI12); +Nucleo_Encoder_16_bits encoder2(TIM1, 0xffff, TIM_ENCODERMODE_TI12); + +int cpt = 0, dist_d, dist_g; +double D, theta, x, y; + +int main() +{ + printf("Debut du prog"); + + + while(1) + { + wait_ms(10); + dist_d = encoder1.GetCounter() - dist_d; + dist_g = encoder2.GetCounter() - dist_g; + D = 0.5 * (dist_d + dist_g); + theta += 0.5 * (dist_d - dist_g) * 360.0 * PERIMETRE_ROUE_CODEUSE/(LARGEUR_ROBOT*PI*RESOLUTION_ROUE_CODEUSE); + x = D * cos(theta * PI / 180.0) * PERIMETRE_ROUE_CODEUSE / RESOLUTION_ROUE_CODEUSE; + y = D * sin(theta * PI / 180.0) * PERIMETRE_ROUE_CODEUSE / RESOLUTION_ROUE_CODEUSE; + cpt ++; + if(cpt >= 50) + { + printf("\n\rX : %d\n\rY : %d\n\rTheta : %d\n\r**********\n\r", (int)x, (int)y, (int)theta); + } + } + +} +*/ void EncoderInit(TIM_Encoder_InitTypeDef * encoder, TIM_HandleTypeDef * timer, TIM_TypeDef * TIMx, uint32_t maxcount, uint32_t encmode);