Hello World example for interfacing up to four rotary encoders to the STM32's timer/counter hardware, without interrupts.
main.cpp
00001 /* 00002 * Using STM32's counter peripherals to interface rotary encoders. 00003 * Encoders are supported on F4xx's TIM1,2,3,4,5. TIM2 & TIM5 have 32bit count, others 16bit. 00004 * Beware mbed uses TIM5 for system timer, SPI needs TIM1, others used for PWM. 00005 * Check your platform's PeripheralPins.c & PeripheralNames.h if you need both PWM & encoders. 00006 * 00007 * Edit HAL_TIM_Encoder_MspInitFx.cpp to suit your mcu & board's available pinouts & pullups/downs. 00008 * 00009 * Thanks to: 00010 * http://petoknm.wordpress.com/2015/01/05/rotary-encoder-and-stm32/ 00011 * 00012 * References: 00013 * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/user_manual/DM00122015.pdf 00014 * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/reference_manual/DM00096844.pdf 00015 * http://www.st.com/web/en/resource/technical/document/application_note/DM00042534.pdf 00016 * http://www.st.com/web/en/resource/technical/document/datasheet/DM00102166.pdf 00017 * 00018 * David Lowe Jan 2015 00019 */ 00020 00021 #include "mbed.h" 00022 #include "Encoder.h" 00023 00024 //STM mbed bug: these macros are MISSING from stm32f3xx_hal_tim.h 00025 #ifdef TARGET_STM32F3 00026 #define __HAL_TIM_GET_COUNTER(__HANDLE__) ((__HANDLE__)->Instance->CNT) 00027 #define __HAL_TIM_IS_TIM_COUNTING_DOWN(__HANDLE__) (((__HANDLE__)->Instance->CR1 &(TIM_CR1_DIR)) == (TIM_CR1_DIR)) 00028 #endif 00029 00030 TIM_Encoder_InitTypeDef encoder1, encoder2, encoder3, encoder4; 00031 TIM_HandleTypeDef timer1, timer2, timer3, timer4; 00032 00033 int main() 00034 { 00035 //examples 00036 00037 //counting on A-input only, 2 ticks per cycle, rolls over at 100 00038 EncoderInit(&encoder1, &timer1, TIM1, 99, TIM_ENCODERMODE_TI1); 00039 00040 //counting on both A&B inputs, 4 ticks per cycle, full 32-bit count 00041 EncoderInit(&encoder2, &timer2, TIM2, 0xffffffff, TIM_ENCODERMODE_TI12); 00042 00043 //counting on B-input only, 2 ticks per cycle, full 16-bit count 00044 EncoderInit(&encoder3, &timer3, TIM3, 0xffff, TIM_ENCODERMODE_TI2); 00045 00046 //counting on both A&B inputs, 4 ticks per cycle, full 16-bit count 00047 EncoderInit(&encoder4, &timer4, TIM4, 0xffff, TIM_ENCODERMODE_TI12); 00048 00049 //TIM5 is used by mbed for systick 00050 //EncoderInit(encoder2, timer2, TIM5, 0xffffffff, TIM_ENCODERMODE_TI12); 00051 00052 printf("STM HAL encoder demo\n\r"); 00053 00054 while(1) { 00055 uint16_t count1=0, count3=0, count4=0; 00056 uint32_t count2=0; 00057 int8_t dir1, dir2, dir3, dir4; 00058 00059 00060 //OK 401 411 446 TICKER 030 00061 //count1=TIM1->CNT; 00062 //dir1=TIM1->CR1&TIM_CR1_DIR; 00063 count1=__HAL_TIM_GET_COUNTER(&timer1); 00064 dir1 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer1); 00065 00066 //OK 401 411 446 NOK 030 00067 //count2=TIM2->CNT; 00068 //dir2=TIM2->CR1&TIM_CR1_DIR; 00069 count2=__HAL_TIM_GET_COUNTER(&timer2); 00070 dir2 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2); 00071 00072 //OK 401 411 446 030 00073 //count3=TIM3->CNT; 00074 //dir3=TIM3->CR1&TIM_CR1_DIR; 00075 count3=__HAL_TIM_GET_COUNTER(&timer3); 00076 dir3 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer3); 00077 00078 //OK 401 411 446 N/A 030 00079 //count4=TIM4->CNT; 00080 //dir4=TIM4->CR1&TIM_CR1_DIR; 00081 count4=__HAL_TIM_GET_COUNTER(&timer4); 00082 dir4 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer4); 00083 00084 //TICKER 401 411 446 N/A 030 00085 // count5=__HAL_TIM_GET_COUNTER(&timer5); 00086 // dir5 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer5); 00087 00088 printf("%d%s %d%s %d%s %d%s\r\n", count1, dir1==0 ? "+":"-", 00089 count2, dir2==0 ? "+":"-", 00090 count3, dir3==0 ? "+":"-", 00091 count4, dir4==0 ? "+":"-" ); 00092 wait(0.5); 00093 } 00094 }
Generated on Tue Jul 12 2022 18:53:57 by 1.7.2