Ben Katz
/
Quadrature_Test
quadrature testing
Diff: main.cpp
- Revision:
- 0:f3974679f594
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Mon Dec 07 08:24:33 2015 +0000 @@ -0,0 +1,66 @@ +#include "mbed.h" +#include "FastPWM.h" + + +//FastPWM duty(PA_3); +Ticker loop; +unsigned int old_velocity = 0; +unsigned int velocity; +AnalogOut output(A2); + +void EncoderInitialise(void) { + // configure GPIO PA0 & PA1 as inputs for Encoder + RCC->AHB1ENR |= 0x00000001; // Enable clock for GPIOA + + GPIOA->MODER |= GPIO_MODER_MODER0_1 | GPIO_MODER_MODER1_1 ; //PA0 & PA1 as Alternate Function /*!< GPIO port mode register, Address offset: 0x00 */ + GPIOA->OTYPER |= GPIO_OTYPER_OT_0 | GPIO_OTYPER_OT_1 ; //PA0 & PA1 as Inputs /*!< GPIO port output type register, Address offset: 0x04 */ + GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR0 | GPIO_OSPEEDER_OSPEEDR1 ; // Low speed /*!< GPIO port output speed register, Address offset: 0x08 */ + GPIOA->PUPDR |= 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 +} + +// Z Pulse routine +void ZeroEncoderCount() { + TIM2->CNT=0 ; //reset count to zero +} + +void setp(void){ + output.write_u16((TIM2->CNT)<<4); + } + +void print_serial(void){ + velocity = (TIM2->CNT); + printf("%i\n\r",velocity-old_velocity); + old_velocity = velocity; + } + +int main() { + EncoderInitialise() ; + + + unsigned int EncoderPosition ; + loop.attach(&setp, .000001); + + while (true) { + // Print Encoder Quadrature count to debug port every 0.5 seconds + //EncoderPosition = TIM2->CNT ; // Get current position from Encoder + //printf("Encoder Position %i\r\n", EncoderPosition); + //wait(0.1); + } + + +}