Brian Lee / hallsensor_software_decoder

hall sensor decoder

Dependents:   mobile_robot_lab3_rosserial mobile_robot_lab3_rosserial mobile-robot-vehicle-control

hallsensor_hardware_decoder.h@5:b6d81c106fd1, 2019-03-29 (annotated)

Committer:
bobolee1239
Date:
Fri Mar 29 05:59:43 2019 +0000
Revision:
5:b6d81c106fd1
Parent:
0:0532a6e10a23 
revised decoder (correct -> wrong) --- Brian

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bobolee1239 0:0532a6e10a23 1 #ifndef _HALLSENSOR_HARDWARE_DECODER_H
bobolee1239 0:0532a6e10a23 2 #define _HALLSENSOR_HARDWARE_DECODER_H
bobolee1239 0:0532a6e10a23 3
bobolee1239 0:0532a6e10a23 4
bobolee1239 0:0532a6e10a23 5
bobolee1239 0:0532a6e10a23 6 #include "mbed.h"
bobolee1239 0:0532a6e10a23 7
bobolee1239 0:0532a6e10a23 8 // Hardware Quadrature Encoder ABZ for Nucleo F401RE
bobolee1239 0:0532a6e10a23 9 // Output on debug port to host PC @ 9600 baud
bobolee1239 0:0532a6e10a23 10
bobolee1239 0:0532a6e10a23 11
bobolee1239 0:0532a6e10a23 12 /* Connections
bobolee1239 0:0532a6e10a23 13 PA_0 = Encoder A
bobolee1239 0:0532a6e10a23 14 PA_1 = Encoder B
bobolee1239 0:0532a6e10a23 15 PA_4 = Encoder Z
bobolee1239 0:0532a6e10a23 16 */
bobolee1239 0:0532a6e10a23 17
bobolee1239 0:0532a6e10a23 18 InterruptIn ZPulse(PA_4) ; // Setup Interrupt for Z Pulse
bobolee1239 0:0532a6e10a23 19
bobolee1239 0:0532a6e10a23 20
bobolee1239 0:0532a6e10a23 21 void EncoderInitialise(void)
bobolee1239 0:0532a6e10a23 22 {
bobolee1239 0:0532a6e10a23 23 // configure GPIO PA0 & PA1 as inputs for Encoder
bobolee1239 0:0532a6e10a23 24 RCC->AHB1ENR |= 0x00000001; // Enable clock for GPIOA
bobolee1239 0:0532a6e10a23 25
bobolee1239 0:0532a6e10a23 26 GPIOA->MODER |= 0x0000000A;//GPIO_MODER_MODER0_1 | GPIO_MODER_MODER1_1 ; //PA0 & PA1 as Alternate Function /*!< GPIO port mode register, Address offset: 0x00 */
bobolee1239 0:0532a6e10a23 27 GPIOA->OTYPER |= 0x00000003;//GPIO_OTYPER_OT_0 | GPIO_OTYPER_OT_1 ; //PA0 & PA1 as Inputs /*!< GPIO port output type register, Address offset: 0x04 */
bobolee1239 0:0532a6e10a23 28 GPIOA->OSPEEDR |= 0x0000000F;//high speed //GPIO_OSPEEDER_OSPEEDR0 | GPIO_OSPEEDER_OSPEEDR1 ; // Low speed /*!< GPIO port output speed register, Address offset: 0x08 */
bobolee1239 0:0532a6e10a23 29 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 */
bobolee1239 0:0532a6e10a23 30 GPIOA->AFR[0] |= 0x00000011 ; // AF01 for PA0 & PA1 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
bobolee1239 0:0532a6e10a23 31 GPIOA->AFR[1] |= 0x00000000 ; // /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
bobolee1239 0:0532a6e10a23 32
bobolee1239 0:0532a6e10a23 33 // configure TIM2 as Encoder input
bobolee1239 0:0532a6e10a23 34 RCC->APB1ENR |= 0x00000001; // Enable clock for TIM2
bobolee1239 0:0532a6e10a23 35
bobolee1239 0:0532a6e10a23 36 TIM2->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1
bobolee1239 0:0532a6e10a23 37 TIM2->SMCR = 0x0003; // SMS='011' (Encoder mode 3) < TIM slave mode control register
bobolee1239 0:0532a6e10a23 38 TIM2->CCMR1 = 0xF1F1; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1
bobolee1239 0:0532a6e10a23 39 TIM2->CCMR2 = 0x0000; // < TIM capture/compare mode register 2
bobolee1239 0:0532a6e10a23 40 TIM2->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register
bobolee1239 0:0532a6e10a23 41 TIM2->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler
bobolee1239 0:0532a6e10a23 42 TIM2->ARR = 0xffffffff; // reload at 0xfffffff < TIM auto-reload register
bobolee1239 0:0532a6e10a23 43
bobolee1239 0:0532a6e10a23 44 TIM2->CNT = 0x0000; //reset the counter before we use it
bobolee1239 0:0532a6e10a23 45 }
bobolee1239 0:0532a6e10a23 46
bobolee1239 0:0532a6e10a23 47 void EncoderInitialise_HAL(void)
bobolee1239 0:0532a6e10a23 48 {
bobolee1239 0:0532a6e10a23 49
bobolee1239 0:0532a6e10a23 50
bobolee1239 0:0532a6e10a23 51 // init structure
bobolee1239 0:0532a6e10a23 52 TIM_HandleTypeDef htim2;
bobolee1239 0:0532a6e10a23 53 TIM_Encoder_InitTypeDef sConfig;
bobolee1239 0:0532a6e10a23 54 TIM_MasterConfigTypeDef sMasterConfig;
bobolee1239 0:0532a6e10a23 55 GPIO_InitTypeDef GPIO_InitStruct;
bobolee1239 0:0532a6e10a23 56 // timer GPIO setup
bobolee1239 0:0532a6e10a23 57 __HAL_RCC_GPIOA_CLK_ENABLE();
bobolee1239 0:0532a6e10a23 58 GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;//pin num PA "0"
bobolee1239 0:0532a6e10a23 59 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
bobolee1239 0:0532a6e10a23 60 GPIO_InitStruct.Pull = GPIO_PULLUP;
bobolee1239 0:0532a6e10a23 61 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
bobolee1239 0:0532a6e10a23 62 GPIO_InitStruct.Alternate = GPIO_AF1_TIM2; //timer
bobolee1239 0:0532a6e10a23 63 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); //port P"A"0
bobolee1239 0:0532a6e10a23 64 // basic timer setup
bobolee1239 0:0532a6e10a23 65 __HAL_RCC_TIM2_CLK_ENABLE();
bobolee1239 0:0532a6e10a23 66 htim2.Instance = TIM2; //timer
bobolee1239 0:0532a6e10a23 67 htim2.Init.Prescaler = 0;
bobolee1239 0:0532a6e10a23 68 htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
bobolee1239 0:0532a6e10a23 69 htim2.Init.Period = 0x000fffff;
bobolee1239 0:0532a6e10a23 70 htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
bobolee1239 0:0532a6e10a23 71 //encoder mode setup
bobolee1239 0:0532a6e10a23 72 sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
bobolee1239 0:0532a6e10a23 73 sConfig.IC1Polarity = TIM_ICPOLARITY_FALLING;
bobolee1239 0:0532a6e10a23 74 sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
bobolee1239 0:0532a6e10a23 75 sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
bobolee1239 0:0532a6e10a23 76 sConfig.IC1Filter = 2;
bobolee1239 0:0532a6e10a23 77 sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
bobolee1239 0:0532a6e10a23 78 sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
bobolee1239 0:0532a6e10a23 79 sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
bobolee1239 0:0532a6e10a23 80 sConfig.IC2Filter = 2;
bobolee1239 0:0532a6e10a23 81 HAL_TIM_Encoder_Init(&htim2, &sConfig);
bobolee1239 0:0532a6e10a23 82 // timer mode setup
bobolee1239 0:0532a6e10a23 83 sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
bobolee1239 0:0532a6e10a23 84 sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
bobolee1239 0:0532a6e10a23 85 HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig);
bobolee1239 0:0532a6e10a23 86 // timer start
bobolee1239 0:0532a6e10a23 87 HAL_TIM_Encoder_Start(&htim2, TIM_CHANNEL_ALL);
bobolee1239 0:0532a6e10a23 88
bobolee1239 0:0532a6e10a23 89 }
bobolee1239 0:0532a6e10a23 90
bobolee1239 0:0532a6e10a23 91 // Z Pulse routine
bobolee1239 0:0532a6e10a23 92 void ZeroEncoderCount()
bobolee1239 0:0532a6e10a23 93 {
bobolee1239 0:0532a6e10a23 94 TIM2->CNT=0 ; //reset count to zero
bobolee1239 0:0532a6e10a23 95 }
bobolee1239 0:0532a6e10a23 96
bobolee1239 0:0532a6e10a23 97
bobolee1239 0:0532a6e10a23 98 #endif