Hello World example for interfacing up to four rotary encoders to the STM32's timer/counter hardware, without interrupts.
main.cpp
- Committer:
- gregeric
- Date:
- 2015-10-04
- Revision:
- 1:cd7b42c99ff8
- Parent:
- 0:ee5cb967aa17
File content as of revision 1:cd7b42c99ff8:
/* * Using STM32's counter peripherals to interface rotary encoders. * Encoders are supported on F4xx's TIM1,2,3,4,5. TIM2 & TIM5 have 32bit count, others 16bit. * Beware mbed uses TIM5 for system timer, SPI needs TIM1, others used for PWM. * Check your platform's PeripheralPins.c & PeripheralNames.h if you need both PWM & encoders. * * Edit HAL_TIM_Encoder_MspInitFx.cpp to suit your mcu & board's available pinouts & pullups/downs. * * Thanks to: * http://petoknm.wordpress.com/2015/01/05/rotary-encoder-and-stm32/ * * References: * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/user_manual/DM00122015.pdf * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/reference_manual/DM00096844.pdf * http://www.st.com/web/en/resource/technical/document/application_note/DM00042534.pdf * http://www.st.com/web/en/resource/technical/document/datasheet/DM00102166.pdf * * David Lowe Jan 2015 */ #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 TIM_Encoder_InitTypeDef encoder1, encoder2, encoder3, encoder4; TIM_HandleTypeDef timer1, timer2, timer3, timer4; int main() { //examples //counting on A-input only, 2 ticks per cycle, rolls over at 100 EncoderInit(&encoder1, &timer1, TIM1, 99, TIM_ENCODERMODE_TI1); //counting on both A&B inputs, 4 ticks per cycle, full 32-bit count EncoderInit(&encoder2, &timer2, TIM2, 0xffffffff, TIM_ENCODERMODE_TI12); //counting on B-input only, 2 ticks per cycle, full 16-bit count EncoderInit(&encoder3, &timer3, TIM3, 0xffff, TIM_ENCODERMODE_TI2); //counting on both A&B inputs, 4 ticks per cycle, full 16-bit count EncoderInit(&encoder4, &timer4, TIM4, 0xffff, TIM_ENCODERMODE_TI12); //TIM5 is used by mbed for systick //EncoderInit(encoder2, timer2, TIM5, 0xffffffff, TIM_ENCODERMODE_TI12); printf("STM HAL encoder demo\n\r"); while(1) { uint16_t count1=0, count3=0, count4=0; uint32_t count2=0; int8_t dir1, dir2, dir3, dir4; //OK 401 411 446 TICKER 030 //count1=TIM1->CNT; //dir1=TIM1->CR1&TIM_CR1_DIR; count1=__HAL_TIM_GET_COUNTER(&timer1); dir1 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer1); //OK 401 411 446 NOK 030 //count2=TIM2->CNT; //dir2=TIM2->CR1&TIM_CR1_DIR; count2=__HAL_TIM_GET_COUNTER(&timer2); dir2 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2); //OK 401 411 446 030 //count3=TIM3->CNT; //dir3=TIM3->CR1&TIM_CR1_DIR; count3=__HAL_TIM_GET_COUNTER(&timer3); dir3 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer3); //OK 401 411 446 N/A 030 //count4=TIM4->CNT; //dir4=TIM4->CR1&TIM_CR1_DIR; count4=__HAL_TIM_GET_COUNTER(&timer4); dir4 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer4); //TICKER 401 411 446 N/A 030 // count5=__HAL_TIM_GET_COUNTER(&timer5); // dir5 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer5); printf("%d%s %d%s %d%s %d%s\r\n", count1, dir1==0 ? "+":"-", count2, dir2==0 ? "+":"-", count3, dir3==0 ? "+":"-", count4, dir4==0 ? "+":"-" ); wait(0.5); } }