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incr_encoder.c
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Created
Mon, Oct 21, 02:41
Size
4 KB
Mime Type
text/x-c
Expires
Wed, Oct 23, 02:41 (2 d)
Engine
blob
Format
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Handle
21831940
Attached To
R2671 HHRI-software
incr_encoder.c
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#include "incr_encoder.h"
void
tim5InitFunc
(
void
);
void
extitInitFunc
(
void
);
/**
* @brief Initialize the incremental encoder driver.
*/
void
enc_Init
(
void
)
{
tim5InitFunc
();
// Setup the timer 5 to be incremented with the quadrature signal of the encoder.
//extitInitFunc(); // Setup interrupt for the index line of the encoder.
}
/**
* @brief Returns the current position measured by the encoder counter.
* @retval The current position of the motor shaft [encoder increments].
*/
int32_t
enc_GetPosition
(
void
)
{
return
(
int32_t
)
TIM_GetCounter
(
TIM5
);
// Coder position (max +/-2147483648)
}
/**
* @brief Initialize TIM5 as a counter for quadrature signals.
*/
void
tim5InitFunc
(
void
)
{
TIM_TimeBaseInitTypeDef
TIM_TimeBaseStruct
;
GPIO_InitTypeDef
GPIO_InitStruct
;
// Setup the two pins wired to the encoder, to be used as the "clock" of the timer.
RCC_APB1PeriphClockCmd
(
RCC_APB1Periph_TIM5
,
ENABLE
);
GPIO_InitStruct
.
GPIO_Mode
=
GPIO_Mode_AF
;
GPIO_InitStruct
.
GPIO_Speed
=
GPIO_Speed_100MHz
;
GPIO_InitStruct
.
GPIO_OType
=
GPIO_OType_PP
;
GPIO_InitStruct
.
GPIO_PuPd
=
GPIO_PuPd_UP
;
GPIO_InitStruct
.
GPIO_Pin
=
CODER_A_Pin
;
GPIO_Init
(
CODER_A_Port
,
&
GPIO_InitStruct
);
GPIO_PinAFConfig
(
CODER_A_Port
,
CODER_A_PinSource
,
GPIO_AF_TIM5
);
GPIO_InitStruct
.
GPIO_Pin
=
CODER_B_Pin
;
GPIO_Init
(
CODER_B_Port
,
&
GPIO_InitStruct
);
GPIO_PinAFConfig
(
CODER_B_Port
,
CODER_B_PinSource
,
GPIO_AF_TIM5
);
TIM_TimeBaseStruct
.
TIM_Period
=
0xFFFFFFFF
;
TIM_TimeBaseStruct
.
TIM_Prescaler
=
(
uint16_t
)
0
;
TIM_TimeBaseStruct
.
TIM_ClockDivision
=
0
;
TIM_TimeBaseStruct
.
TIM_CounterMode
=
TIM_CounterMode_Up
;
TIM_TimeBaseInit
(
TIM5
,
&
TIM_TimeBaseStruct
);
TIM_EncoderInterfaceConfig
(
TIM5
,
TIM_EncoderMode_TI12
,
TIM_ICPolarity_Rising
,
TIM_ICPolarity_Rising
);
TIM_SetCounter
(
TIM5
,
0
);
TIM_Cmd
(
TIM5
,
ENABLE
);
}
/**
* @brief Initialize interrupt from Index line of the coder
*/
void
extitInitFunc
(
void
)
{
NVIC_InitTypeDef
NVIC_InitStruct
;
EXTI_InitTypeDef
EXTI_InitStruct
;
GPIO_InitTypeDef
GPIO_InitStruct
;
RCC_APB2PeriphClockCmd
(
RCC_APB2Periph_SYSCFG
,
ENABLE
);
GPIO_InitStruct
.
GPIO_Mode
=
GPIO_Mode_IN
;
GPIO_InitStruct
.
GPIO_PuPd
=
GPIO_PuPd_NOPULL
;
GPIO_InitStruct
.
GPIO_Pin
=
CODER_I_Pin
;
GPIO_Init
(
CODER_I_Port
,
&
GPIO_InitStruct
);
SYSCFG_EXTILineConfig
(
EXTI_PortSourceGPIOB
,
EXTI_PinSource8
);
EXTI_InitStruct
.
EXTI_Mode
=
EXTI_Mode_Interrupt
;
EXTI_InitStruct
.
EXTI_Trigger
=
EXTI_Trigger_Rising
;
EXTI_InitStruct
.
EXTI_LineCmd
=
ENABLE
;
EXTI_InitStruct
.
EXTI_Line
=
EXTI_Line8
;
EXTI_Init
(
&
EXTI_InitStruct
);
NVIC_InitStruct
.
NVIC_IRQChannel
=
EXTI9_5_IRQn
;
NVIC_InitStruct
.
NVIC_IRQChannelPreemptionPriority
=
CODER_INDEX_IRQ_PRIORITY
;
NVIC_InitStruct
.
NVIC_IRQChannelSubPriority
=
0x00
;
NVIC_InitStruct
.
NVIC_IRQChannelCmd
=
ENABLE
;
NVIC_Init
(
&
NVIC_InitStruct
);
}
/**
* @brief Interrupt from Index line of the coder (check step loss)
* @note This function currently does nothing.
*/
void
EXTI9_5_IRQHandler
(
void
){
// static int32_t motorPosTurn_old = 0;
// static int32_t motorPosTurn_old_tmp = 0;
// int16_t localVar;
if
(
EXTI_GetITStatus
(
EXTI_Line8
)
!=
RESET
)
{
// localVar = (int16_t)TIM_GetCounter(TIM4);
// debugVar02 = localVar;
// if(localVar>1000){
// motorPosTurn_old = motorPosTurn;
// motorPosTurn++;
// }else if(localVar<(-1000)){
// motorPosTurn_old = motorPosTurn;
// motorPosTurn--;
// }else{
// motorPosTurn_old_tmp = motorPosTurn;
// motorPosTurn = motorPosTurn_old;
// motorPosTurn_old = motorPosTurn_old_tmp;
// }
//
// TIM_SetCounter(TIM4,(uint32_t)CODER_INDEX_POS);
// if(~statusReg & REF_POS_INIT){ // First time index is detected.
// statusReg |= REF_POS_INIT;
// motorPosTurn = 0;
// //TIM_SetCounter(TIM4,(uint32_t)6000);
// }
EXTI_ClearITPendingBit
(
EXTI_Line8
);
}
}
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