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incr_encoder.h
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Thu, Apr 25, 17:19
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1007 B
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Sat, Apr 27, 17:19 (2 d)
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R2671 HHRI-software
incr_encoder.h
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#ifndef __INCR_ENCODERS_H
#define __INCR_ENCODERS_H
#include "../main.h"
#define CODER_A_Pin GPIO_Pin_0
#define CODER_A_Port GPIOA
#define CODER_A_PinSource GPIO_PinSource0
#define CODER_B_Pin GPIO_Pin_1
#define CODER_B_Port GPIOA
#define CODER_B_PinSource GPIO_PinSource1
#define CODER_I_Pin GPIO_Pin_1
#define CODER_I_Port GPIOE
#define CODER_RESOLUTION ((uint32_t)2000) // Number of increments per turn.
/** @defgroup Encoder Driver / Incremental encoder
* @brief Driver for an incremental encoder.
*
* This driver uses a timer of the STM32, configured as a quadrature decoder.
*
* Call enc_Init() first in the initialization code. Then, call enc_GetPosition() to
* get the decoded value.
* The output value is the paddle position in degrees, taking the reduction
* ratio into account.
*
* @addtogroup Encoder
* @{
*/
void enc_Init(void);
float32_t enc_GetPosition(void);
void enc_SetPosition(float32_t newPosition);
/**
* @}
*/
#endif
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