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R2671/Firmware/src/drivers/incr_encoder.c
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incr_encoder.c
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#include "incr_encoder.h"
void tim5InitFunc(void);
void extitInitFunc(void);
float32_t enc_offset; // [deg].
/**
* @brief Initialize the incremental encoder driver.
*
* This function initialize the timer 5 as a quadrature decoder, and set the
* current paddle position to zero.
*/
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.
enc_offset = 0.0f;
}
/**
* @brief Returns the current paddle position measured by the encoder counter.
* @retval The current angle of the paddle [deg].
*/
float32_t enc_GetPosition(void)
{
// Convert the counter value (coder increments) to the paddle angle in degrees.
int32_t rawCounter = (int32_t)TIM_GetCounter(TIM5); // Coder position (max +/- 2^31).
float32_t outputAngle = ((float32_t)rawCounter) / ((float32_t)CODER_RESOLUTION) * 360.0f / REDUCTION_RATIO;
outputAngle += enc_offset;
return outputAngle;
}
/**
* @brief Set the position offset.
*
* The new position offset is computed such that the given position will now be
* returned by enc_GetPosition() if the paddle remains at this physical position.
* @param newPosition the new paddle position.
*/
void enc_SetPosition(float32_t newPosition)
{
enc_offset = 0.0f;
enc_offset = newPosition - enc_GetPosition();
}
/**
* @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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