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encoder setup from the lost usb key :D

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This commit is contained in:
Jasper Güldenstein 2020-11-11 13:38:40 +01:00
parent b5d8a74b41
commit 974f5e966b
1 changed files with 50 additions and 22 deletions
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72
keil_project/Services/IncrEncoder.c
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@ -2,37 +2,65 @@
#include "stm32f1xx_ll_gpio.h" #include "stm32f1xx_ll_gpio.h"
#include "stm32f1xx_ll_bus.h" #include "stm32f1xx_ll_bus.h"
#include "stm32f1xx_ll_exti.h" #include "stm32f1xx_ll_exti.h"
#include "stm32f1xx_ll_tim.h"
int index_passed = 0; int index_passed = 0;
int counts_per_revolution = 360;
void INCR_ENCODER_Init(void){ void INCR_ENCODER_Init(void){
// use timer in encoder mode (14.3.16)
// attach interrupt to pa5 for i // GPIO initialization for channels a and b of the encoder
// enable gpio clock LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
// configure pin LL_GPIO_InitTypeDef channel_a_pin_conf, channel_b_pin_conf;
// attach interrupt?
channel_a_pin_conf.Mode = LL_GPIO_MODE_FLOATING;
channel_a_pin_conf.Pin = LL_GPIO_PIN_6;
LL_GPIO_Init(GPIOA, &channel_a_pin_conf);
channel_b_pin_conf.Mode = LL_GPIO_MODE_FLOATING;
channel_b_pin_conf.Pin = LL_GPIO_PIN_7;
LL_GPIO_Init(GPIOA, &channel_b_pin_conf);
// timer init
LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM3);
LL_TIM_InitTypeDef tim3_init_struct;
tim3_init_struct.Autoreload= counts_per_revolution*4-1;
tim3_init_struct.Prescaler=0;
tim3_init_struct.ClockDivision=LL_TIM_CLOCKDIVISION_DIV1;
tim3_init_struct.CounterMode=LL_TIM_COUNTERMODE_UP;
tim3_init_struct.RepetitionCounter=0;
LL_TIM_Init(TIM3, &tim3_init_struct);
// timer as encoder init
LL_TIM_ENCODER_InitTypeDef encoder_init_struct;
encoder_init_struct.EncoderMode = LL_TIM_ENCODERMODE_X4_TI12;
encoder_init_struct.IC1Polarity = LL_TIM_IC_POLARITY_RISING;
encoder_init_struct.IC2Polarity = LL_TIM_IC_POLARITY_RISING;
encoder_init_struct.IC1ActiveInput = LL_TIM_ACTIVEINPUT_DIRECTTI;
encoder_init_struct.IC2ActiveInput = LL_TIM_ACTIVEINPUT_DIRECTTI;
encoder_init_struct.IC1Prescaler = LL_TIM_ICPSC_DIV1;
encoder_init_struct.IC2Prescaler= LL_TIM_ICPSC_DIV1;
encoder_init_struct.IC1Filter = LL_TIM_IC_FILTER_FDIV1 ;
encoder_init_struct.IC2Filter = LL_TIM_IC_FILTER_FDIV1 ;
LL_TIM_ENCODER_Init(TIM3, &encoder_init_struct);
LL_TIM_EnableCounter(TIM3);
LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA); LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_AFIO); LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_AFIO);
LL_GPIO_InitTypeDef index_pin_conf, a_pin_conf, b_pin_conf; // gpio init for index (interrup) pin
LL_GPIO_InitTypeDef index_pin_conf;
index_pin_conf.Pin = LL_GPIO_PIN_5; index_pin_conf.Pin = LL_GPIO_PIN_5;
index_pin_conf.Mode = LL_GPIO_MODE_FLOATING; index_pin_conf.Mode = LL_GPIO_MODE_FLOATING;
a_pin_conf.Pin = LL_GPIO_PIN_6;
a_pin_conf.Mode = LL_GPIO_MODE_FLOATING;
b_pin_conf.Pin = LL_GPIO_PIN_7;
b_pin_conf.Mode = LL_GPIO_MODE_FLOATING;
LL_GPIO_Init(GPIOC, &index_pin_conf); LL_GPIO_Init(GPIOC, &index_pin_conf);
LL_GPIO_Init(GPIOC, &a_pin_conf);
LL_GPIO_Init(GPIOC, &b_pin_conf);
// exti init (interrupt)
LL_EXTI_InitTypeDef exti; LL_EXTI_InitTypeDef exti;
exti.Line_0_31 = LL_EXTI_LINE_5; exti.Line_0_31 = LL_EXTI_LINE_5;
@ -41,18 +69,18 @@ void INCR_ENCODER_Init(void){
exti.Trigger = LL_EXTI_TRIGGER_RISING; exti.Trigger = LL_EXTI_TRIGGER_RISING;
LL_EXTI_Init(&exti); LL_EXTI_Init(&exti);
LL_GPIO_AF_SetEXTISource(LL_GPIO_AF_EXTI_PORTA, LL_GPIO_AF_EXTI_LINE5); LL_GPIO_AF_SetEXTISource(LL_GPIO_AF_EXTI_PORTA, LL_GPIO_AF_EXTI_LINE5);
// enable interrupt from exti in NVIC
NVIC_SetPriority(EXTI9_5_IRQn, 12); // prio?? NVIC_SetPriority(EXTI9_5_IRQn, 12); // prio??
NVIC_EnableIRQ(EXTI9_5_IRQn); NVIC_EnableIRQ(EXTI9_5_IRQn);
//TIMER HERE
} }
void EXTI9_5_IRQHandler(void){ void EXTI9_5_IRQHandler(void){
index_passed = 1; index_passed = 1;
//Set cnt to 0 // reset counter = encoder position to 0 position
LL_TIM_WriteReg(TIM3,CNT,0);
// clear pending (EXTI necessary ?) // clear pending (EXTI necessary ?)
LL_EXTI_ClearFlag_0_31(LL_EXTI_LINE_5); LL_EXTI_ClearFlag_0_31(LL_EXTI_LINE_5);
@ -66,5 +94,5 @@ int INCR_ENCODER_IsAbsolute(void)
int INCR_ENCODER_GetAngle(void) int INCR_ENCODER_GetAngle(void)
{ {
//TODO return cnt or fct(cnt) return LL_TIM_ReadReg(TIM3,CNT);
}; };