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incr_encoder angle calculation

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This commit is contained in:
Jasper Güldenstein 2020-11-14 16:29:49 +01:00
parent 1b68b7f6d0
commit b8ea95d790
2 changed files with 23 additions and 4 deletions
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25
keil_project/Services/IncrEncoder.c
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@ -1,9 +1,17 @@
#include <stdlib.h>
#include <math.h>
#include "IncrEncoder.h"
#include "stm32f1xx_ll_gpio.h"
#include "stm32f1xx_ll_bus.h"
#include "stm32f1xx_ll_exti.h"
#include "stm32f1xx_ll_tim.h"
#define RESOLUTION 1
#define ANGLE_DEBUT 45
#define INCR_ENCODER_MID_VALUE 719
int index_passed = 0;
int counts_per_revolution = 360;
@ -45,9 +53,9 @@ void INCR_ENCODER_Init(void){
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_ENCODER_Init(TIM3, &encoder_init_struct);
LL_TIM_EnableCounter(TIM3);
LL_TIM_EnableCounter(TIM3);
LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_AFIO);
@ -78,6 +86,7 @@ void INCR_ENCODER_Init(void){
}
void EXTI9_5_IRQHandler(void){
index_passed = 1;
// reset counter = encoder position to 0 position
LL_TIM_WriteReg(TIM3,CNT,0);
@ -94,5 +103,15 @@ int INCR_ENCODER_IsAbsolute(void)
int INCR_ENCODER_GetAngle(void)
{
return LL_TIM_ReadReg(TIM3,CNT);
int counter_value = LL_TIM_ReadReg(TIM3, CNT);
float vabs = abs(counter_value-INCR_ENCODER_MID_VALUE);
float vIEAngleDebut = INCR_ENCODER_MID_VALUE -(ANGLE_DEBUT*4);
float nbIncrements = 90/RESOLUTION;
if(vabs > vIEAngleDebut)
{
return 0;
}else{
return 90 - RESOLUTION*floor(vabs/(vIEAngleDebut/nbIncrements) ) ;
}
};

2
keil_project/Services/IncrEncoder.h
View file

@ -1,5 +1,5 @@
#ifndef INCR_ENCODER
//codé par Kévin Cavailles et Jasper Güldenstein
/**
*/
void INCR_ENCODER_Init(void);