jeka/MyOwnEtherCATDevice
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More encapsulation of timer info.

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This commit is contained in:
Hakan Bastedt
2024-01-11 16:44:28 +01:00
parent 5df911296c
commit 6176166b3a
3 changed files with 13 additions and 14 deletions
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13
Firmware/src/MyEncoder.cpp
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@@ -1,7 +1,8 @@
#include "MyENcoder.h"
MyEncoder::MyEncoder(uint8_t _indexPin, void irq(void))
MyEncoder::MyEncoder(TIM_TypeDef *_tim_base, uint8_t _indexPin, void irq(void))
{
tim_base = _tim_base;
indexPin = _indexPin;
attachInterrupt(digitalPinToInterrupt(indexPin), irq, RISING); // When Index triggered
}
@@ -29,21 +30,17 @@ void MyEncoder::indexPulse(void)
{
if (pleaseZeroTheCounter)
{
TIM2->CNT = 0;
tim_base->CNT = 0;
indexPulseFired = 1;
Pos.clear();
TDelta.clear();
pleaseZeroTheCounter = 0;
}
}
void MyEncoder::init(TIM_TypeDef *_tim_base)
void MyEncoder::init()
{
EncoderInit.tim_base = _tim_base;
// Set starting count value
EncoderInit.SetCount(0);
// EncoderInit.SetCount(Tim3, 0);
// EncoderInit.SetCount(Tim4, 0);
// EncoderInit.SetCount(Tim8, 0);
}
uint8_t MyEncoder::indexHappened()
@@ -57,7 +54,7 @@ uint8_t MyEncoder::indexHappened()
return 0;
}
double MyEncoder::currentPos(volatile uint32_t cnt)
double MyEncoder::currentPos()
{
curPos = unwrapEncoder(tim_base->CNT) * PosScaleRes;
return curPos;