Mods to make encoder work again, and a possible 2nd iteration of encoder config

Firmware/include/MyEncoder.h

@@ -2,7 +2,7 @@
 #define MYENCODER
 #include "Stm32F4_Encoder.h"
 #include <CircularBuffer.hpp>
-#define RINGBUFFERLEN 101
+#define RINGBUFFERLEN 11
 
 class MyEncoder
 {
@@ -30,6 +30,7 @@ private:
     CircularBuffer<double_t, RINGBUFFERLEN> Pos;
     CircularBuffer<uint32_t, RINGBUFFERLEN> TDelta;
     double curPos;
+    double oldFrequency;
 
     TIM_TypeDef *tim_base;
 };

Firmware/include/Stm32F4_Encoder.h

@@ -641,7 +641,8 @@ public:
   uint16_t GetCount();
 };
 
-void rcc_config();
+void encoder_config();
+void encoder2_config(); // Experimental
 void GpioConfigPortA(GPIO_TypeDef *GPIOx);
 void GpioConfigPortC(GPIO_TypeDef *GPIOx);
 void GpioConfigPortD(GPIO_TypeDef *GPIOx);

Firmware/src/MyEncoder.cpp

@@ -61,14 +61,19 @@ double MyEncoder::frequency(uint64_t time)
 
     double diffT = 0;
     double diffPos = 0;
+    double frequency;
     TDelta.push(time); // Running average over the length of the circular buffer
     Pos.push(curPos);
-    if (Pos.size() >= 2)
+    if (Pos.size() == RINGBUFFERLEN)
     {
-        diffT = 1.0e-9 * (TDelta.last() - TDelta.first()); // Time is in nanoseconds
+        diffT = 1.0e-6 * (TDelta.last() - TDelta.first()); // Time is in microseconds
         diffPos = fabs(Pos.last() - Pos.first());
+        frequency = diffPos / diffT;
+        oldFrequency = frequency;
+        return frequency; // Revolutions per second
     }
-    return diffT != 0 ? diffPos / diffT : 0.0; // Revolutions per second
+    else
+        return oldFrequency;
 }
 uint8_t MyEncoder::getIndexState()
 {

Firmware/src/Stm32F4_Encoder.cpp

@@ -263,7 +263,7 @@ void GPIO_PinAF(GPIO_TypeDef *GPIOx, uint16_t GPIO_PinSource, uint8_t GPIO_AF)
     GPIOx->AFR[GPIO_PinSource >> 0x03] = temp_2;
 }
 
-void rcc_config()
+void encoder_config()
 {
     RCC->AHB1ENR |= 0x1;  // GPIOA
     RCC->AHB1ENR |= 0x4;  // GPIOC
@@ -327,3 +327,65 @@ void rcc_config()
     TIM3->CNT = 0;
 #endif
 }
+
+void encoder2_config()
+{
+#if 0
+#include "mbed.h"
+#include "stm32f4xx.h"
+#include "stm32f4xx_hal_tim_ex.h"
+
+    TIM_HandleTypeDef timer;
+    TIM_Encoder_InitTypeDef encoder;
+
+    // direction to PA_9 -- step pulse to PA_8
+
+    int main()
+    {
+
+     GPIO_InitTypeDef GPIO_InitStruct;
+        __TIM1_CLK_ENABLE();
+        __GPIOA_CLK_ENABLE();
+        GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
+        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
+        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
+        GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
+        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+    timer.Instance = TIM1;
+    timer.Init.Period = 0xffff;
+    timer.Init.Prescaler = 0;
+    timer.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+    timer.Init.CounterMode = TIM_COUNTERMODE_UP;
+
+    encoder.EncoderMode = TIM_ENCODERMODE_TI12; 
+    encoder.IC1Filter = 0x0f;
+    encoder.IC1Polarity = TIM_INPUTCHANNELPOLARITY_RISING; 
+    encoder.IC1Prescaler = TIM_ICPSC_DIV4;
+    encoder.IC1Selection = TIM_ICSELECTION_DIRECTTI;
+
+    encoder.IC2Filter = 0x0f;
+    encoder.IC2Polarity = TIM_INPUTCHANNELPOLARITY_FALLING;    
+    encoder.IC2Prescaler = TIM_ICPSC_DIV4;
+    encoder.IC2Selection = TIM_ICSELECTION_DIRECTTI;
+
+    HAL_TIM_Encoder_Init(&timer, &encoder);
+    HAL_TIM_Encoder_Start(&timer,TIM_CHANNEL_1);   
+
+
+    TIM1->EGR = 1;           // Generate an update event
+    TIM1->CR1 = 1;           // Enable the counter
+
+
+ while (1) {
+        int16_t count1; 
+        count1=TIM1->CNT; 
+
+        printf("%d\r\n", count1);
+        wait(1.0);
+
+ };
+}
+#endif
+}

Firmware/src/main.cpp

@@ -15,10 +15,12 @@ HardwareTimer *syncTimer;     // The timer that syncs "with linuxcnc cycle"
 uint16_t sync0CycleTime;      // usecs
 
 #include "MyEncoder.h"
+volatile uint16_t encCnt = 0;
 void indexPulseEncoderCB1(void);
 MyEncoder Encoder1(TIM2, PA2, indexPulseEncoderCB1);
 void indexPulseEncoderCB1(void)
 {
+   encCnt++;
    Encoder1.indexPulse();
 }
 #include <RunningAverage.h>
@@ -120,13 +122,13 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
 {
    Obj.IndexStatus = Encoder1.indexHappened();
    Obj.EncPos = Encoder1.currentPos();
-   Obj.EncFrequency = Encoder1.frequency(ESCvar.Time);
+   Obj.EncFrequency = Encoder1.frequency(longTime.extendTime(micros()));
    Obj.IndexByte = Encoder1.getIndexState();
 
    Obj.DiffT = nLoops;
    Obj.D1 = 1000 * Obj.CommandedPosition2;                          // abs(1000 * (ap2 - Obj.CommandedPosition2)); // Step2.actPos();
    Obj.D2 = 1000 * Obj.ActualPosition2;                             // Step->stepgen_array[1].pos_fb; // Step->stepgen_array[1].rawcount % INT16_MAX;                          // Step->stepgen_array[1].freq;
-   Obj.D3 = irqCnt % 256;                                           // Step->stepgen_array[1].freq;
+   Obj.D3 = encCnt % 256;                                           // Step->stepgen_array[1].freq;
    Obj.D4 = 1000 * (Obj.CommandedPosition2 - oldCommandedPosition); // deltaMakePulsesCnt;            // Step->stepgen_array[1].rawcount % UINT16_MAX;
    oldCommandedPosition = Obj.CommandedPosition2;
 }
@@ -166,7 +168,9 @@ void setup(void)
 #if 0
    measureCrystalFrequency(); // Calibrate crystal frequency
 #endif
-   rcc_config(); // Needed by encoder, probably breaks some timers.
+   Step = new StepGen3;
+
+   encoder_config(); // Needed by encoder, probably breaks some timers.
    ecat_slv_init(&config);
 
    pinMode(PA11, OUTPUT); // Step X
@@ -174,7 +178,7 @@ void setup(void)
    pinMode(PC9, OUTPUT);  // Step Z
    pinMode(PC10, OUTPUT); // Dir Z
 
-   Step = new StepGen3;
+
 
    baseTimer = new HardwareTimer(TIM11); // The base period timer
    setFrequencyAdjustedMicrosSeconds(baseTimer, BASE_PERIOD / 1000);

linuxcnc/metalmusings_encoder.comp

@@ -10,5 +10,12 @@ license "GPL";
 //main function
 FUNCTION(_) {
     index_latch_enable = index_c_enable;
+    if (index_latch_enable) {
+        if (index_status) {
+            index_c_enable = 0;
+	}
+	     // else wait for index-status
+    } else {
        index_c_enable = index_status;
     }
+}