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Cleanup encoder code

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This commit is contained in:
Hakan Bastedt
2024-01-11 10:42:29 +01:00
parent cd8388ea58
commit a4488da9fa
6 changed files with 389 additions and 479 deletions
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4
Firmware/.vscode/settings.json vendored
View File

@@ -8,7 +8,9 @@
"string": "cpp",
"unordered_map": "cpp",
"vector": "cpp",
"system_error": "cpp"
"system_error": "cpp",
"numeric": "cpp",
"ostream": "cpp"
},
"C_Cpp.errorSquiggles": "disabled"
}

28
Firmware/include/MyEncoder.h
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@@ -3,12 +3,22 @@
#include "Stm32F4_Encoder.h"
#include <CircularBuffer.h>
#define RINGBUFFERLEN 101
// EncoderInit.SetCount(Tim3, 0);
// EncoderInit.SetCount(Tim4, 0);
// EncoderInit.SetCount(Tim8, 0);
class MyEncoder
{
public:
MyEncoder(uint8_t _indexPin, void irq(void));
int32_t unwrapEncoder(uint16_t in);
void indexPulse(void);
void init(TIM_TypeDef *_tim_base);
uint8_t indexHappened();
double currentPos(volatile uint32_t cnt);
double frequency(uint64_t time);
uint8_t getIndexState();
void setScale(double scale);
void setLatch(uint8_t latchEnable);
private:
int32_t previousEncoderCounterValue = 0;
double PosScaleRes = 1.0;
uint32_t CurPosScale = 1;
@@ -23,18 +33,6 @@ public:
double curPos;
TIM_TypeDef *tim_base;
public:
MyEncoder(uint8_t _indexPin, void irq(void));
int32_t unwrapEncoder(uint16_t in);
void indexPulse(void);
void init(enum EncTimer timer, TIM_TypeDef *_tim_base);
uint8_t indexHappened();
double currentPos(volatile uint32_t cnt);
double frequency(uint64_t time);
uint8_t getIndexState();
void setScale(double scale);
void setLatch(uint8_t latchEnable);
};
#endif

84
Firmware/include/Stm32F4_Encoder.h
View File

@@ -3,7 +3,6 @@
#define __Stm32F4_Encoder_H__
#include <Arduino.h>
#define GPIO_Speed_50MHz 0x02 /*!< Fast speed */
// #define GPIO_MODER_MODER0 ((uint32_t)0x00000003)
@@ -34,9 +33,6 @@
#define GPIO_Pin_15 ((uint16_t)0x8000) /* Pin 15 selected */
#define GPIO_Pin_All ((uint16_t)0xFFFF) /* All pins selected */
typedef struct TIM_TimeBaseInitTypeDef
{
uint16_t TIM_Prescaler; /*!< Specifies the prescaler value used to divide the TIM clock.
@@ -62,17 +58,12 @@ typedef struct TIM_TimeBaseInitTypeDef
@note This parameter is valid only for TIM1 and TIM8. */
} TIM_TimeBaseInitTypeDef;
typedef struct
{
uint16_t setcount;
} encoder;
typedef struct
{
uint16_t TIM_OCMode; /*!< Specifies the TIM mode.
@@ -104,8 +95,6 @@ typedef struct
@note This parameter is valid only for TIM1 and TIM8. */
} TIM_OCInitTypeDef;
typedef struct
{
@@ -125,8 +114,6 @@ typedef struct
This parameter can be a number between 0x0 and 0xF */
} TIM_ICInitTypeDef;
typedef struct
{
@@ -153,7 +140,6 @@ typedef struct
This parameter can be a value of @ref TIM_AOE_Bit_Set_Reset */
} TIM_BDTRInitTypeDef;
#define GPIO_PinSource0 ((uint8_t)0x00)
#define GPIO_PinSource1 ((uint8_t)0x01)
#define GPIO_PinSource2 ((uint8_t)0x02)
@@ -177,8 +163,8 @@ typedef struct
#define GPIO_AF_TIM1 ((uint8_t)0x01) /* TIM1 Alternate Function mapping */
#define GPIO_AF_TIM2 ((uint8_t)0x01) /* TIM2 Alternate Function mapping */
#define TIM4 ((TIM_TypeDef *) TIM4_BASE)
#define TIM8 ((TIM_TypeDef *) TIM8_BASE)
// #define TIM4 ((TIM_TypeDef *)TIM4_BASE)
// #define TIM8 ((TIM_TypeDef *)TIM8_BASE)
#define TIM_EncoderMode_TI12 ((uint16_t)0x0003)
#define TIM_ICPolarity_Rising ((uint16_t)0x0000)
#define TIM_ICPolarity_Falling ((uint16_t)0x0002)
@@ -213,7 +199,6 @@ typedef struct
((PERIPH) == TIM13) || \
((PERIPH) == TIM14))
#define IS_TIM_LIST2_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
((PERIPH) == TIM2) || \
((PERIPH) == TIM3) || \
@@ -246,8 +231,6 @@ typedef struct
((TIMx) == TIM5) || \
((TIMx) == TIM11))
#define TIM_OCMode_Timing ((uint16_t)0x0000)
#define TIM_OCMode_Active ((uint16_t)0x0010)
#define TIM_OCMode_Inactive ((uint16_t)0x0020)
@@ -269,13 +252,11 @@ typedef struct
((MODE) == TIM_ForcedAction_Active) || \
((MODE) == TIM_ForcedAction_InActive))
#define TIM_OPMode_Single ((uint16_t)0x0008)
#define TIM_OPMode_Repetitive ((uint16_t)0x0000)
//#define IS_TIM_OPM_MODE(MODE) (((MODE) == TIM_OPMode_Single) || \
// ((MODE) == TIM_OPMode_Repetitive))
#define TIM_Channel_1 ((uint16_t)0x0000)
#define TIM_Channel_2 ((uint16_t)0x0004)
#define TIM_Channel_3 ((uint16_t)0x0008)
@@ -292,7 +273,6 @@ typedef struct
((CHANNEL) == TIM_Channel_2) || \
((CHANNEL) == TIM_Channel_3))
#define TIM_CKD_DIV1 ((uint16_t)0x0000)
#define TIM_CKD_DIV2 ((uint16_t)0x0100)
#define TIM_CKD_DIV4 ((uint16_t)0x0200)
@@ -300,7 +280,6 @@ typedef struct
((DIV) == TIM_CKD_DIV2) || \
((DIV) == TIM_CKD_DIV4))
#define TIM_CounterMode_Up ((uint16_t)0x0000)
#define TIM_CounterMode_Down ((uint16_t)0x0010)
#define TIM_CounterMode_CenterAligned1 ((uint16_t)0x0020)
@@ -312,13 +291,11 @@ typedef struct
// ((MODE) == TIM_CounterMode_CenterAligned2) || \
// ((MODE) == TIM_CounterMode_CenterAligned3))
#define TIM_OCPolarity_High ((uint16_t)0x0000)
#define TIM_OCPolarity_Low ((uint16_t)0x0002)
//#define IS_TIM_OC_POLARITY(POLARITY) (((POLARITY) == TIM_OCPolarity_High) || \
// ((POLARITY) == TIM_OCPolarity_Low))
#define TIM_OCNPolarity_High ((uint16_t)0x0000)
#define TIM_OCNPolarity_Low ((uint16_t)0x0008)
//#define IS_TIM_OCN_POLARITY(POLARITY) (((POLARITY) == TIM_OCNPolarity_High) || \
@@ -329,43 +306,36 @@ typedef struct
#define IS_TIM_OUTPUT_STATE(STATE) (((STATE) == TIM_OutputState_Disable) || \
((STATE) == TIM_OutputState_Enable))
#define TIM_OutputNState_Disable ((uint16_t)0x0000)
#define TIM_OutputNState_Enable ((uint16_t)0x0004)
#define IS_TIM_OUTPUTN_STATE(STATE) (((STATE) == TIM_OutputNState_Disable) || \
((STATE) == TIM_OutputNState_Enable))
#define TIM_CCx_Enable ((uint16_t)0x0001)
#define TIM_CCx_Disable ((uint16_t)0x0000)
#define IS_TIM_CCX(CCX) (((CCX) == TIM_CCx_Enable) || \
((CCX) == TIM_CCx_Disable))
#define TIM_CCxN_Enable ((uint16_t)0x0004)
#define TIM_CCxN_Disable ((uint16_t)0x0000)
#define IS_TIM_CCXN(CCXN) (((CCXN) == TIM_CCxN_Enable) || \
((CCXN) == TIM_CCxN_Disable))
#define TIM_Break_Enable ((uint16_t)0x1000)
#define TIM_Break_Disable ((uint16_t)0x0000)
//#define IS_TIM_BREAK_STATE(STATE) (((STATE) == TIM_Break_Enable) || \
// ((STATE) == TIM_Break_Disable))
#define TIM_BreakPolarity_Low ((uint16_t)0x0000)
#define TIM_BreakPolarity_High ((uint16_t)0x2000)
//#define IS_TIM_BREAK_POLARITY(POLARITY) (((POLARITY) == TIM_BreakPolarity_Low) || \
// ((POLARITY) == TIM_BreakPolarity_High))
#define TIM_AutomaticOutput_Enable ((uint16_t)0x4000)
#define TIM_AutomaticOutput_Disable ((uint16_t)0x0000)
//#define IS_TIM_AUTOMATIC_OUTPUT_STATE(STATE) (((STATE) == TIM_AutomaticOutput_Enable) || \
// ((STATE) == TIM_AutomaticOutput_Disable))
#define TIM_LOCKLevel_OFF ((uint16_t)0x0000)
#define TIM_LOCKLevel_1 ((uint16_t)0x0100)
#define TIM_LOCKLevel_2 ((uint16_t)0x0200)
@@ -375,19 +345,16 @@ typedef struct
// ((LEVEL) == TIM_LOCKLevel_2) || \
// ((LEVEL) == TIM_LOCKLevel_3))
#define TIM_OSSIState_Enable ((uint16_t)0x0400)
#define TIM_OSSIState_Disable ((uint16_t)0x0000)
//#define IS_TIM_OSSI_STATE(STATE) (((STATE) == TIM_OSSIState_Enable) || \
// ((STATE) == TIM_OSSIState_Disable))
#define TIM_OSSRState_Enable ((uint16_t)0x0800)
#define TIM_OSSRState_Disable ((uint16_t)0x0000)
//#define IS_TIM_OSSR_STATE(STATE) (((STATE) == TIM_OSSRState_Enable) || \
// ((STATE) == TIM_OSSRState_Disable))
#define TIM_OCIdleState_Set ((uint16_t)0x0100)
#define TIM_OCIdleState_Reset ((uint16_t)0x0000)
//#define IS_TIM_OCIDLE_STATE(STATE) (((STATE) == TIM_OCIdleState_Set) || \
@@ -399,7 +366,6 @@ typedef struct
//#define IS_TIM_OCNIDLE_STATE(STATE) (((STATE) == TIM_OCNIdleState_Set) || \
// ((STATE) == TIM_OCNIdleState_Reset))
#define TIM_ICPolarity_Rising ((uint16_t)0x0000)
#define TIM_ICPolarity_Falling ((uint16_t)0x0002)
#define TIM_ICPolarity_BothEdge ((uint16_t)0x000A)
@@ -407,17 +373,15 @@ typedef struct
// ((POLARITY) == TIM_ICPolarity_Falling)|| \
// ((POLARITY) == TIM_ICPolarity_BothEdge))
#define TIM_ICSelection_DirectTI ((uint16_t)0x0001) /*!< TIM Input 1, 2, 3 or 4 is selected to be
#define TIM_ICSelection_DirectTI ((uint16_t)0x0001) /*!< TIM Input 1, 2, 3 or 4 is selected to be \
connected to IC1, IC2, IC3 or IC4, respectively */
#define TIM_ICSelection_IndirectTI ((uint16_t)0x0002) /*!< TIM Input 1, 2, 3 or 4 is selected to be
#define TIM_ICSelection_IndirectTI ((uint16_t)0x0002) /*!< TIM Input 1, 2, 3 or 4 is selected to be \
connected to IC2, IC1, IC4 or IC3, respectively. */
#define TIM_ICSelection_TRC ((uint16_t)0x0003) /*!< TIM Input 1, 2, 3 or 4 is selected to be connected to TRC. */
//#define IS_TIM_IC_SELECTION(SELECTION) (((SELECTION) == TIM_ICSelection_DirectTI) || \
// ((SELECTION) == TIM_ICSelection_IndirectTI) || \
// ((SELECTION) == TIM_ICSelection_TRC))
// #define TIM_ICPSC_DIV1 ((uint16_t)0x0000) /*!< Capture performed each time an edge is detected on the capture input. */
// #define TIM_ICPSC_DIV2 ((uint16_t)0x0004) /*!< Capture performed once every 2 events. */
// #define TIM_ICPSC_DIV4 ((uint16_t)0x0008) /*!< Capture performed once every 4 events. */
@@ -427,7 +391,6 @@ typedef struct
// ((PRESCALER) == TIM_ICPSC_DIV4) || \
// ((PRESCALER) == TIM_ICPSC_DIV8))
#define TIM_IT_Update ((uint16_t)0x0001)
// #define TIM_IT_CC1 ((uint16_t)0x0002)
// #define TIM_IT_CC2 ((uint16_t)0x0004)
@@ -447,7 +410,6 @@ typedef struct
((IT) == TIM_IT_Trigger) || \
((IT) == TIM_IT_Break))
// #define TIM_DMABase_CR1 ((uint16_t)0x0000)
// #define TIM_DMABase_CR2 ((uint16_t)0x0001)
// #define TIM_DMABase_SMCR ((uint16_t)0x0002)
@@ -489,7 +451,6 @@ typedef struct
// ((BASE) == TIM_DMABase_DCR) || \
// ((BASE) == TIM_DMABase_OR))
// #define TIM_DMABurstLength_1Transfer ((uint16_t)0x0000)
// #define TIM_DMABurstLength_2Transfers ((uint16_t)0x0100)
// #define TIM_DMABurstLength_3Transfers ((uint16_t)0x0200)
@@ -527,7 +488,6 @@ typedef struct
// ((LENGTH) == TIM_DMABurstLength_17Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_18Transfers))
// #define TIM_DMA_Update ((uint16_t)0x0100)
// #define TIM_DMA_CC1 ((uint16_t)0x0200)
// #define TIM_DMA_CC2 ((uint16_t)0x0400)
@@ -537,8 +497,6 @@ typedef struct
// #define TIM_DMA_Trigger ((uint16_t)0x4000)
// #define IS_TIM_DMA_SOURCE(SOURCE) ((((SOURCE) & (uint16_t)0x80FF) == 0x0000) && ((SOURCE) != 0x0000))
#define TIM_ExtTRGPSC_OFF ((uint16_t)0x0000)
#define TIM_ExtTRGPSC_DIV2 ((uint16_t)0x1000)
#define TIM_ExtTRGPSC_DIV4 ((uint16_t)0x2000)
@@ -548,7 +506,6 @@ typedef struct
((PRESCALER) == TIM_ExtTRGPSC_DIV4) || \
((PRESCALER) == TIM_ExtTRGPSC_DIV8))
// #define TIM_TS_ITR0 ((uint16_t)0x0000)
// #define TIM_TS_ITR1 ((uint16_t)0x0010)
// #define TIM_TS_ITR2 ((uint16_t)0x0020)
@@ -570,18 +527,15 @@ typedef struct
((SELECTION) == TIM_TS_ITR2) || \
((SELECTION) == TIM_TS_ITR3))
#define TIM_TIxExternalCLK1Source_TI1 ((uint16_t)0x0050)
#define TIM_TIxExternalCLK1Source_TI2 ((uint16_t)0x0060)
#define TIM_TIxExternalCLK1Source_TI1ED ((uint16_t)0x0040)
#define TIM_ExtTRGPolarity_Inverted ((uint16_t)0x8000)
#define TIM_ExtTRGPolarity_NonInverted ((uint16_t)0x0000)
#define IS_TIM_EXT_POLARITY(POLARITY) (((POLARITY) == TIM_ExtTRGPolarity_Inverted) || \
((POLARITY) == TIM_ExtTRGPolarity_NonInverted))
#define TIM_PSCReloadMode_Update ((uint16_t)0x0000)
#define TIM_PSCReloadMode_Immediate ((uint16_t)0x0001)
#define IS_TIM_PRESCALER_RELOAD(RELOAD) (((RELOAD) == TIM_PSCReloadMode_Update) || \
@@ -592,7 +546,6 @@ typedef struct
#define IS_TIM_FORCED_ACTION(ACTION) (((ACTION) == TIM_ForcedAction_Active) || \
((ACTION) == TIM_ForcedAction_InActive))
#define TIM_EncoderMode_TI1 ((uint16_t)0x0001)
#define TIM_EncoderMode_TI2 ((uint16_t)0x0002)
#define TIM_EncoderMode_TI12 ((uint16_t)0x0003)
@@ -600,7 +553,6 @@ typedef struct
// ((MODE) == TIM_EncoderMode_TI2) || \
// ((MODE) == TIM_EncoderMode_TI12))
// #define TIM_EventSource_Update ((uint16_t)0x0001)
// #define TIM_EventSource_CC1 ((uint16_t)0x0002)
// #define TIM_EventSource_CC2 ((uint16_t)0x0004)
@@ -611,28 +563,23 @@ typedef struct
// #define TIM_EventSource_Break ((uint16_t)0x0080)
// #define IS_TIM_EVENT_SOURCE(SOURCE) ((((SOURCE) & (uint16_t)0xFF00) == 0x0000) && ((SOURCE) != 0x0000))
#define TIM_UpdateSource_Global ((uint16_t)0x0000) /*!< Source of update is the counter overflow/underflow
or the setting of UG bit, or an update generation
#define TIM_UpdateSource_Global ((uint16_t)0x0000) /*!< Source of update is the counter overflow/underflow \
or the setting of UG bit, or an update generation \
through the slave mode controller. */
#define TIM_UpdateSource_Regular ((uint16_t)0x0001) /*!< Source of update is counter overflow/underflow. */
#define IS_TIM_UPDATE_SOURCE(SOURCE) (((SOURCE) == TIM_UpdateSource_Global) || \
((SOURCE) == TIM_UpdateSource_Regular))
#define TIM_OCPreload_Enable ((uint16_t)0x0008)
#define TIM_OCPreload_Disable ((uint16_t)0x0000)
#define IS_TIM_OCPRELOAD_STATE(STATE) (((STATE) == TIM_OCPreload_Enable) || \
((STATE) == TIM_OCPreload_Disable))
#define TIM_OCFast_Enable ((uint16_t)0x0004)
#define TIM_OCFast_Disable ((uint16_t)0x0000)
#define IS_TIM_OCFAST_STATE(STATE) (((STATE) == TIM_OCFast_Enable) || \
((STATE) == TIM_OCFast_Disable))
#define TIM_OCClear_Enable ((uint16_t)0x0080)
#define TIM_OCClear_Disable ((uint16_t)0x0000)
#define IS_TIM_OCCLEAR_STATE(STATE) (((STATE) == TIM_OCClear_Enable) || \
@@ -655,9 +602,6 @@ typedef struct
// ((SOURCE) == TIM_TRGOSource_OC3Ref) || \
// ((SOURCE) == TIM_TRGOSource_OC4Ref))
#define TIM_SlaveMode_Reset ((uint16_t)0x0004)
#define TIM_SlaveMode_Gated ((uint16_t)0x0005)
#define TIM_SlaveMode_Trigger ((uint16_t)0x0006)
@@ -685,26 +629,16 @@ typedef struct
#define TIM11_GPIO ((uint16_t)0x0000)
#define TIM11_HSE ((uint16_t)0x0002)
enum EncTimer {
Tim2,
Tim3,
Tim4,
Tim8
};
class Encoder
{
private:
int _pin;
public:
void eattach(int enco);
TIM_TypeDef *tim_base;
Encoder();
void SetCount( enum EncTimer enc, int64_t Counter);
uint16_t GetCount( enum EncTimer enc);
void attachh(int encoNumber);
uint16_t c;
void SetCount(int64_t Counter);
uint16_t GetCount();
};
void rcc_config();

6
Firmware/src/MyEncoder.cpp
View File

@@ -36,11 +36,11 @@ void MyEncoder::indexPulse(void)
pleaseZeroTheCounter = 0;
}
}
void MyEncoder::init(enum EncTimer timer, TIM_TypeDef *_tim_base)
void MyEncoder::init(TIM_TypeDef *_tim_base)
{
tim_base = _tim_base;
EncoderInit.tim_base = _tim_base;
// Set starting count value
EncoderInit.SetCount(timer, 0);
EncoderInit.SetCount(0);
// EncoderInit.SetCount(Tim3, 0);
// EncoderInit.SetCount(Tim4, 0);
// EncoderInit.SetCount(Tim8, 0);

38
Firmware/src/Stm32F4_Encoder.cpp
View File

@@ -5,45 +5,21 @@
Created on: Nov 20, 2020
Author: GoktugH.
*/
// TIM2, TIM3, TIM4, TIM8
Encoder::Encoder()
{
int unit;
}
void Encoder::eattach(int enco)
// void Encoder::SetCount(enum EncTimer enc, int64_t Counter)
void Encoder::SetCount(int64_t Counter)
{
tim_base->CNT = Counter;
}
void Encoder::attachh(int encoNumber)
// uint16_t Encoder::GetCount(enum EncTimer enc)
uint16_t Encoder::GetCount()
{
eattach(encoNumber);
}
void Encoder::SetCount(enum EncTimer enc, int64_t Counter)
{
if (enc == Tim2)
TIM2->CNT = Counter;
else if (enc == Tim3)
TIM3->CNT = Counter;
else if (enc == Tim4)
TIM4->CNT = Counter;
else if (enc == Tim8)
TIM8->CNT = Counter;
}
uint16_t Encoder::GetCount(enum EncTimer enc)
{
if (enc == Tim2)
c = (TIM2->CNT);
else if (enc == Tim3)
c = (TIM3->CNT);
else if (enc == Tim4)
c = (TIM4->CNT);
else if (enc == Tim8)
c = (TIM8->CNT);
return c;
return tim_base->CNT;
}
void GpioConfigPortA(GPIO_TypeDef *GPIOx)

2
Firmware/src/main.cpp
View File

@@ -83,7 +83,7 @@ void setup(void)
rcc_config();
Step1.setScale(500);
Encoder1.init(Tim2, TIM2);
Encoder1.init(TIM2);
ecat_slv_init(&config);
}