I have some question about the QuadEncoder Component macro.
I'm using a Nucleo 64 board and I need to implement on my project 2 quadrature encoder and 1 (3) hall sensor (for BLDC motor) .
I know that the STMF4 Chip have implemented this feature on the timers , so is possible to have 2 32Bit quadrature encoder and 1 hall sensor.
The question is, is the rotatory encoder Macro using that feature or use is own specific code ? Because I think is quite a big difference.
Here I have the code that I use from Mbed that activate that feature. I still have problem to implement it from the "supplementary code".
I downloaded the specific mbed.h for my Nucleo board but when I compile the file I have error:
from Encoder_mbed.c:71:
platform/platform.h:22:19: fatal error: cstddef: No such file or directory
Anyway I would much prefer to have the ability to use all the hardware feature of the timers directly inside Flowcode without additional code.
Thank you
Sacha
Code: Select all
#include "mbed.h"
// Hardware Quadrature Encoder ABZ for Nucleo F401RE
// Output on debug port to host PC @ 9600 baud
//
// By Nigel Webb, November 2014
/* Connections
PA_0 = Encoder A
PA_1 = Encoder B
PA_4 = Encoder Z
*/
InterruptIn ZPulse(PA_4) ; // Setup Interrupt for Z Pulse
void EncoderInitialise(void) {
// configure GPIO PA0 & PA1 as inputs for Encoder
RCC->AHB1ENR |= 0x00000001; // Enable clock for GPIOA
GPIOA->MODER |= GPIO_MODER_MODER0_1 | GPIO_MODER_MODER1_1 ; //PA0 & PA1 as Alternate Function /*!< GPIO port mode register, Address offset: 0x00 */
GPIOA->OTYPER |= GPIO_OTYPER_OT_0 | GPIO_OTYPER_OT_1 ; //PA0 & PA1 as Inputs /*!< GPIO port output type register, Address offset: 0x04 */
GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR0 | GPIO_OSPEEDER_OSPEEDR1 ; // Low speed /*!< GPIO port output speed register, Address offset: 0x08 */
GPIOA->PUPDR |= GPIO_PUPDR_PUPDR0_1 | GPIO_PUPDR_PUPDR1_1 ; // Pull Down /*!< GPIO port pull-up/pull-down register, Address offset: 0x0C */
GPIOA->AFR[0] |= 0x00000011 ; // AF01 for PA0 & PA1 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
GPIOA->AFR[1] |= 0x00000000 ; // /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
// configure TIM2 as Encoder input
RCC->APB1ENR |= 0x00000001; // Enable clock for TIM2
TIM2->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1
TIM2->SMCR = 0x0003; // SMS='011' (Encoder mode 3) < TIM slave mode control register
TIM2->CCMR1 = 0xF1F1; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1
TIM2->CCMR2 = 0x0000; // < TIM capture/compare mode register 2
TIM2->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register
TIM2->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler
TIM2->ARR = 0xffffffff; // reload at 0xfffffff < TIM auto-reload register
TIM2->CNT = 0x0000; //reset the counter before we use it
}
// Z Pulse routine
void ZeroEncoderCount() {
TIM2->CNT=0 ; //reset count to zero
}
int main() {
EncoderInitialise() ;
ZPulse.rise(&ZeroEncoderCount) ; //Setup Interrupt for rising edge of Z pulse
ZPulse.mode(PullDown) ; // Set input as pull down
unsigned int EncoderPosition ;
while (true) {
// Print Encoder Quadrature count to debug port every 0.5 seconds
EncoderPosition = TIM2->CNT ; // Get current position from Encoder
printf("%i\n", EncoderPosition);
wait(0.2);
}
}
