/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Configure the Systick to generate an interrupt each 1 msec
- Set NVIC Group Priority to 4
- Global MSP (MCU Support Package) initialization
*/
HAL_Init();
/* Configure the system clock to 168 MHz */
SystemClock_Config();
/* Configure LED1 and LED3 */
BSP_LED_Init(LED1);
BSP_LED_Init(LED3);
/* Initialize TIM3 to emulate a quadrature encoder outputs */
Init_TIM_Emulator(&EmulatorHandle);
/* -1- Initialize TIM1 to handle the encoder sensor */
/* Initialize TIM1 peripheral as follow:
+ Period = 65535
+ Prescaler = 0
+ ClockDivision = 0
+ Counter direction = Up
*/
Encoder_Handle.Instance = TIM1;
Encoder_Handle.Init.Period = 65535;
Encoder_Handle.Init.Prescaler = 0;
Encoder_Handle.Init.ClockDivision = 0;
Encoder_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
Encoder_Handle.Init.RepetitionCounter = 0;
sEncoderConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sEncoderConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sEncoderConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sEncoderConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sEncoderConfig.IC1Filter = 0;
sEncoderConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sEncoderConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sEncoderConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sEncoderConfig.IC2Filter = 0;
if(HAL_TIM_Encoder_Init(&Encoder_Handle, &sEncoderConfig) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Start the encoder interface */
HAL_TIM_Encoder_Start(&Encoder_Handle, TIM_CHANNEL_ALL);
/* Infinite loop */
while (1)
{
/* Step 1: */
/* Emulate a Forward direction */
Emulate_Forward_Direction(&EmulatorHandle);
/* Insert 1s delay */
HAL_Delay(1000);
/* Get the current direction */
uwDirection = __HAL_TIM_IS_TIM_COUNTING_DOWN(&Encoder_Handle);
/* Step 2: */
/* Emulate a Backward direction */
Emulate_Backward_Direction(&EmulatorHandle);
/* Insert 1s delay */
HAL_Delay(1000);
/* Get the current direction */
uwDirection = __HAL_TIM_IS_TIM_COUNTING_DOWN(&Encoder_Handle);
}
}
int main(void) {
HAL_Init();
Nucleo_BSP_Init();
MX_TIM1_Init();
MX_TIM3_Init();
HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);
HAL_TIM_OC_Start(&htim1, TIM_CHANNEL_1);
HAL_TIM_OC_Start(&htim1, TIM_CHANNEL_2);
cnt1 = __HAL_TIM_GET_COUNTER(&htim3);
tick = HAL_GetTick();
while (1) {
if (HAL_GetTick() - tick > 1000L) {
cnt2 = __HAL_TIM_GET_COUNTER(&htim3);
if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&htim3)) {
if (cnt2 < cnt1) /* Check for counter underflow */
diff = cnt1 - cnt2;
else
diff = (65535 - cnt2) + cnt1;
} else {
if (cnt2 > cnt1) /* Check for counter overflow */
diff = cnt2 - cnt1;
else
diff = (65535 - cnt1) + cnt2;
}
sprintf(msg, "Difference: %d\r\n", diff);
HAL_UART_Transmit(&huart2, (uint8_t*) msg, strlen(msg), HAL_MAX_DELAY);
speed = ((diff / PULSES_PER_REVOLUTION) / 60);
/* If the first three bits of SMCR register are set to 0x3
* then the timer is set in X4 mode (TIM_ENCODERMODE_TI12)
* and we need to divide the pulses counter by two, because
* they include the pulses for both the channels */
if ((TIM3->SMCR & 0x3) == 0x3)
speed /= 2;
sprintf(msg, "Speed: %d RPM\r\n", speed);
HAL_UART_Transmit(&huart2, (uint8_t*) msg, strlen(msg), HAL_MAX_DELAY);
dir = __HAL_TIM_IS_TIM_COUNTING_DOWN(&htim3);
sprintf(msg, "Direction: %d\r\n", dir);
HAL_UART_Transmit(&huart2, (uint8_t*) msg, strlen(msg), HAL_MAX_DELAY);
tick = HAL_GetTick();
cnt1 = __HAL_TIM_GET_COUNTER(&htim3);
}
if (HAL_GPIO_ReadPin(GPIOC, GPIO_PIN_13) == GPIO_PIN_RESET) {
/* Invert rotation by swapping CH1 and CH2 CCR value */
tim1_ch1_pulse = __HAL_TIM_GET_COMPARE(&htim1, TIM_CHANNEL_1);
tim1_ch2_pulse = __HAL_TIM_GET_COMPARE(&htim1, TIM_CHANNEL_2);
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, tim1_ch2_pulse);
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2, tim1_ch1_pulse);
}
}
}
