//use tim8,cc1
void Enc1Config(Encoder* me) {
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; //channel1
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; //channel2
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_TIM4);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource7, GPIO_AF_TIM4);
TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12,
TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_SetAutoreload(TIM4, 0xffff);
TIM_SetCounter(TIM4, 0);
// TIM_Cmd(TIM4, ENABLE);
me->encoderTIM = TIM4;
me->encoderAddr = (unsigned int) &TIM4->CNT;
EnableEncoder(me); // TIM_Cmd(TIM4, ENABLE);
}
//to avoid overflow
void SetEncoder(Encoder * me, int encoderCounter) {
DisableEncoder(me);
me->accumEncoderCounts = encoderCounter;
me->currEncoderCount = 0;
me->prevEncoderCount = 0;
me->deltaEncoderCount = 0;
TIM_SetCounter(me->encoderTIM, 0);
EnableEncoder(me);
}
void ResetEncoder(Encoder * me) {
DisableEncoder(me);
me->prevEncoderCount = 0;
me->currEncoderCount = 0;
me->deltaEncoderCount = 0;
me->accumEncoderCounts = 0;
TIM_SetCounter(me->encoderTIM, 0);
GetEncoderCounts(me);
EnableEncoder(me);
}
void UserMain( void * pd )
{
initWithWeb();
Nunchuck_Init(); // FIXME
LLInit(1);
TheWSHandler = MyDoWSUpgrade;
stepper.Init();
ConfigureStepper( &stepper, 1 );
stepSpeed = 100;
stepDir = 1;
StartStepper( 1, stepDir, stepSpeed );
stepForever = true;
OSSemInit( &SockReadySem, 0 );
OSCritInit( &I2CLock );
iprintf("Application: %s\r\nNNDK Revision: %s\r\n",AppName,GetReleaseTag());
OSTimeDly(2);
OSSimpleTaskCreate(ReportTask, 5);
OSSimpleTaskCreate(InputTask, MAIN_PRIO-1);
OSSimpleTaskCreate(RangingTask, 2);
EnableEncoder(EncodeStep, ButtonChange, ButtonDoubleClick );
ClearTaskTimes();
SMPoolPtr pp;
while(1) {
fd_set error_fds;
FD_ZERO( &error_fds );
OSCritEnter( &I2CLock, 0 );
nun.Update();
OSCritLeave( &I2CLock );
serv_x.SetPos(nun.stick.x);
serv_y.SetPos(nun.stick.y);
// iprintf("%lu\na_x: %4.4d - a_y: %4.4d - a_z: %4.4d\ns_x: %3.3d - s_y: %3.3d - b_z: %d - b_c: %d\n\n",
// TimeTick, nun.accel.x, nun.accel.y, nun.accel.z,
// nun.stick.x, nun.stick.y,
// nun.button.z, nun.button.c);
// iprintf("range: %u\n", lidarRange);
if (ws_fd > 0){
SendConfigReport(ws_fd);
}
}
}
