encoder.h

Go to the documentation of this file.

 
#pragma once
 
#include "gpio.h"
#include "hal.h"
#include "timer.h"
 
namespace TIMER {
    class Encoder {
    public:
        struct Conf {
            TIM_TypeDef *tim;
            AFIO a, b;
            double factor = 1;
            uint8_t filter = 0;
        };
 
        Encoder(Conf conf) :
                tim(TIMER::HW(conf.tim, 0, 0xffff)),
                dFactor(conf.factor) {
 
            TIM_HandleTypeDef *htim = &tim.handle;
            TIM_Encoder_InitTypeDef sConfig = {
                .EncoderMode = TIM_ENCODERMODE_TI12,
                .IC1Polarity = TIM_ICPOLARITY_RISING,
                .IC1Selection = TIM_ICSELECTION_DIRECTTI,
                .IC1Prescaler = TIM_ICPSC_DIV1,
                .IC1Filter = conf.filter,
                .IC2Polarity = TIM_ICPOLARITY_RISING,
                .IC2Selection = TIM_ICSELECTION_DIRECTTI,
                .IC2Prescaler = TIM_ICPSC_DIV1,
                .IC2Filter = conf.filter,
            };
            while (HAL_TIM_Encoder_Init(htim, &sConfig) != HAL_OK);
            while (HAL_TIM_Encoder_Start(htim, TIM_CHANNEL_ALL) != HAL_OK);
        }
 
        void measure() {
            int16_t iCurrEnc = __HAL_TIM_GET_COUNTER(&tim.handle);
            double dDiff = (int16_t) (iCurrEnc - iLastVal) * dFactor;
            dPosition += dDiff;
            iLastVal = iCurrEnc;
        }
 
        int16_t getValue() {
            return iLastVal;
        }
 
        double getPosition() {
            return dPosition;
        }
 
        void zero() {
            __HAL_TIM_SET_COUNTER(&tim.handle, 0);
            iLastVal = 0;
            dPosition = 0;
        }
 
    private:
        TIMER::HW tim;
        double dFactor;
        int16_t iLastVal = 0;
 
        double dPosition = 0;
    };
}