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Encoder by time difference

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This commit is contained in:
Gabriel Lima
2023-07-29 12:06:45 -03:00
parent e567566e30
commit e862a044f7
28 changed files with 323 additions and 337 deletions
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127
Code/STM32/Core/Src/main.c
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@@ -43,9 +43,7 @@ ADC_HandleTypeDef hadc1;
I2C_HandleTypeDef hi2c1;
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
@@ -68,8 +66,6 @@ static void MX_USART1_UART_Init(void);
static void MX_TIM4_Init(void);
static void MX_TIM2_Init(void);
static void MX_USB_PCD_Init(void);
static void MX_TIM1_Init(void);
static void MX_TIM3_Init(void);
static void MX_USART2_UART_Init(void);
static void MX_ADC1_Init(void);
static void MX_I2C1_Init(void);
@@ -115,8 +111,6 @@ int main(void)
MX_TIM4_Init();
MX_TIM2_Init();
MX_USB_PCD_Init();
MX_TIM1_Init();
MX_TIM3_Init();
MX_USART2_UART_Init();
MX_ADC1_Init();
MX_I2C1_Init();
@@ -287,56 +281,6 @@ static void MX_I2C1_Init(void)
}
/**
* @brief TIM1 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM1_Init(void)
{
/* USER CODE BEGIN TIM1_Init 0 */
/* USER CODE END TIM1_Init 0 */
TIM_Encoder_InitTypeDef sConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
/* USER CODE BEGIN TIM1_Init 1 */
/* USER CODE END TIM1_Init 1 */
htim1.Instance = TIM1;
htim1.Init.Prescaler = 0;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 65535;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0;
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 0;
sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 0;
if (HAL_TIM_Encoder_Init(&htim1, &sConfig) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM1_Init 2 */
/* USER CODE END TIM1_Init 2 */
}
/**
* @brief TIM2 Initialization Function
* @param None
@@ -408,55 +352,6 @@ static void MX_TIM2_Init(void)
}
/**
* @brief TIM3 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM3_Init(void)
{
/* USER CODE BEGIN TIM3_Init 0 */
/* USER CODE END TIM3_Init 0 */
TIM_Encoder_InitTypeDef sConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
/* USER CODE BEGIN TIM3_Init 1 */
/* USER CODE END TIM3_Init 1 */
htim3.Instance = TIM3;
htim3.Init.Prescaler = 0;
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
htim3.Init.Period = 65535;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 0;
sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 0;
if (HAL_TIM_Encoder_Init(&htim3, &sConfig) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM3_Init 2 */
/* USER CODE END TIM3_Init 2 */
}
/**
* @brief TIM4 Initialization Function
* @param None
@@ -518,7 +413,7 @@ static void MX_USART1_UART_Init(void)
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
huart1.Init.BaudRate = 921600;
huart1.Init.BaudRate = 2000000;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
@@ -651,6 +546,18 @@ static void MX_GPIO_Init(void)
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED_BUILTIN_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : PA6 PA8 IMU_INT_Pin */
GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_8|IMU_INT_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pins : PA7 PA9 */
GPIO_InitStruct.Pin = GPIO_PIN_7|GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pins : PB0 PB1 PB4 PB5 */
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_4|GPIO_PIN_5;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
@@ -664,11 +571,9 @@ static void MX_GPIO_Init(void)
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(BOOT1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : IMU_INT_Pin */
GPIO_InitStruct.Pin = IMU_INT_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(IMU_INT_GPIO_Port, &GPIO_InitStruct);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI9_5_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */