paolo della vedova
hctl 2032 encoder for stm32
Revision 0:b1faec368b5d, committed 2014-09-05
- Comitter:
- c128
- Date:
- Fri Sep 05 04:51:48 2014 +0000
- Child:
- 1:6cab31aea0b8
- Commit message:
- hctl 2032 encoder with stm32
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/EncoderCounter.cpp Fri Sep 05 04:51:48 2014 +0000
@@ -0,0 +1,206 @@
+
+
+#include "EncoderCounter.h"
+
+#include "FastIO.h"
+
+
+ FastOut<PA_0> HCTL_PIN_XY;
+ FastOut<PA_1> HCTL_PIN_OE; // Active LOW
+ FastOut<PA_4> HCTL_PIN_EN1;
+ FastOut<PB_3> HCTL_PIN_EN2;
+ FastOut<PC_10> HCTL_PIN_SEL1;
+ FastOut<PC_11> HCTL_PIN_SEL2;
+ FastOut<PB_6> HCTL_PIN_RSTX; // Active LOW
+ FastOut<PB_7> HCTL_PIN_RSTY; // Active LOW
+
+
+ FastIn<PC_0> bus0;
+ FastIn<PC_1> bus1;
+ FastIn<PC_2> bus2;
+ FastIn<PC_3> bus3;
+ FastIn<PC_4> bus4;
+ FastIn<PB_9> bus5;
+ FastIn<PC_6> bus6;
+ FastIn<PC_7> bus7;
+ //PortIn HCTL_DataBus(PortC, 0x00FF);
+
+
+
+ENCODER::ENCODER(unsigned char countMode)
+
+{
+
+
+ switchCountMode( countMode );
+
+
+
+ XAxisReset();
+ YAxisReset();
+
+ HCTL_PIN_RSTX = 1; // Active LOW
+ HCTL_PIN_RSTY = 1; // Active LOW
+ HCTL_PIN_OE = 1;
+ wait_ms(1);
+
+
+}
+
+
+
+// Communicates with a HCTL-2032 IC to get reset the X encoder count
+// see Avago/Agilent/HP HCTL-2032 PDF for details
+void ENCODER::XAxisReset()
+{
+ HCTL_PIN_RSTX = 0;
+ wait_ms(0);
+ HCTL_PIN_RSTX = 1;
+ wait_ms(1);
+}
+
+void ENCODER::YAxisReset()
+{
+ HCTL_PIN_RSTX = 0;
+ wait_ms(0);
+ HCTL_PIN_RSTX = 1;
+ wait_ms(1);
+}
+
+// Communicates with a HCTL-2032 IC to get the X Axis encoder count via an 8bit parallel bus
+// see Avago/Agilent/HP HCTL-2032 Datasheet PDF for details
+ int ENCODER::XAxisGetCount( )
+{
+
+ HCTL_PIN_XY = 0; //0
+ HCTL_PIN_OE = 0;
+ wait_ms(5);
+
+
+ //read MSB
+ HCTL_PIN_SEL1 = 0; //0
+ HCTL_PIN_SEL2 = 1; //1
+ wait_ms(5);
+ busByteMSB = (bus0 | (bus1 << 1) | (bus2 << 2) | (bus3 << 3) | (bus4 << 4) | (bus5 << 5) | (bus6 << 6) | (bus7 << 7) );
+ countEnc = busByteMSB;
+ countEnc <<= 8 ;
+
+
+
+ //read 2nd byte
+ HCTL_PIN_SEL1 = 1;
+ HCTL_PIN_SEL2 = 1;
+ wait_ms(5);
+ busByte = (bus0 | (bus1 << 1) | (bus2 << 2) | (bus3 << 3) | (bus4 << 4) | (bus5 << 5) | (bus6 << 6) | (bus7 << 7) );
+ countEnc = busByte + countEnc;
+ countEnc <<= 8 ;
+
+
+
+ //read 3rd byte
+ HCTL_PIN_SEL1 = 0;
+ HCTL_PIN_SEL2 = 0;
+ HCTL_PIN_OE = 0;
+ wait_ms(5);
+ busByte = (bus0 | (bus1 << 1) | (bus2 << 2) | (bus3 << 3) | (bus4 << 4) | (bus5 << 5) | (bus6 << 6) | (bus7 << 7) );
+ countEnc = busByte + countEnc;
+ countEnc <<= 8;
+
+
+ //read LSB
+ HCTL_PIN_SEL1 = 1;
+ HCTL_PIN_SEL2 = 0;
+ wait_ms(5);
+ busByte = (bus0 | (bus1 << 1) | (bus2 << 2) | (bus3 << 3) | (bus4 << 4) | (bus5 << 5) | (bus6 << 6) | (bus7 << 7) );
+ countEnc = busByte + countEnc;
+
+
+ HCTL_PIN_OE = 1; //1
+
+
+ return countEnc;
+}
+
+int ENCODER::YAxisGetCount( )
+{
+
+ HCTL_PIN_XY = 0; //0
+ HCTL_PIN_OE = 0;
+ wait_ms(5);
+
+
+ //read MSB
+ HCTL_PIN_SEL1 = 0; //0
+ HCTL_PIN_SEL2 = 1; //1
+ wait_ms(5);
+ busByteMSB = (bus0 | (bus1 << 1) | (bus2 << 2) | (bus3 << 3) | (bus4 << 4) | (bus5 << 5) | (bus6 << 6) | (bus7 << 7) );
+ countEnc = busByteMSB;
+ countEnc <<= 8 ;
+
+
+
+ //read 2nd byte
+ HCTL_PIN_SEL1 = 1;
+ HCTL_PIN_SEL2 = 1;
+ wait_ms(5);
+ busByte = (bus0 | (bus1 << 1) | (bus2 << 2) | (bus3 << 3) | (bus4 << 4) | (bus5 << 5) | (bus6 << 6) | (bus7 << 7) );
+ countEnc = busByte + countEnc;
+ countEnc <<= 8 ;
+
+
+
+ //read 3rd byte
+ HCTL_PIN_SEL1 = 0;
+ HCTL_PIN_SEL2 = 0;
+ HCTL_PIN_OE = 0;
+ wait_ms(5);
+ busByte = (bus0 | (bus1 << 1) | (bus2 << 2) | (bus3 << 3) | (bus4 << 4) | (bus5 << 5) | (bus6 << 6) | (bus7 << 7) );
+ countEnc = busByte + countEnc;
+ countEnc <<= 8;
+
+
+ //read LSB
+ HCTL_PIN_SEL1 = 1;
+ HCTL_PIN_SEL2 = 0;
+ wait_ms(5);
+ busByte = (bus0 | (bus1 << 1) | (bus2 << 2) | (bus3 << 3) | (bus4 << 4) | (bus5 << 5) | (bus6 << 6) | (bus7 << 7) );
+ countEnc = busByte + countEnc;
+
+
+ HCTL_PIN_OE = 1; //1
+
+
+ return countEnc;
+}
+
+void ENCODER::switchCountMode( unsigned char countMode )
+{
+ // Count Mode Illegal Mode EN1 LOW EN2 LOW
+ // Count Mode 4X EN1 HIGH EN2 LOW
+ // Count Mode 2X EN1 LOW EN2 HIGH
+ // Count Mode 1X EN1 HIGH EN2 HIGH
+ switch(countMode)
+ {
+ case 1: // 1X Count Mode
+ HCTL_PIN_EN1 = 1;
+ HCTL_PIN_EN2 = 1;
+ break;
+ case 2: // 2X Count Mode
+ HCTL_PIN_EN1 = 0;
+ HCTL_PIN_EN2 = 1;
+ break;
+ case 4: // 4X Count Mode is the default
+ HCTL_PIN_EN1 = 1;
+ HCTL_PIN_EN2 = 0;
+ break;
+ default:
+ HCTL_PIN_EN1 = 1;
+ HCTL_PIN_EN2 = 0;
+ break;
+
+
+ }
+ wait_ms(1);
+}
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/EncoderCounter.h Fri Sep 05 04:51:48 2014 +0000
@@ -0,0 +1,40 @@
+/* porting stm32 http://www.robogaia.com/two-axis-encoder-counter-mega-shield-version-2.html
+/* by Paolo Della Vedova
+/* ther is more problem to convert 5v to 3v
+
+#ifndef HCTL_2032_DRIVER
+#define HCTL_2032_DRIVER
+
+#include "mbed.h"
+
+
+//*** arduino compatibility
+#define HIGH 1
+#define LOW 0
+
+#define digitalWrite(x,y) x=y
+
+
+
+
+class ENCODER
+{
+ public:
+ ENCODER( unsigned char countMode=4 );
+
+ void XAxisReset( );
+ int XAxisGetCount( );
+ void YAxisReset( );
+ int YAxisGetCount( );
+
+ void switchCountMode( unsigned char countMode );
+
+ private:
+ signed int countEnc;
+ unsigned char busByte;
+ signed char busByteMSB;
+};
+
+
+#endif
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FastIO.lib Fri Sep 05 04:51:48 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/c128/code/FastIO/#6e0f24f71081