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Added support for working via timer

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DomStudent
2024-05-25 22:54:22 +03:00
parent 3adc9ff7bb
commit 3fbde591bd
9 changed files with 5444 additions and 30 deletions
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27
Core/Src/Encoder.c
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@@ -1,7 +1,16 @@
#include "Encoder.h"
void DS_EncoderInitTim(DS_Encoder *Encoder, TIM_HandleTypeDef *hTim)
{
Encoder->hTim = hTim;
Encoder->State = 0;
HAL_TIM_Base_Start(Encoder->hTim);
}
void DS_EncoderInit(DS_Encoder *Encoder, GPIO_TypeDef *PortSignal1, uint16_t PinSignal1, GPIO_TypeDef *PortSignal2, uint16_t PinSignal2)
{
Encoder->hTim = 0;
Encoder->Direction = 0;
Encoder->State = 0;
Encoder->PrevTick = HAL_GetTick();
@@ -72,7 +81,19 @@ void DS_EncoderUpdate(DS_Encoder *Encoder)
int8_t DS_EncoderGetState(DS_Encoder *Encoder)
{
int8_t ValueToReturn = Encoder->State;
Encoder->State = 0;
return ValueToReturn;
if(Encoder->hTim != 0)
{
int8_t CurrentCounter = Encoder->hTim->Instance->CNT / 4;
int8_t ValueToReturn = CurrentCounter - Encoder->State;
Encoder->State = CurrentCounter;
return ValueToReturn;
}
else
{
int8_t ValueToReturn = Encoder->State;
Encoder->State = 0;
return ValueToReturn;
}
}