From 6fc6bd447faa60dfa396d5dd871f8767f6c2db4c Mon Sep 17 00:00:00 2001
From: Mikhail <ppdisk@mail.ru>
Date: Sat, 25 May 2024 21:37:42 +0300
Subject: [PATCH] Added encoder operation via timer

---
 Inc/DS_Encoder.h |  8 +++++---
 Src/DS_Encoder.c | 29 ++++++++++++++++++++++++++---
 2 files changed, 31 insertions(+), 6 deletions(-)

diff --git a/Inc/DS_Encoder.h b/Inc/DS_Encoder.h
index 34aeb35..fa78b38 100644
--- a/Inc/DS_Encoder.h
+++ b/Inc/DS_Encoder.h
@@ -1,5 +1,5 @@
-#ifndef DS_ENCODER_H
-#define DS_ENCODER_H
+#ifndef ENCODER_H
+#define ENCODER_H
 
 #ifdef STM32G030xx 
     #include "stm32g0xx_hal.h"
@@ -18,8 +18,10 @@ typedef struct DS_Encoder
     uint32_t PrevTick;
 
     uint8_t ValueSignal1, ValueSignal2;
+    TIM_HandleTypeDef *hTim;
 }DS_Encoder;
 
+void DS_EncoderInitTim(DS_Encoder *Encoder, TIM_HandleTypeDef *hTim);
 
 void DS_EncoderInit(DS_Encoder *Encoder, GPIO_TypeDef* PortEncSignal1, uint16_t PinEncSignal1, GPIO_TypeDef* PortEncSignal2, uint16_t PinEncSignal2);
 
@@ -27,4 +29,4 @@ void DS_EncoderUpdate(DS_Encoder *Encoder);
 
 int8_t DS_EncoderGetState(DS_Encoder *Encoder);
 
-#endif //DS_ENCODER_H
\ No newline at end of file
+#endif //ENCODER_H
\ No newline at end of file
diff --git a/Src/DS_Encoder.c b/Src/DS_Encoder.c
index d302ab9..bf07603 100644
--- a/Src/DS_Encoder.c
+++ b/Src/DS_Encoder.c
@@ -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(hTim);
+
+}
+
 void DS_EncoderInit(DS_Encoder *Encoder, GPIO_TypeDef *PortEncSignal1, uint16_t PinEncSignal1, GPIO_TypeDef *PortEncSignal2, uint16_t PinEncSignal2)
 {
+    Encoder->hTim = 0;
     Encoder->Direction = 0;
     Encoder->State = 0;
     Encoder->PrevTick = HAL_GetTick();
@@ -69,7 +78,21 @@ 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;
+    }
+    
+    
+    
 }