Library/DS_Encoder
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Added encoder operation via timer

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This commit is contained in:
Mikhail
2024-05-25 21:37:42 +03:00
parent 6dd3fd5a15
commit 6fc6bd447f
2 changed files with 31 additions and 6 deletions
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29
Src/DS_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(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;
}
}