Inc/DS_Encoder.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);
 

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;
+    if (Encoder->hTim != 0)
-	Encoder->State = 0;
+    {
-	return ValueToReturn;
+        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;
+    }
+    
+    
+    
 }