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Fix encoder to read and act properly
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This commit is contained in:
Erki 2021-04-18 17:32:27 +03:00
parent 5a24602d86
commit e9b633e46c
1 changed files with 6 additions and 23 deletions
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29
Peripherals/Inc/peripherals_encoder.hpp
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@ -53,14 +53,13 @@ public:
void setRevolutionTickCount(const std::uint16_t& count)
{
__HAL_TIM_SET_COMPARE(_htim, _channels, count);
__HAL_TIM_SET_AUTORELOAD(_htim, count);
}
std::uint16_t getCurrentClicks() const
{
const std::uint16_t val = __HAL_TIM_GET_COUNTER(_htim);
return val >> 1;
return val;
}
std::int32_t getFullRevolutions() const
@ -70,41 +69,25 @@ public:
Dirs getDirection() const
{
return _direction;
}
// Should be called somewhat regularly.
void update()
{
const std::uint16_t current = __HAL_TIM_GET_COUNTER(_htim);
if (current > _last_read)
_direction = Dirs::FORWARD;
if (__HAL_TIM_IS_TIM_COUNTING_DOWN(_htim))
return Dirs::BACKWARD;
else
_direction = Dirs::BACKWARD;
_last_read = current;
return Dirs::FORWARD;
}
void timerUpdateEvent()
{
if (_direction == Dirs::FORWARD)
{
if (!__HAL_TIM_IS_TIM_COUNTING_DOWN(_htim))
_full_revolutions++;
} else
{
else
_full_revolutions--;
}
_last_read = 0;
}
private:
TIM_HandleTypeDef* _htim;
std::uint32_t _channels;
Dirs _direction = Dirs::FORWARD;
std::int32_t _full_revolutions = 0;
std::uint16_t _last_read = 0;
};
}// namespace Peripherals