diff options
Diffstat (limited to 'stmhal/timer.c')
| -rw-r--r-- | stmhal/timer.c | 55 |
1 files changed, 55 insertions, 0 deletions
diff --git a/stmhal/timer.c b/stmhal/timer.c index 9d77eae43..c20e89f4b 100644 --- a/stmhal/timer.c +++ b/stmhal/timer.c @@ -96,6 +96,9 @@ typedef enum { CHANNEL_MODE_OC_FORCED_ACTIVE, CHANNEL_MODE_OC_FORCED_INACTIVE, CHANNEL_MODE_IC, + CHANNEL_MODE_ENC_A, + CHANNEL_MODE_ENC_B, + CHANNEL_MODE_ENC_AB, } pyb_channel_mode; STATIC const struct { @@ -111,6 +114,9 @@ STATIC const struct { { MP_QSTR_OC_FORCED_ACTIVE, TIM_OCMODE_FORCED_ACTIVE }, { MP_QSTR_OC_FORCED_INACTIVE, TIM_OCMODE_FORCED_INACTIVE }, { MP_QSTR_IC, 0 }, + { MP_QSTR_ENC_A, TIM_ENCODERMODE_TI1 }, + { MP_QSTR_ENC_B, TIM_ENCODERMODE_TI2 }, + { MP_QSTR_ENC_AB, TIM_ENCODERMODE_TI12 }, }; typedef struct _pyb_timer_channel_obj_t { @@ -719,6 +725,9 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_timer_deinit_obj, pyb_timer_deinit); /// - `Timer.OC_FORCED_ACTIVE` - the pin is forced active (compare match is ignored). /// - `Timer.OC_FORCED_INACTIVE` - the pin is forced inactive (compare match is ignored). /// - `Timer.IC` - configure the timer in Input Capture mode. +/// - `Timer.ENC_A` --- configure the timer in Encoder mode. The counter only changes when CH1 changes. +/// - `Timer.ENC_B` --- configure the timer in Encoder mode. The counter only changes when CH2 changes. +/// - `Timer.ENC_AB` --- configure the timer in Encoder mode. The counter changes when CH1 or CH2 changes. /// /// - `callback` - as per TimerChannel.callback() /// @@ -750,6 +759,14 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_timer_deinit_obj, pyb_timer_deinit); /// Note that capture only works on the primary channel, and not on the /// complimentary channels. /// +/// Notes for Timer.ENC modes: +/// +/// - Requires 2 pins, so one or both pins will need to be configured to use +/// the appropriate timer AF using the Pin API. +/// - Read the encoder value using the timer.counter() method. +/// - Only works on CH1 and CH2 (and not on CH1N or CH2N) +/// - The channel number is ignored when setting the encoder mode. +/// /// PWM Example: /// /// timer = pyb.Timer(2, freq=1000) @@ -941,6 +958,41 @@ STATIC mp_obj_t pyb_timer_channel(mp_uint_t n_args, const mp_obj_t *pos_args, mp break; } + case CHANNEL_MODE_ENC_A: + case CHANNEL_MODE_ENC_B: + case CHANNEL_MODE_ENC_AB: { + TIM_Encoder_InitTypeDef enc_config; + + enc_config.EncoderMode = channel_mode_info[chan->mode].oc_mode; + enc_config.IC1Polarity = args[6].u_int; + if (enc_config.IC1Polarity == 0xffffffff) { + enc_config.IC1Polarity = TIM_ICPOLARITY_RISING; + } + enc_config.IC2Polarity = enc_config.IC1Polarity; + enc_config.IC1Selection = TIM_ICSELECTION_DIRECTTI; + enc_config.IC2Selection = TIM_ICSELECTION_DIRECTTI; + enc_config.IC1Prescaler = TIM_ICPSC_DIV1; + enc_config.IC2Prescaler = TIM_ICPSC_DIV1; + enc_config.IC1Filter = 0; + enc_config.IC2Filter = 0; + + if (!IS_TIM_IC_POLARITY(enc_config.IC1Polarity)) { + nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "invalid polarity (%d)", enc_config.IC1Polarity)); + } + // Only Timers 1, 2, 3, 4, 5, and 8 support encoder mode + if (self->tim.Instance != TIM1 + && self->tim.Instance != TIM2 + && self->tim.Instance != TIM3 + && self->tim.Instance != TIM4 + && self->tim.Instance != TIM5 + && self->tim.Instance != TIM8 ) { + nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "encoder not supported on timer %d", self->tim_id)); + } + HAL_TIM_Encoder_Init(&self->tim, &enc_config); + __HAL_TIM_SetCounter(&self->tim, 0); + break; + } + default: nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "invalid mode (%d)", chan->mode)); } @@ -1077,6 +1129,9 @@ STATIC const mp_map_elem_t pyb_timer_locals_dict_table[] = { { MP_OBJ_NEW_QSTR(MP_QSTR_OC_FORCED_ACTIVE), MP_OBJ_NEW_SMALL_INT(CHANNEL_MODE_OC_FORCED_ACTIVE) }, { MP_OBJ_NEW_QSTR(MP_QSTR_OC_FORCED_INACTIVE), MP_OBJ_NEW_SMALL_INT(CHANNEL_MODE_OC_FORCED_INACTIVE) }, { MP_OBJ_NEW_QSTR(MP_QSTR_IC), MP_OBJ_NEW_SMALL_INT(CHANNEL_MODE_IC) }, + { MP_OBJ_NEW_QSTR(MP_QSTR_ENC_A), MP_OBJ_NEW_SMALL_INT(CHANNEL_MODE_ENC_A) }, + { MP_OBJ_NEW_QSTR(MP_QSTR_ENC_B), MP_OBJ_NEW_SMALL_INT(CHANNEL_MODE_ENC_B) }, + { MP_OBJ_NEW_QSTR(MP_QSTR_ENC_AB), MP_OBJ_NEW_SMALL_INT(CHANNEL_MODE_ENC_AB) }, { MP_OBJ_NEW_QSTR(MP_QSTR_HIGH), MP_OBJ_NEW_SMALL_INT(TIM_OCPOLARITY_HIGH) }, { MP_OBJ_NEW_QSTR(MP_QSTR_LOW), MP_OBJ_NEW_SMALL_INT(TIM_OCPOLARITY_LOW) }, { MP_OBJ_NEW_QSTR(MP_QSTR_RISING), MP_OBJ_NEW_SMALL_INT(TIM_ICPOLARITY_RISING) }, |