Posted on January 09, 2014 at 09:56I have a board with an STM32F100 and a quadrature encoder connected to TIM1 channels 1 and 2 PA8 and PA9, the index output is connected to GPIO pin. I have checked the input from the encoder and it is generating the correct pulses. I have set the gpio pins to GPIO_Mode_AF_OD. Unfortunately the timer is not shifting from 0. The index pulse interrupt is working perfectly.
The pins are intitalised thus:
/// @brief encoder channel A input
const GPIOsignal encoderChannelA_port(gpio_mode_GPIO, GPIO_Pin_9, GPIOA, RCC_APB2Periph_GPIOA, GPIO_Mode_AF_OD, GPIO_Speed_10MHz);
/// @brief encoder channel B input
const GPIOsignal encoderChannelB_port(gpio_mode_GPIO, GPIO_Pin_8, GPIOA, RCC_APB2Periph_GPIOA, GPIO_Mode_AF_OD, GPIO_Speed_10MHz);
The actual initialisation code is elsewhere, but it is thoroughly tested.
The timer is intialised thus:
void setupTimer1()
{
TIM_DeInit(TIM1);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
TIM_TimeBaseStructInit(&TIM_TimeBaseInitStruct);
TIM_TimeBaseInitStruct.TIM_Period = uint16_t(encoderStepsPerRevolution - 1);
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseInitStruct);
TIM_Cmd(TIM1, DISABLE);
TIM_EncoderInterfaceConfig(TIM1, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
}
The encoder object is intialised thus:
void encoderClass::initialise(void)
{
zeroPosition = 0;
lastZeroCorrection = 0;
active = false;
setupTimer1();
TIM_Cmd(TIM1, ENABLE);
TIM_ClearFlag(TIM1, TIM_FLAG_Update);
// Check to see if moving changes the encoder position. If not, we assume the encoder is inactive
if (motor != 0)
{
float encoderPos = getPosition();
float motorPos = motor->currentPosition;
motor->moveToPosition(motorPos + 3 * encoderStepSize);
if (getPosition() != encoderPos)
{
active = true;
}
}
}
Any help would be much appreciated.
Michael Taylor
#stm32f1-encoder-quadrature-timer
