How to capture the Encoder speed and print it in a certain time，does anyone know？

[zpw199062]

Description

I need this feature because we want to know the rotation speed of the wheel so that we can get the speed information for the PID control. We are using stm32f407vet6 for the development currently.

Useful links

I search on the internet before and i found some code with encoderinterface made in some head file. maybe we can also create one in RIOT, i will paste the code below. if you need more detail, do not hesitate to contact me by email:285164365@qq.com

void TIM3_EncoderInit(u32 arr1,u32 psc1)
{
  GPIO_InitTypeDef GPIO_InitStructure;
  TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
  TIM_ICInitTypeDef TIM_ICInitStructure;

 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);

 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
 GPIO_Init(GPIOA,&GPIO_InitStructure);

GPIO_PinAFConfig(GPIOA,GPIO_PinSource6,GPIO_AF_TIM3);
GPIO_PinAFConfig(GPIOA,GPIO_PinSource7,GPIO_AF_TIM3);

TIM_TimeBaseStructure.TIM_Prescaler = psc1;
TIM_TimeBaseStructure.TIM_Period = arr1;//
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

 TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_BothEdge , TIM_ICPolarity_BothEdge);
 TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 0;
 TIM_ICInit(TIM3, &TIM_ICInitStructure);
 TIM_ClearFlag(TIM3, TIM_FLAG_Update);
 TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);

 TIM3->CNT = 0;
 TIM_Cmd(TIM3, ENABLE);
}

void TIM_EncoderInterfaceConfig(TIM_TypeDef* TIMx, uint16_t TIM_EncoderMode,
                                uint16_t TIM_IC1Polarity, uint16_t TIM_IC2Polarity)
{
  uint16_t tmpsmcr = 0;
  uint16_t tmpccmr1 = 0;
  uint16_t tmpccer = 0;
    
  /* Check the parameters */
  assert_param(IS_TIM_LIST2_PERIPH(TIMx));
  assert_param(IS_TIM_ENCODER_MODE(TIM_EncoderMode));
  assert_param(IS_TIM_IC_POLARITY(TIM_IC1Polarity));
  assert_param(IS_TIM_IC_POLARITY(TIM_IC2Polarity));

  /* Get the TIMx SMCR register value */
  tmpsmcr = TIMx->SMCR;

  /* Get the TIMx CCMR1 register value */
  tmpccmr1 = TIMx->CCMR1;

  /* Get the TIMx CCER register value */
  tmpccer = TIMx->CCER;

  /* Set the encoder Mode */
  tmpsmcr &= (uint16_t)~TIM_SMCR_SMS;
  tmpsmcr |= TIM_EncoderMode;

  /* Select the Capture Compare 1 and the Capture Compare 2 as input */
  tmpccmr1 &= ((uint16_t)~TIM_CCMR1_CC1S) & ((uint16_t)~TIM_CCMR1_CC2S);
  tmpccmr1 |= TIM_CCMR1_CC1S_0 | TIM_CCMR1_CC2S_0;

  /* Set the TI1 and the TI2 Polarities */
  tmpccer &= ((uint16_t)~TIM_CCER_CC1P) & ((uint16_t)~TIM_CCER_CC2P);
  tmpccer |= (uint16_t)(TIM_IC1Polarity | (uint16_t)(TIM_IC2Polarity << (uint16_t)4));

  /* Write to TIMx SMCR */
  TIMx->SMCR = tmpsmcr;

  /* Write to TIMx CCMR1 */
  TIMx->CCMR1 = tmpccmr1;

  /* Write to TIMx CCER */
  TIMx->CCER = tmpccer;
}

/**
  * @brief  Enables or disables the TIMx's Hall sensor interface.
  * @param  TIMx: where x can be 1, 2, 3, 4, 5, 8, 9 or 12 to select the TIM 
  *         peripheral.
  * @param  NewState: new state of the TIMx Hall sensor interface.
  *          This parameter can be: ENABLE or DISABLE.
  * @retval None
  */
void TIM_SelectHallSensor(TIM_TypeDef* TIMx, FunctionalState NewState)
{
  /* Check the parameters */
  assert_param(IS_TIM_LIST2_PERIPH(TIMx));
  assert_param(IS_FUNCTIONAL_STATE(NewState));

  if (NewState != DISABLE)
  {
    /* Set the TI1S Bit */
    TIMx->CR2 |= TIM_CR2_TI1S;
  }
  else
  {
    /* Reset the TI1S Bit */
    TIMx->CR2 &= (uint16_t)~TIM_CR2_TI1S;
  }
}

[jcarrano]

Note: you may get better results by asking in the devel or users mailing lists.

You have two options:

1. Dirty and ugly: put that code somewhere in you application. This is good for testing, to get the code working before you start messing with the build system.

2. Add it as a peripheral in https://github.com/RIOT-OS/RIOT/tree/master/cpu/stm32f4/periph

I don't know where that code comes from, but it seems to rely on some vendor headers. I'm not familiar with the STM32 platform, but if it is vendor headers, they should already be available in RIOT.

[stale]

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