68 lines
1.9 KiB
C
68 lines
1.9 KiB
C
#include "tachometer.h"
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#include "input_capture.h"
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#include "inc/msp432p401r.h"
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#define P5_0_IN (*((volatile uint8_t *)(0x42098800)))
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#define P5_2_IN (*((volatile uint8_t *)(0x42098808)))
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uint16_t tach_r_time1, tach_r_time2, tach_l_time1, tach_l_time2;
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// incremented with every step forward, decremented with every step backward
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int tach_r_steps, tach_l_steps;
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TachDirection_t tach_r_dir, tach_l_dir;
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// Right Encoder B connected to P5.0 (J2.13)
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// When high, increase r_steps and set dir forward
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// When low, decrease r_steps and set dir reverse
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void TachometerRightInt(uint16_t current_time) {
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tach_r_time1 = tach_r_time2;
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tach_r_time2 = current_time;
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tach_r_dir = (P5->IN & 0x01) ? Forward : Reverse;
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// int delta = tach_r_time2 - tach_r_time1;
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// int speed = 2000000 / delta;
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if (tach_r_dir == Forward)
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++tach_r_steps;
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else
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--tach_r_steps;
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return;
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}
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// Left Encoder B connected to P5.2 (J2.12)
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// When high, increase l_steps and set dir forward
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// When low, decrease l_steps and set dir reverse
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void TachometerLeftInt(uint16_t current_time) {
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tach_l_time1 = tach_l_time2;
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tach_l_time2 = current_time;
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tach_l_dir = (P5->IN & 0x04) ? Forward : Reverse;
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// int delta = tach_l_time2 - tach_l_time1;
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// int speed = 2000000 / delta;
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if (tach_l_dir == Forward)
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++tach_l_steps;
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else
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--tach_l_steps;
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return;
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}
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// Initialize P5.0 and P5.2 and make them GPIO inputs,
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// which will be used to determine the direction of rotation.
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// Initialize the input capture interface, which
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// will be used to measure the speed of rotation.
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void TachometerInit(void) {
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P5->SEL0 |= 0x05; // Set SEL0 for bits 0 and 2
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P5->SEL1 &= ~0x05; // Clear SEL1 for bits 0 and 2
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P5->DIR &= ~0x05; // Set as inputs
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tach_r_dir = tach_l_dir = Stopped;
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TimerA3CaptureInit(&TachometerRightInt, &TachometerLeftInt);
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}
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