这里直接使用多文件编程方式，把CPP文件和ino文件放置在一起，主文件如下：
/**********************************************************
* 文件: hal_encoder.ino by 零知实验室([url]www.lingzhilab.com[/url])
* -^^- 零知开源，让电子制作变得更简单！ -^^-
* 时间: 2019/10/10 11:55
* 说明:
************************************************************/
#include "STM32Encoder.h"
//TIM1 PA_8,PA_9 -34,1
//TIM3 PA_6,PA_7 -A6,A7
//TIM4 PB_6,PB_7 -21,20
//TIM8 PC_6,PC_7 -30,31
//argument:
//Timer,
//Timer prescaler,
//pulses per Revolution on the encoder
STM32Encoder rudder(TIM4,PB_6,PB_7, 1, 1024);
void setup() {
// put your setup code here, to run once:
Serial.begin(9600);
rudder.begin();
}
uint32_t tprint;
void loop() {
//Report what you are doing...
if (millis() - tprint > 1000) {
tprint= millis();
Serial.print("Counts: ");
Serial.println(rudder.value());
Serial.print("direction: ");
Serial.println(rudder.getDirection());
}
}
完整的工程附件:
2）测试，这里就使用一个模拟的信号来进行测试，使用下边这个编码器示例进行测试。
2、标准板编码器：
#include "STM32Encoder.h"
//Variables for the encoder
//prescaler must be between 1 and 2^16
//a prescaler of 2 will get half the counts.
STM32Encoder rudder(TIMER2, COUNT_BOTH_CHANNELS, 1, 1024);
unsigned long turns = 0; //this can count the number of turns the encoder gives.
void countTurns() {
if (rudder.getDirection() == 1)
turns ++;
else
turns--;
}
//Serial Port Variables
unsigned long tprint = 0;
//Simulation variables
unsigned int freq = 250;
unsigned long tim = 0;
char dir = 'C';
unsigned int mode = 0;
unsigned char states[4];
void setup() {
// put your setup code here, to run once:
Serial.begin(19200);
//input for the Timer channels
pinMode(D10, INPUT_PULLUP); //channel 1
pinMode(D11, INPUT_PULLUP); //channel 2
//attach Interrupt to count the overflows/turns
rudder.attachInterrupt(countTurns);
//Simulation setup
states[0] = 0; //00
states[1] = 1; //01
states[2] = 3; //11
states[3] = 2; //10
//Simulator outputs
pinMode(D4, OUTPUT); //channel 1
pinMode(D5, OUTPUT); //channel 2
}
void loop() {
//Report what you are doing...
if (millis() - tprint > 1000) {
tprint= millis();
Serial.print("Counts: ");
Serial.println(rudder.value());
Serial.print("direction: ");
Serial.println(rudder.getDirection());
Serial.print("turns: ");
Serial.println(turns);
}
//simulate encoder signals.
if ( millis() - tim >= freq) {
tim = millis(); //prepare next
if (dir == 'F') mode++;
else mode --;
digitalWrite(D4, (states[mode%4] & 0x01));
digitalWrite(D5, (states[mode%4] >> 1));
}
}
完整工程