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stmhal: Add support for quadrature encoder mode to pyb.TimerChannel.
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Lines changed: 73 additions & 2 deletions

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‎docs/library/pyb.Timer.rst‎

Lines changed: 15 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -76,14 +76,17 @@ Methods
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- ``Timer.OC_FORCED_ACTIVE`` --- the pin is forced active (compare match is ignored).
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- ``Timer.OC_FORCED_INACTIVE`` --- the pin is forced inactive (compare match is ignored).
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- ``Timer.IC`` --- configure the timer in Input Capture mode.
79-
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- ``Timer.ENC_A`` --- configure the timer in Encoder mode. The counter only changes when CH1 changes.
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- ``Timer.ENC_B`` --- configure the timer in Encoder mode. The counter only changes when CH2 changes.
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- ``Timer.ENC_AB`` --- configure the timer in Encoder mode. The counter changes when CH1 or CH2 changes.
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- ``callback`` - as per TimerChannel.callback()
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- ``pin`` None (the default) or a Pin object. If specified (and not None)
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this will cause the alternate function of the the indicated pin
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to be configured for this timer channel. An error will be raised if
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the pin doesn't support any alternate functions for this timer channel.
86-
89+
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Keyword arguments for Timer.PWM modes:
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- ``pulse_width`` - determines the initial pulse width value to use.
@@ -94,19 +97,29 @@ Methods
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- ``compare`` - determines the initial value of the compare register.
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- ``polarity`` can be one of:
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- ``Timer.HIGH`` - output is active high
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- ``Timer.LOW`` - output is acive low
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Optional keyword arguments for Timer.IC modes:
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- ``polarity`` can be one of:
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- ``Timer.RISING`` - captures on rising edge.
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- ``Timer.FALLING`` - captures on falling edge.
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- ``Timer.BOTH`` - captures on both edges.
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Note that capture only works on the primary channel, and not on the
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complimentary channels.
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Notes for Timer.ENC modes:
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- Requires 2 pins, so one or both pins will need to be configured to use
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the appropriate timer AF using the Pin API.
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- Read the encoder value using the timer.counter() method.
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- Only works on CH1 and CH2 (and not on CH1N or CH2N)
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- The channel number is ignored when setting the encoder mode.
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110123
PWM Example::
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timer = pyb.Timer(2, freq=1000)

‎stmhal/qstrdefsport.h‎

Lines changed: 3 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -247,6 +247,9 @@ Q(OC_INACTIVE)
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Q(OC_TOGGLE)
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Q(OC_FORCED_ACTIVE)
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Q(OC_FORCED_INACTIVE)
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Q(ENC_A)
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Q(ENC_B)
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Q(ENC_AB)
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Q(HIGH)
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Q(LOW)
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Q(RISING)

‎stmhal/timer.c‎

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Original file line numberDiff line numberDiff line change
@@ -96,6 +96,9 @@ typedef enum {
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CHANNEL_MODE_OC_FORCED_ACTIVE,
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CHANNEL_MODE_OC_FORCED_INACTIVE,
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CHANNEL_MODE_IC,
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CHANNEL_MODE_ENC_A,
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CHANNEL_MODE_ENC_B,
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CHANNEL_MODE_ENC_AB,
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} pyb_channel_mode;
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STATIC const struct {
@@ -111,6 +114,9 @@ STATIC const struct {
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{ MP_QSTR_OC_FORCED_ACTIVE, TIM_OCMODE_FORCED_ACTIVE },
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{ MP_QSTR_OC_FORCED_INACTIVE, TIM_OCMODE_FORCED_INACTIVE },
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{ MP_QSTR_IC, 0 },
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{ MP_QSTR_ENC_A, TIM_ENCODERMODE_TI1 },
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{ MP_QSTR_ENC_B, TIM_ENCODERMODE_TI2 },
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{ MP_QSTR_ENC_AB, TIM_ENCODERMODE_TI12 },
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};
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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);
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/// - `Timer.OC_FORCED_ACTIVE` - the pin is forced active (compare match is ignored).
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/// - `Timer.OC_FORCED_INACTIVE` - the pin is forced inactive (compare match is ignored).
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/// - `Timer.IC` - configure the timer in Input Capture mode.
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/// - `Timer.ENC_A` --- configure the timer in Encoder mode. The counter only changes when CH1 changes.
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/// - `Timer.ENC_B` --- configure the timer in Encoder mode. The counter only changes when CH2 changes.
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/// - `Timer.ENC_AB` --- configure the timer in Encoder mode. The counter changes when CH1 or CH2 changes.
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///
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/// - `callback` - as per TimerChannel.callback()
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///
@@ -750,6 +759,14 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_timer_deinit_obj, pyb_timer_deinit);
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/// Note that capture only works on the primary channel, and not on the
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/// complimentary channels.
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///
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/// Notes for Timer.ENC modes:
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///
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/// - Requires 2 pins, so one or both pins will need to be configured to use
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/// the appropriate timer AF using the Pin API.
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/// - Read the encoder value using the timer.counter() method.
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/// - Only works on CH1 and CH2 (and not on CH1N or CH2N)
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/// - The channel number is ignored when setting the encoder mode.
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///
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/// PWM Example:
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///
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/// 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
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break;
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}
943960

961+
case CHANNEL_MODE_ENC_A:
962+
case CHANNEL_MODE_ENC_B:
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case CHANNEL_MODE_ENC_AB: {
964+
TIM_Encoder_InitTypeDef enc_config;
965+
966+
enc_config.EncoderMode = channel_mode_info[chan->mode].oc_mode;
967+
enc_config.IC1Polarity = args[6].u_int;
968+
if (enc_config.IC1Polarity == 0xffffffff) {
969+
enc_config.IC1Polarity = TIM_ICPOLARITY_RISING;
970+
}
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enc_config.IC2Polarity = enc_config.IC1Polarity;
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enc_config.IC1Selection = TIM_ICSELECTION_DIRECTTI;
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enc_config.IC2Selection = TIM_ICSELECTION_DIRECTTI;
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enc_config.IC1Prescaler = TIM_ICPSC_DIV1;
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enc_config.IC2Prescaler = TIM_ICPSC_DIV1;
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enc_config.IC1Filter = 0;
977+
enc_config.IC2Filter = 0;
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979+
if (!IS_TIM_IC_POLARITY(enc_config.IC1Polarity)) {
980+
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "invalid polarity (%d)", enc_config.IC1Polarity));
981+
}
982+
// Only Timers 1, 2, 3, 4, 5, and 8 support encoder mode
983+
if (self->tim.Instance != TIM1
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&& self->tim.Instance != TIM2
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&& self->tim.Instance != TIM3
986+
&& self->tim.Instance != TIM4
987+
&& self->tim.Instance != TIM5
988+
&& self->tim.Instance != TIM8 ) {
989+
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "encoder not supported on timer %d", self->tim_id));
990+
}
991+
HAL_TIM_Encoder_Init(&self->tim, &enc_config);
992+
__HAL_TIM_SetCounter(&self->tim, 0);
993+
break;
994+
}
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default:
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "invalid mode (%d)", chan->mode));
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}
@@ -1077,6 +1129,9 @@ STATIC const mp_map_elem_t pyb_timer_locals_dict_table[] = {
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{ MP_OBJ_NEW_QSTR(MP_QSTR_OC_FORCED_ACTIVE), MP_OBJ_NEW_SMALL_INT(CHANNEL_MODE_OC_FORCED_ACTIVE) },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_OC_FORCED_INACTIVE), MP_OBJ_NEW_SMALL_INT(CHANNEL_MODE_OC_FORCED_INACTIVE) },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_IC), MP_OBJ_NEW_SMALL_INT(CHANNEL_MODE_IC) },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_ENC_A), MP_OBJ_NEW_SMALL_INT(CHANNEL_MODE_ENC_A) },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_ENC_B), MP_OBJ_NEW_SMALL_INT(CHANNEL_MODE_ENC_B) },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_ENC_AB), MP_OBJ_NEW_SMALL_INT(CHANNEL_MODE_ENC_AB) },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_HIGH), MP_OBJ_NEW_SMALL_INT(TIM_OCPOLARITY_HIGH) },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_LOW), MP_OBJ_NEW_SMALL_INT(TIM_OCPOLARITY_LOW) },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_RISING), MP_OBJ_NEW_SMALL_INT(TIM_ICPOLARITY_RISING) },

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