got all the digital inputs hooked up
diff --git a/bbb_cape/src/cape/encoder.c b/bbb_cape/src/cape/encoder.c
index 45b7d16..31374db 100644
--- a/bbb_cape/src/cape/encoder.c
+++ b/bbb_cape/src/cape/encoder.c
@@ -19,8 +19,8 @@
// 1.A
void EXTI0_IRQHandler(void) {
- EXTI->PR = EXTI_PR_PR0;
uint32_t inputs = GPIOA->IDR;
+ EXTI->PR = EXTI_PR_PR0;
// This looks like a weird way to XOR the 2 inputs, but it compiles down to
// just 2 instructions, which is hard to beat.
if (((inputs >> 1) ^ inputs) & (1 << 0)) {
@@ -32,8 +32,8 @@
// 1.B
void EXTI1_IRQHandler(void) {
- EXTI->PR = EXTI_PR_PR1;
uint32_t inputs = GPIOA->IDR;
+ EXTI->PR = EXTI_PR_PR1;
if (((inputs >> 1) ^ inputs) & (1 << 0)) {
--encoder1_value;
} else {
@@ -42,9 +42,9 @@
}
// 3.A
-void EXTI2_IRQHandler(void) {
- EXTI->PR = EXTI_PR_PR2;
+void TIM1_TRG_COM_TIM11_IRQHandler(void) {
uint32_t inputs = GPIOC->IDR;
+ TIM9->SR = TIM_SR_CC1IF;
if (((inputs >> 1) ^ inputs) & (1 << 2)) {
++encoder3_value;
} else {
@@ -54,8 +54,8 @@
// 3.B
void EXTI3_IRQHandler(void) {
- EXTI->PR = EXTI_PR_PR3;
uint32_t inputs = GPIOC->IDR;
+ EXTI->PR = EXTI_PR_PR3;
if (((inputs >> 1) ^ inputs) & (1 << 2)) {
--encoder3_value;
} else {
@@ -64,7 +64,9 @@
}
static void encoder_setup(TIM_TypeDef *timer) {
- timer->CR1 = TIM_CR1_UDIS;
+ timer->CR1 = TIM_CR1_UDIS /* wait until we tell it to do anything */ |
+ TIM_CR1_URS /* don't generate spurious update interrupts that
+ might be shared with other timers */;
timer->SMCR = 3; // 4x quadrature encoder mode
timer->CCMR1 =
TIM_CCMR1_CC2S_0 | /* input pin 2 -> timer input 2 */
@@ -74,19 +76,28 @@
}
void encoder_init(void) {
- SYSCFG->EXTICR[0] =
- SYSCFG_EXTICR1_EXTI0_PC |
- SYSCFG_EXTICR1_EXTI1_PC |
- SYSCFG_EXTICR1_EXTI2_PA |
- SYSCFG_EXTICR1_EXTI3_PA;
- EXTI->IMR |= EXTI_IMR_MR0 | EXTI_IMR_MR1 | EXTI_IMR_MR2 | EXTI_IMR_MR3;
- EXTI->RTSR |= EXTI_RTSR_TR0 | EXTI_RTSR_TR1 | EXTI_RTSR_TR2 | EXTI_RTSR_TR3;
- EXTI->FTSR |= EXTI_FTSR_TR0 | EXTI_FTSR_TR1 | EXTI_FTSR_TR2 | EXTI_FTSR_TR3;
+ // Set up the 3 simple software encoder inputs.
+ EXTI_set(0, 2);
+ EXTI_set(1, 2);
+ EXTI_set(3, 0);
+ EXTI->IMR |= EXTI_IMR_MR0 | EXTI_IMR_MR1 | EXTI_IMR_MR3;
+ EXTI->RTSR |= EXTI_RTSR_TR0 | EXTI_RTSR_TR1 | EXTI_RTSR_TR3;
+ EXTI->FTSR |= EXTI_FTSR_TR0 | EXTI_FTSR_TR1 | EXTI_FTSR_TR3;
NVIC_EnableIRQ(EXTI0_IRQn);
NVIC_EnableIRQ(EXTI1_IRQn);
- NVIC_EnableIRQ(EXTI2_IRQn);
NVIC_EnableIRQ(EXTI3_IRQn);
+ // Set up the A2 software encoder input through TIM9.
+ gpio_setup_alt(GPIOA, 2, 3);
+ RCC->APB2ENR |= RCC_APB2ENR_TIM9EN;
+ TIM9->CR1 = TIM_CR1_UDIS;
+ TIM9->DIER = TIM_DIER_CC1IE;
+ TIM9->CCMR1 = TIM_CCMR1_CC1S_0; /* input pin 1 -> timer input 1 */
+ TIM9->CCER = TIM_CCER_CC1NP | TIM_CCER_CC1P | TIM_CCER_CC1E;
+ TIM9->EGR = TIM_EGR_UG;
+ TIM9->CR1 |= TIM_CR1_CEN;
+ NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn);
+
gpio_setup_alt(GPIOA, 8, 1);
gpio_setup_alt(GPIOB, 0, 1);
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;