commit 5f4bfe086882ca4ad17dc60622cff1f06311329c
author Brian Silverman <brians> Tue Feb 18 00:57:53 2014 -0800
committer Brian Silverman <brians> Tue Feb 18 00:57:53 2014 -0800
tree 2af130353007f9e6ddf772ee38824629c782b796
parent 258349ff336a2ad4ae46bdf9de73d008d448db73

added filtering to encoder inputs

bbb_cape/src/cape/encoder.c

diff --git a/bbb_cape/src/cape/encoder.c b/bbb_cape/src/cape/encoder.c
index 93868fb..ad59248 100644
--- a/bbb_cape/src/cape/encoder.c
+++ b/bbb_cape/src/cape/encoder.c
@@ -109,9 +109,13 @@
       TIM_CR1_URS /* don't generate spurious update interrupts that
                      might be shared with other timers */;
   timer->SMCR = 3;  // 4x quadrature encoder mode
+  timer->CCER = 0;
   timer->CCMR1 =
       TIM_CCMR1_CC2S_0 | /* input pin 2 -> timer input 2 */
-      TIM_CCMR1_CC1S_0;  /* input pin 1 -> timer input 1 */
+      TIM_CCMR1_CC1S_0 | /* input pin 1 -> timer input 1 */
+      (3 << 4) |
+      (3 << 12);
+  timer->PSC = 0;
   timer->EGR = TIM_EGR_UG;
   timer->CR1 |= TIM_CR1_CEN;
 }

bbb_cape/src/cape/robot_comp.c

diff --git a/bbb_cape/src/cape/robot_comp.c b/bbb_cape/src/cape/robot_comp.c
index ddd3f2d..57e3d66 100644
--- a/bbb_cape/src/cape/robot_comp.c
+++ b/bbb_cape/src/cape/robot_comp.c
@@ -102,7 +102,7 @@
 void robot_init(void) {
   gpio_setup_alt(GPIOB, 9, 3);
   RCC->APB2ENR |= RCC_APB2ENR_TIM11EN;
-  TIM11->CR1 = 0;
+  TIM11->CR1 = TIM_CR1_URS;
   TIM11->SMCR = 5 << 4 /* TI1 */ |
       6 << 0 /* start on rising edge */;
   TIM11->DIER = TIM_DIER_CC1IE;