| commit | 5f4bfe086882ca4ad17dc60622cff1f06311329c | [log] [tgz] |
|---|---|---|
| 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 [diff] [blame] |
added filtering to encoder inputs
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;