[driver] gray-code decoder for STM32 Timer

README.md

@@ -607,72 +607,73 @@ you specific needs.
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ds1631">DS1631</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ds18b20">DS18B20</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ea_dog">EA-DOG</a></td>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_input">ENCODER-INPUT</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_input-bitbang">ENCODER-INPUT-BITBANG</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_output-bitbang">ENCODER-OUTPUT-BITBANG</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_output-bitbang">ENCODER-OUTPUT-BITBANG</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ft245">FT245</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ft6x06">FT6X06</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-gpio_sampler">GPIO-SAMPLER</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-hclax">HCLAx</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-hd44780">HD44780</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-hmc58x">HMC58x</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-hmc58x">HMC58x</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-hmc6343">HMC6343</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-hx711">HX711</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-i2c-eeprom">I2C-EEPROM</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ili9341">ILI9341</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-is31fl3733">IS31FL3733</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-itg3200">ITG3200</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-itg3200">ITG3200</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-l3gd20">L3GD20</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-lan8720a">LAN8720A</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-lawicel">LAWICEL</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-lis302dl">LIS302DL</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-lis3dsh">LIS3DSH</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-lis3mdl">LIS3MDL</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-lis3mdl">LIS3MDL</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-lm75">LM75</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-lp503x">LP503X</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm303a">LSM303A</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm6ds33">LSM6DS33</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ltc2984">LTC2984</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-max6966">MAX6966</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-max6966">MAX6966</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-max7219">MAX7219</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp23x17">MCP23X17</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp2515">MCP2515</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-mmc5603">MMC5603</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-nokia5110">NOKIA5110</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-nrf24">NRF24</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-nrf24">NRF24</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-parallel_tft_display">TFT-DISPLAY</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-pat9125el">PAT9125EL</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-pca8574">PCA8574</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9535">PCA9535</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9548a">PCA9548A</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9685">PCA9685</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9685">PCA9685</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-sh1106">SH1106</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-siemens_s65">SIEMENS-S65</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-siemens_s75">SIEMENS-S75</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-sk6812">SK6812</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-sk9822">SK9822</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-ssd1306">SSD1306</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-ssd1306">SSD1306</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-st7586s">ST7586S</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-stts22h">STTS22H</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-stusb4500">STUSB4500</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-sx1276">SX1276</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-tcs3414">TCS3414</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-tcs3472">TCS3472</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-tcs3472">TCS3472</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-tlc594x">TLC594X</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp102">TMP102</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp12x">TMP12X</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp175">TMP175</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-touch2046">TOUCH2046</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-vl53l0">VL53L0</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-vl53l0">VL53L0</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-vl6180">VL6180</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ws2812">WS2812</a></td>
 </tr>

examples/arduino_nano/encoder_input/main.cpp → examples/arduino_nano/encoder_input_bitbang/main.cpp

@@ -10,15 +10,14 @@
 // ----------------------------------------------------------------------------
 
 #include <modm/board.hpp>
-#include <modm/driver/encoder/bitbang_encoder_input.hpp>
-#include <modm/math/algorithm/prescaler.hpp>
 #include <modm/processing/timer.hpp>
+#include <modm/math/algorithm/prescaler.hpp>
+#include <modm/driver/encoder/bitbang_encoder_input.hpp>
 
 using namespace modm::platform;
 
 // Connect the encoders outputs to D7 and D8 Pins (usually the outer pins)
 // The common third pin (usually in the middle) is connected to GND.
-// Don't add any resistors or filters. It's all in the MCU and the driver.
 modm::BitBangEncoderInput<Board::D11, Board::D12, 4> encoder;
 
 MODM_ISR(TIMER2_COMPA)
@@ -48,22 +47,19 @@ main()
 	Board::initialize();
 	LedD13::setOutput();
 
-	encoder.connect();
-
+	encoder.initialize();
 	init_Timer2();
 	enableInterrupts();
 
 	int value(0);
 
 	modm::ShortPeriodicTimer heartbeat(500ms);
-	modm::ShortPeriodicTimer outputValue(1000ms);
 
 	while (true)
 	{
-		if (heartbeat.execute()) Board::LedD13::toggle();
-		if (outputValue.execute())
-		{
-			value += encoder.getIncrement();
+		if (heartbeat.execute()) {
+			Board::LedD13::toggle();
+			value += encoder.getDelta();
 			MODM_LOG_INFO << "value: " << value << modm::endl;
 		}
 	}

examples/arduino_nano/encoder_input/project.xml → examples/arduino_nano/encoder_input_bitbang/project.xml

@@ -1,7 +1,7 @@
 <library>
   <extends>modm:arduino-nano</extends>
   <options>
-    <option name="modm:build:build.path">../../../build/arduino_nano/encoder_input</option>
+    <option name="modm:build:build.path">../../../build/arduino_nano/encoder_input_bitbang</option>
   </options>
   <modules>
     <module>modm:build:scons</module>

examples/blue_pill_f103/encoder_input/main.cpp

@@ -0,0 +1,74 @@
+/*
+ * Copyright (c) 2021, Thomas Sommer
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/board.hpp>
+#include <modm/debug/logger.hpp>
+#include <modm/processing/timer.hpp>
+#include <modm/driver/encoder/encoder_input.hpp>
+
+// ----------------------------------------------------------------------------
+// Set the log level
+#undef	MODM_LOG_LEVEL
+#define	MODM_LOG_LEVEL modm::log::INFO
+
+// Create an IODeviceWrapper around the Uart Peripheral we want to use
+modm::IODeviceWrapper< Usart2, modm::IOBuffer::BlockIfFull > loggerDevice;
+
+// Set all four logger streams to use the UART
+modm::log::Logger modm::log::debug(loggerDevice);
+modm::log::Logger modm::log::info(loggerDevice);
+modm::log::Logger modm::log::warning(loggerDevice);
+modm::log::Logger modm::log::error(loggerDevice);
+
+int
+main()
+{
+	Board::initialize();
+
+	Usart2::connect<GpioOutputA2::Tx>();
+	Usart2::initialize<Board::SystemClock, 115200_Bd>();
+
+	// Each Timer can drive one Encoder
+	// For Timer2 and Timer3 you have 2 Gpio options
+	// When using one of PB3 or PB4 you also have to disable JTAG debugging during shared pins
+
+	// Timer1:
+	modm::EncoderInput<Timer1, GpioInputA8, GpioInputA9> encoder;
+
+	// Timer2:
+	// modm::EncoderInput<Timer2, GpioInputA0, GpioInputA1> encoder;
+	// modm::EncoderInput<Timer2, GpioInputA15, GpioInputB3> encoder;
+	// AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_JTAGDISABLE;
+
+	// Timer3:
+	// modm::EncoderInput<Timer3, GpioInputA6, GpioInputA7> encoder;
+	// modm::EncoderInput<Timer3, GpioInputB4, GpioInputB5> encoder;
+	// Disable JTAG to make PB3, PB4 available as Gpio
+	// AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_JTAGDISABLE;
+
+	// Timer4:
+	// modm::EncoderInput<Timer4, GpioInputB6, GpioInputB7> encoder;
+
+	encoder.initialize(true);
+
+	modm::ShortPeriodicTimer heartbeat(500ms);
+
+	while (true)
+	{
+		if(heartbeat.execute()) {
+			Board::LedGreen::toggle();
+			MODM_LOG_INFO << "Encoder Delta: " << encoder.getDelta() << modm::endl;
+			MODM_LOG_INFO << "Encoder Absolut: " << encoder.getValue() << modm::endl;
+		}
+	}
+
+	return 0;
+}

examples/blue_pill_f103/encoder_input/openocd.cfg

@@ -0,0 +1,2 @@
+# Replace this with your custom programmer
+source [find interface/stlink-v2.cfg]

examples/blue_pill_f103/encoder_input/project.xml

@@ -0,0 +1,18 @@
+<library>
+  <extends>modm:blue-pill-f103</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/blue_pill_f103/encoder_input</option>
+    <option name="modm:build:openocd.cfg">openocd.cfg</option>
+  </options>
+  <modules>
+  	<module>modm:debug</module>
+		<module>modm:platform:uart:2</module>
+		<module>modm:processing:timer</module>
+		<module>modm:driver:encoder_input</module>
+		<module>modm:platform:timer:1</module>
+		<module>modm:platform:timer:2</module>
+		<module>modm:platform:timer:3</module>
+		<module>modm:platform:timer:4</module>
+		<module>modm:build:scons</module>
+  </modules>
+</library>

examples/blue_pill_f103/encoder_input_bitbang/main.cpp

@@ -0,0 +1,82 @@
+/*
+ * Copyright (c) 2021, Thomas Sommer
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/board.hpp>
+#include <modm/debug/logger.hpp>
+#include <modm/processing/timer.hpp>
+#include <modm/driver/encoder/bitbang_encoder_input.hpp>
+
+// ----------------------------------------------------------------------------
+// Set the log level
+#undef	MODM_LOG_LEVEL
+#define	MODM_LOG_LEVEL modm::log::INFO
+
+// Create an IODeviceWrapper around the Uart Peripheral we want to use
+modm::IODeviceWrapper< Usart2, modm::IOBuffer::BlockIfFull > loggerDevice;
+
+// Set all four logger streams to use the UART
+modm::log::Logger modm::log::debug(loggerDevice);
+modm::log::Logger modm::log::info(loggerDevice);
+modm::log::Logger modm::log::warning(loggerDevice);
+modm::log::Logger modm::log::error(loggerDevice);
+
+// Connect the encoders outputs to D7 and D8 Pins (usually the outer pins)
+// The common third pin (usually in the middle) is connected to GND.
+modm::BitBangEncoderInput<GpioInputB6, GpioInputB7, 4, int16_t> encoder;
+
+MODM_ISR(TIM2)
+{
+	Timer2::acknowledgeInterruptFlags(Timer2::InterruptFlag::Update);
+	encoder.update();
+}
+
+void
+init_Timer2(const uint16_t period)
+{
+	Timer2::enable();
+	Timer2::setMode(Timer2::Mode::UpCounter);
+
+	Timer2::template setPeriod<Board::SystemClock>(period);
+	Timer2::enableInterruptVector(true, 10);
+	Timer2::enableInterrupt(Timer2::Interrupt::Update);
+
+	Timer2::applyAndReset();
+	Timer2::start();
+}
+
+int
+main()
+{
+	Board::initialize();
+
+	Usart2::connect<GpioOutputA2::Tx>();
+	Usart2::initialize<Board::SystemClock, 115200_Bd>();
+
+	encoder.initialize();
+	init_Timer2(1000); // 1ms period
+
+	int value(0);
+
+	modm::ShortPeriodicTimer heartbeat(1s);
+
+	while (true)
+	{
+		if (heartbeat.execute()) {
+			Board::LedGreen::toggle();
+
+			const auto delta = encoder.getDelta();
+			MODM_LOG_INFO << "Delta: " << delta << modm::endl;
+
+			value += delta;
+			MODM_LOG_INFO << "Encoder Absolut: " << value << modm::endl;
+		}
+	}
+}

examples/blue_pill_f103/encoder_input_bitbang/openocd.cfg

@@ -0,0 +1,2 @@
+# Replace this with your custom programmer
+source [find interface/stlink-v2.cfg]

examples/blue_pill_f103/encoder_input_bitbang/project.xml

@@ -0,0 +1,15 @@
+<library>
+  <extends>modm:blue-pill-f103</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/blue_pill_f103/encoder_input_bitbang</option>
+    <option name="modm:build:openocd.cfg">openocd.cfg</option>
+  </options>
+  <modules>
+  	<module>modm:debug</module>
+		<module>modm:platform:uart:2</module>
+		<module>modm:processing:timer</module>
+		<module>modm:driver:encoder_input.bitbang</module>
+		<module>modm:platform:timer:2</module>
+		<module>modm:build:scons</module>
+  </modules>
+</library>

src/modm/driver/encoder/bitbang_encoder_input.hpp

@@ -26,18 +26,19 @@ namespace modm
  *
  * @tparam SignalA          First modm::platform::Gpio pin to input the encoder signal.
  * @tparam SignalB          Second modm::platform::Gpio pin to input the encoder signal.
- * @tparam POSTSCALER	 	n_cycles to count as one in-/decrement.
- * @tparam DeltaType		Must be signed integer and fit at least POSTSCALER. The Bigger
+ * @tparam PRESCALER	 	n_cycles to count as one in-/decrement.
+ * @tparam DeltaType		Must be signed integral and fit at least PRESCALER. The Bigger
  * 							DeltaType, the more inc-/decrements can be stored temporarily.
+ * @tparam ValueType		Must be unsigned integral.
  */
-template<typename SignalA, typename SignalB, uint8_t POSTSCALER = 4,
+template<typename SignalA, typename SignalB, uint8_t PRESCALER = 4,
 		 std::signed_integral DeltaType = int8_t>
 class BitBangEncoderInput
 {
-	static_assert(std::popcount(POSTSCALER) == 1,
-				  "POSTSCALER must be an integer to basis 2 and not 0: 1, 2, 4, 8, 16, ...");
-	static_assert(POSTSCALER <= std::numeric_limits<DeltaType>::max(),
-				  "DeltaType is to small for POSTSCALER.");
+	static_assert(std::popcount(PRESCALER) == 1,
+				  "PRESCALER must be an integer to basis 2 and not 0: 1, 2, 4, 8, 16, ...");
+	static_assert(PRESCALER <= std::numeric_limits<DeltaType>::max(),
+				  "DeltaType is to small for PRESCALER.");
 
 	using Signals = modm::platform::SoftwareGpioPort<SignalA, SignalB>;
 
@@ -47,19 +48,19 @@ class BitBangEncoderInput
 	uint8_t inline getRaw();
 
 public:
-	using ValueType = DeltaType;
 	BitBangEncoderInput() : raw_last(0), delta(0){};
 
+	using InputType = modm::platform::Gpio::InputType;
 	// Connect SingalA and SignalB and store power-up state
 	inline void
-	connect();
+	initialize(const modm::platform::Gpio::InputType inputType = modm::platform::Gpio::InputType::PullUp);
 
 	// Call @1kHz for manual movement
 	inline void
 	update();
 
-	ValueType
-	getIncrement();
+	DeltaType
+	getDelta();
 
 private:
 	uint8_t raw_last;

src/modm/driver/encoder/bitbang_encoder_input.lb

@@ -15,7 +15,7 @@ def init(module):
     module.description = """
 # Quadrature Encoder Input
 
-This driver decodes a AB (incremental) encoder signal.
+This driver decodes an AB (incremental) encoder signal.
 Ported from code created by Peter Dannegger:
 https://www.mikrocontroller.net/articles/Drehgeber.
 """