add encoder driver with another main -fixes #33

ARM-HAL-drivers/Encoder-driver/include/ENCODER_config.h

@@ -0,0 +1,17 @@
+/*****************************************/
+/* Author  :  Gehad Elkoumy              */
+/* Version :  V01                        */
+/* Date    : 9 FEB 2023                  */
+/*****************************************/
+
+#ifndef ENCODER_CONFIG_H
+#define ENCODER_CONFIG_H
+
+//#define channel1	GPIOA,8
+//#define channel2	GPIOA,9
+
+#define		EncoderResolution   	 230
+#define 	  WheelRadius			  5
+
+
+#endif

ARM-HAL-drivers/Encoder-driver/include/ENCODER_interface.h

@@ -0,0 +1,19 @@
+/*****************************************/
+/* Author  :  Gehad Elkoumy              */
+/* Version :  V01                        */
+/* Date    : 9 FEB 2023                  */
+/*****************************************/
+
+#ifndef ENCODER_INTERFACE_H
+#define ENCODER_INTERFACE_H
+
+u8 HENCODER_u8GetMotorDirection(u8 Copy_u8Channel2Port , u8 Copy_u8Channel2Pin);
+void HENCODER_voidEncoderCounts(u8 Copy_u8Channel2Port ,u8 Copy_u8Channel2Pin);
+s32 HENCODER_s32GetEncoderCounts(void);
+s32 HENCODER_s32GetRevPerMin(s32 Copy_s32EncoderCounts);
+f32 HENCODER_f32GetDistance( s32 Copy_s32EncoderCounts );
+
+#define 	ClockwiseDirection     				1
+#define 	CounterClockwiseDirection    		2
+
+#endif

ARM-HAL-drivers/Encoder-driver/include/ENCODER_private.h

@@ -0,0 +1,16 @@
+/*****************************************/
+/* Author  :  Gehad Elkoumy              */
+/* Version :  V01                        */
+/* Date    : 9 FEB 2023                  */
+/*****************************************/
+
+#ifndef ENCODER_PRIVATE_H
+#define ENCODER_PRIVATE_H
+
+
+
+
+#define 		Pi			3.14
+
+
+#endif

ARM-HAL-drivers/Encoder-driver/src/ENCODER_program.c

@@ -0,0 +1,77 @@
+/*****************************************/
+/* Author  :  Gehad Elkoumy              */
+/* Version :  V01                        */
+/* Date    : 9 FEB 2023                  */
+/*****************************************/
+
+#include "STD_TYPES.h"
+#include "BIT_MATH.h"
+
+#include "DIO_interface.h"
+
+#include "ENCODER_interface.h"
+#include "ENCODER_private.h"
+#include "ENCODER_config.h"
+
+static s32 Global_s32NumOfCounts = 0 ;
+
+/*input parameter : encoder channels */
+u8 HENCODER_u8GetMotorDirection(u8 Copy_u8Channel2Port , u8 Copy_u8Channel2Pin)
+{
+
+	u8 Local_u8MotorDirection = 0;
+	u8 Local_u8ChannelState;
+
+	Local_u8ChannelState = MGPIO_u8GetPinValue(Copy_u8Channel2Port ,Copy_u8Channel2Pin+1);
+	if(Local_u8ChannelState == HIGH)
+	{
+		Local_u8MotorDirection = ClockwiseDirection;
+	}
+	else if (Local_u8ChannelState == LOW)
+	{
+		Local_u8MotorDirection = CounterClockwiseDirection;
+	}
+
+	return Local_u8MotorDirection;
+}
+
+
+void HENCODER_voidEncoderCounts(u8 Copy_u8Channel2Port ,u8 Copy_u8Channel2Pin)
+{
+	u8 MotorDirection ;
+
+	MotorDirection = HENCODER_u8GetMotorDirection(Copy_u8Channel2Port , Copy_u8Channel2Pin);
+
+	if(MotorDirection == ClockwiseDirection)
+	{
+		Global_s32NumOfCounts++;
+	}
+	else
+	{
+		Global_s32NumOfCounts--;
+	}
+
+}
+
+
+s32 HENCODER_s32GetEncoderCounts(void)
+{
+	return Global_s32NumOfCounts;
+}
+
+
+s32 HENCODER_s32GetRevPerMin(s32 Copy_s32EncoderCounts)
+{
+	s32 Local_s32RPM = 0;
+	Local_s32RPM = (Copy_s32EncoderCounts*60)/EncoderResolution; // need to handle if not 1sec
+	return Local_s32RPM;
+}
+
+
+f32 HENCODER_f32GetDistance( s32 Copy_s32EncoderCounts )
+{
+	f32 Local_f32Distance = 0;
+	Local_f32Distance = (Copy_s32EncoderCounts*2*Pi*WheelRadius)/EncoderResolution;
+	return Local_f32Distance;
+}
+

ARM-HAL-drivers/Encoder-driver/src/main.c

@@ -0,0 +1,100 @@
+/*
+ * main.c
+ *
+ *  Created on: Feb 11, 2023
+ *      Author: Gehad
+ */
+
+#include"STD_TYPES.h"
+#include"BIT_MATH.h"
+
+#include"RCC_interface.h"
+#include"DIO_interface.h"
+#include"NVIC_interface.h"
+#include"AFIO_interface.h"
+#include"EXTI_interface.h"
+#include"STK_interface.h"
+//#include"TIM2_interface.h"
+#include"ENCODER_interface.h"
+
+
+volatile u8 MotorDirection;
+volatile s32 counts = 0;
+volatile s32 countsPerSec = 0;
+volatile f32 RevPerMin = 0;
+
+
+/*count 1sec : RCC = HSE crystal(8MHz) + systick clock = AHB/8 = (1tick -- 1usec)*/
+
+/*ISR of Systick*/
+void EncoderCounts(void)
+{
+	static s32 LastCounts = 0;
+
+	MotorDirection = HENCODER_u8GetMotorDirection(GPIOA,PIN8);
+
+	counts = HENCODER_s32GetEncoderCounts();
+	countsPerSec = counts - LastCounts;
+
+	LastCounts = counts;
+
+	RevPerMin = HENCODER_s32GetRevPerMin(countsPerSec);
+	MGPIO_VoidSetPinValue(GPIOC,PIN13,!MGPIO_u8GetPinValue(GPIOC,PIN13));
+
+}
+
+/*ISR of EXTI8*/
+void GetReading (void)
+{
+	 HENCODER_voidEncoderCounts(GPIOA,PIN8);
+}
+
+
+void main(void)
+{
+	/*initialize RCC*/
+	RCC_voidInitSysClock();
+	/*Enable GPIOA ,B ,C clock*/
+	RCC_voidEnableClock(RCC_APB2,2);
+	RCC_voidEnableClock(RCC_APB2,3);
+	RCC_voidEnableClock(RCC_APB2,4);
+	/*Enable AFIOA clock */
+	RCC_voidEnableClock(RCC_APB2,0);
+
+	/*AFIO*/
+	MAFIO_voidSetEXTIConfiguration(LINE8 , AFIOA);
+	//MAFIO_voidSetEXTIConfiguration(LINE9 , AFIOA);
+
+	/*pin directions*/
+	/*input floating --- 0 or 1 (encoder pins)*/
+	MGPIO_VoidSetPinDirection(GPIOA,PIN8,INPUT_FLOATING);
+	MGPIO_VoidSetPinDirection(GPIOA,PIN9,INPUT_FLOATING);
+	/*motor*/
+	MGPIO_VoidSetPinDirection(GPIOA,PIN2,OUTPUT_2MHZ_PP);
+	MGPIO_VoidSetPinDirection(GPIOA,PIN3,OUTPUT_2MHZ_PP);
+	/*output pin for test*/
+	MGPIO_VoidSetPinDirection(GPIOC,PIN13,OUTPUT_2MHZ_PP);
+
+
+	/*EXTI initialize*/
+	/*before initializing EXTI , initiate call back*/
+	EXTI_voidSetCallBack(GetReading,LINE8);
+	MEXTI_voidInit();
+	MEXTI_voidSetSignalLatch(LINE8,RISING);
+	//MEXTI_voidSetSignalLatch(LINE9,RISING);
+
+	/*Enable EXTI(5:9) interrupt from NVIC*/
+	MNVIC_voidEnableInterrupt(23);
+
+	/*systick initialize*/
+	MSTK_voidInit();
+	/*start timer 1sec*/
+	MSTK_voidSetIntervalPeriodic(1000000,EncoderCounts);
+
+	while(1)
+	{
+		/*cytron pins*/
+		MGPIO_VoidSetPinValue(GPIOA,PIN2,HIGH);
+		MGPIO_VoidSetPinValue(GPIOA,PIN3,HIGH);
+	}
+}