encoder.h File Reference

Quadrature encoder interface for STM32 timers. More...

#include "time_utils.h"
#include <stm32f4xx_hal.h>

Go to the source code of this file.

Classes
struct	encoder_t
	Structure for tracking encoder state and motion data. More...

Functions
void	encoder_init (encoder_t *encoder, TIM_HandleTypeDef *htim)
	Initializes an encoder structure with a given timer.
void	encoder_update (encoder_t *encoder)
	Updates the encoder's internal position, delta, and speed.
int32_t	encoder_getposition (encoder_t *encoder)
	Returns the current position (accumulated counts) of the encoder.
int32_t	encoder_getdelta (encoder_t *encoder)
	Returns the most recent change in encoder count.
float	encoder_getspeed (encoder_t *encoder)
	Returns the current speed in counts per second.
void	encoder_reset (encoder_t *encoder)
	Resets encoder position and delta tracking.

Detailed Description

Quadrature encoder interface for STM32 timers.

Provides data structures and functions for tracking position, velocity, and delta counts using hardware timers configured in encoder mode.

Function Documentation

encoder_getdelta()

int32_t encoder_getdelta

(

encoder_t *

encoder

)

Returns the most recent change in encoder count.

Parameters

encoder

Pointer to encoder structure.

Returns

Signed 32-bit count delta since last update.

Returns the most recent change in encoder count.

Parameters

encoder

Pointer to encoder structure.

Returns

Count difference since the last update.

encoder_getposition()

int32_t encoder_getposition

(

encoder_t *

encoder

)

Returns the current position (accumulated counts) of the encoder.

Parameters

encoder

Pointer to encoder structure.

Returns

Signed 32-bit position count.

Returns the current position (accumulated counts) of the encoder.

Parameters

encoder

Pointer to encoder structure.

Returns

Current position in encoder counts.

encoder_getspeed()

float encoder_getspeed

(

encoder_t *

encoder

)

Returns the current speed in counts per second.

Parameters

encoder

Pointer to encoder structure.

Returns

Speed in CPS (counts per second).

Returns the current speed in counts per second.

Parameters

encoder

Pointer to encoder structure.

Returns

Speed in counts per second (CPS).

encoder_init()

void encoder_init	(	encoder_t *	encoder,
		TIM_HandleTypeDef *	htim )

Initializes an encoder structure with a given timer.

Parameters

encoder	Pointer to encoder structure.
htim	Pointer to initialized TIM_HandleTypeDef configured for encoder mode.

Initializes an encoder structure with a given timer.

Parameters

encoder	Pointer to encoder structure to initialize.
htim	Pointer to a TIM_HandleTypeDef configured in encoder mode.

encoder_reset()

void encoder_reset

(

encoder_t *

encoder

)

Resets encoder position and delta tracking.

Parameters

encoder

Pointer to encoder structure.

Resets encoder position and delta tracking.

Parameters

encoder

Pointer to encoder structure.

encoder_update()

void encoder_update

(

encoder_t *

encoder

)

Updates the encoder's internal position, delta, and speed.

Parameters

encoder

Pointer to encoder structure.

Updates the encoder's internal position, delta, and speed.

Computes the count delta between updates and handles overflow. Speed is calculated in counts per second (CPS).

Parameters

encoder

Pointer to encoder structure to update.