Configure quadrature decoder

1 files changed, 15 insertions, 3 deletions

diff --git a/sw/demo1/src/main.rs b/sw/demo1/src/main.rs
index 0b9f965..a45c0bb 100644
--- a/sw/demo1/src/main.rs
+++ b/sw/demo1/src/main.rs
@@ -12,6 +12,7 @@ use stm32f1xx_hal::{
     pac,
     i2c::{BlockingI2c, Mode},
     delay::Delay,
+    timer::{Timer},
 };
 
 use embedded_hal::digital::v2::{OutputPin, ToggleableOutputPin};
@@ -84,12 +85,19 @@ fn main() -> ! {
     let clocks = rcc.cfgr.freeze(&mut flash.acr);
     let mut delay = Delay::new(cp.SYST, clocks);
 
+    let gpioa = dp.GPIOA.split(&mut rcc.apb2);
     let mut gpiob = dp.GPIOB.split(&mut rcc.apb2);
 
     // Configure PB14 as output. (LED)
     let mut led = gpiob.pb14.into_push_pull_output(&mut gpiob.crh);
     led.set_low().unwrap();
 
+    let c1 = gpioa.pa6;
+    let c2 = gpioa.pa7;
+
+    let qei = Timer::tim3(dp.TIM3, &clocks, &mut rcc.apb1)
+        .qei((c1, c2), &mut afio.mapr);
+
     // Configure I2C1 to be used for Si5351 and display
     let scl = gpiob.pb6.into_alternate_open_drain(&mut gpiob.crl);
     let sda = gpiob.pb7.into_alternate_open_drain(&mut gpiob.crl);
@@ -203,14 +211,18 @@ fn main() -> ! {
     let mut step = 0;
     print(step).unwrap();
 
+    let mut last_encoder_count = qei.count();
     loop {
         led.toggle().unwrap();
-        delay.delay_ms(600u32);
 
         lcd.set_cursor_pos(40, &mut delay).unwrap();
         let mut string = arrayvec::ArrayString::<[_; 16]>::new();
-        write!(string, "Step {}     ", step).unwrap();
-        lcd.write_str(&string, &mut delay).unwrap();
+        let encoder_count = qei.count();
+        if encoder_count != last_encoder_count {
+            write!(string, "Enc {}     ", encoder_count).unwrap();
+            lcd.write_str(&string, &mut delay).unwrap();
+        }
+        last_encoder_count = encoder_count;
 
         step += 1;
     }