stmbl

COMP(enc_cmd);

HAL_PIN(res) = 2048.0;
HAL_PIN(pos) = 0.0;

MEM(int e_res) = 0.0;


INIT(
  GPIO_InitTypeDef GPIO_InitStructure;
  TIM_ICInitTypeDef TIM_ICInitStructure;
  TIM_ICInitStructure.TIM_Channel = TIM_Channel_1 | TIM_Channel_2;
  TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_BothEdge;
  TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
  TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
  TIM_ICInitStructure.TIM_ICFilter = 0xF;
  TIM_ICInit(ENC0_TIM, &TIM_ICInitStructure);

  /***************** port 0, quadrature or step/dir *********************/
  e_res = (int)PIN(res);
  if(e_res < 1){
	  e_res = 1;
  }
  // enable clocks
  RCC_AHB1PeriphClockCmd(ENC0_A_IO_RCC, ENABLE);
  RCC_AHB1PeriphClockCmd(ENC0_B_IO_RCC, ENABLE);
  RCC_APB2PeriphClockCmd(ENC0_TIM_RCC, ENABLE);

  // pin af -> tim
  GPIO_PinAFConfig(ENC0_A_PORT, ENC0_A_PIN_SOURCE, ENC0_A_AF_SOURCE);//ch1
  GPIO_PinAFConfig(ENC0_B_PORT, ENC0_B_PIN_SOURCE, ENC0_B_AF_SOURCE);//ch2

  // enc res / turn
  TIM_SetAutoreload(ENC0_TIM, e_res - 1);

  // quad
  TIM_Cmd(ENC0_TIM, DISABLE);
  TIM1->CR1 |= TIM_CR1_DIR;
  GPIO_InitStructure.GPIO_Pin = ENC0_A_PIN | ENC0_B_PIN;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
  GPIO_Init(ENC0_A_PORT, &GPIO_InitStructure);
  TIM_EncoderInterfaceConfig(ENC0_TIM, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
  TIM_Cmd(ENC0_TIM, ENABLE);
);

RT(
  float p = 0.0;


  int res = (int)PIN(res);
  if(res < 1){
	  res = 1;
  }

  p = mod(TIM_GetCounter(ENC0_TIM) * 2.0f * M_PI / (float)e_res);
  PIN(pos) = p;
  if(e_res != res){
    e_res = res;
    TIM_SetAutoreload(ENC0_TIM, e_res - 1);
  }
);

ENDCOMP;