Module stm32f103xx_hal::examples::_06_qei

Testing the Quadrature Encoder Interface

 
#![deny(unsafe_code)]
#![deny(warnings)]
#![no_std]
 
extern crate cortex_m;
extern crate cortex_m_semihosting as semihosting;
extern crate panic_abort;
extern crate stm32f103xx_hal as hal;
 
use core::fmt::Write;
 
use hal::delay::Delay;
use hal::prelude::*;
use hal::qei::Qei;
use hal::stm32f103xx;
use semihosting::hio;
 
fn main() {
    let dp = stm32f103xx::Peripherals::take().unwrap();
    let cp = cortex_m::Peripherals::take().unwrap();
 
    let mut flash = dp.FLASH.constrain();
    let mut rcc = dp.RCC.constrain();
 
    let clocks = rcc.cfgr.freeze(&mut flash.acr);
 
    let mut afio = dp.AFIO.constrain(&mut rcc.apb2);
 
    // let gpioa = dp.GPIOA.split(&mut rcc.apb2);
    let gpiob = dp.GPIOB.split(&mut rcc.apb2);
 
    // TIM2
    // let c1 = gpioa.pa0;
    // let c2 = gpioa.pa1;
 
    // TIM3
    // let c1 = gpioa.pa6;
    // let c2 = gpioa.pa7;
 
    // TIM4
    let c1 = gpiob.pb6;
    let c2 = gpiob.pb7;
 
    let qei = Qei::tim4(dp.TIM4, (c1, c2), &mut afio.mapr, &mut rcc.apb1);
    let mut delay = Delay::new(cp.SYST, clocks);
 
    let mut hstdout = hio::hstdout().unwrap();
    loop {
        let before = qei.count();
        delay.delay_ms(1_000_u16);
        let after = qei.count();
 
        let elapsed = after.wrapping_sub(before) as i16;
 
        writeln!(hstdout, "{}", elapsed).unwrap();
    }
}