STM32F103C8T6 (aka Bluepill) Encoder Mode CMSIS no HAL

Description

This module provides an interface for reading rotary encoders using the STM32F103C8T6 microcontroller (aka Bluepill). It allows you to easily integrate rotary encoders into your STM32F103C8T6-based projects.

Features

• Support for two quadrature rotary encoders on PA0 PA1 and PA6 PA7.
• Serial interface for debugging.

Installation

1. Clone or download the repository.
2. Copy the necessary files into your STM32F103C8T6 project.
3. The following tools are used for these projects:
   • ARM-GCC compiler toolchain.
   • st-link flash tool using an ST-LINK V2 USB programmer.
   • Official STM32 CMSIS files as part of their STM32Cube MCU packages.
4. set the path in the makefile

Usage

• Initialize the encoder module by calling the initialization function.
• get speed and postition of encoders

FLASHING

• run make clean
• run make swd_flash

Examples

#define NUMBER_OF_ENCODER 2
#define ENCODER_LEFT 0
#define ENCODER_RIGHT 1

encoder_t encoder_data[NUMBER_OF_ENCODER];
    for (int i = 0; i < NUMBER_OF_ENCODER; i++)
    {
        init_encoder(&encoder_data[i], (uint8_t)i);
    }
while(1) {
	update_encoder(&encoder_data[ENCODER_LEFT]);
	update_encoder(&encoder_data[ENCODER_RIGHT]);

    float speed_left = get_speed_enc(&encoder_data[ENCODER_LEFT]);
    float speed_right = get_speed_enc(&encoder_data[ENCODER_RIGHT]);

    uint32_t position_left = get_position_enc(&encoder_data[ENCODER_LEFT]);
    uint32_t position_right = get_position_enc(&encoder_data[ENCODER_RIGHT]);

    // Print debug information
    printf("\nLEFT: ");
    print_info_enc(&encoder_data[ENCODER_LEFT]);
    printf("RIGHT: ");
    print_info_enc(&encoder_data[ENCODER_RIGHT]);
}

Resources

• RM0008 Reference manual page 329
• https://github.com/getoffmyhack/STM32F103-Bare-Metal
• https://www.edwinfairchild.com/2019/04/interface-rotary-encoder-right-way.html

Credits

https://www.edwinfairchild.com/2019/04/interface-rotary-encoder-right-way.html https://github.com/getoffmyhack/STM32F103-Bare-Metal