HRI board firmware v2.1 Microcontroller firmware of the board used during the HRI labs.

Functions | Variables
incr_encoder.c File Reference
`#include "incr_encoder.h"`

## Functions
void | tim5InitFunc (void)
| Initialize TIM5 as a counter for quadrature signals. More...
void | extitInitFunc (void)
| Initialize interrupt from Index line of the coder. More...
void | enc_Init (void)
| Initialize the incremental encoder driver. More...
float32_t | enc_GetPosition (void)
| Gets the current motor shaft angle, measured by the encoder counter. More...
void | enc_SetPosition (float32_t newPosition)
| Set the position offset. More...
void | EXTI9_5_IRQHandler (void)
| Interrupt from Index line of the coder (check step loss) More...

## Variables
float32_t | enc_offset

## Function Documentation

## ◆ EXTI9_5_IRQHandler()

void EXTI9_5_IRQHandler | ( | void |  | ) |

Interrupt from Index line of the coder (check step loss)

Note
  This function currently does nothing.

## ◆ extitInitFunc()

void extitInitFunc | ( | void |  | ) |

Initialize interrupt from Index line of the coder.

## ◆ tim5InitFunc()

void tim5InitFunc | ( | void |  | ) |

Initialize TIM5 as a counter for quadrature signals.

## Variable Documentation

## ◆ enc_offset

float32_t enc_offset