CRAC Team / Encoder_Nucleo_16_bits

32bits encoder counter using 16bits TIM and a 32bits software counter

Dependents:   Asserv_mot Asserv_mot

Fork of Encoder_Nucleo_32_bits by Pierre David

EncoderMspInitF1.cpp@7:c57c8fe63263, 2017-04-19 (annotated)

Committer:
Brand101
Date:
Wed Apr 19 17:40:00 2017 +0000
Revision:
7:c57c8fe63263
Parent:
0:ebd170807e11 
M1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kkoichy 0:ebd170807e11 1 #include "mbed.h"
kkoichy 0:ebd170807e11 2 /*
kkoichy 0:ebd170807e11 3 * HAL_TIM_Encoder_MspInit()
kkoichy 0:ebd170807e11 4 * Overrides the __weak function stub in stm32f1xx_hal_tim.h
kkoichy 0:ebd170807e11 5 *
kkoichy 0:ebd170807e11 6 * Edit the below for your preferred pin wiring & pullup/down
kkoichy 0:ebd170807e11 7 * I have encoder common at 3V3, using GPIO_PULLDOWN on inputs.
kkoichy 0:ebd170807e11 8 * Encoder A&B outputs connected directly to GPIOs.
kkoichy 0:ebd170807e11 9 *
kkoichy 0:ebd170807e11 10 * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/CD00161566.pdf
kkoichy 0:ebd170807e11 11 * Table 5 has GPIO alternate function pinout mappings.
kkoichy 0:ebd170807e11 12 *
kkoichy 0:ebd170807e11 13 * TIM1_CH1: default PA_8, remap PE_9
kkoichy 0:ebd170807e11 14 * TIM1_CH2: default PA_9, remap PE_11
kkoichy 0:ebd170807e11 15 *
kkoichy 0:ebd170807e11 16 * TIM2_CH1: default PA_0
kkoichy 0:ebd170807e11 17 * TIM2_CH2: default PA_1, remap PB_3
kkoichy 0:ebd170807e11 18 *
kkoichy 0:ebd170807e11 19 * TIM3_CH1: default PA_6, remap PB_4, PC_6
kkoichy 0:ebd170807e11 20 * TIM3_CH2: default PA_7, remap PB_5, PC_7
kkoichy 0:ebd170807e11 21 *
kkoichy 0:ebd170807e11 22 * TIM4_CH1: default PB_6, remap PD_12
kkoichy 0:ebd170807e11 23 * TIM4_CH2: default PB_7, remap PD_13
kkoichy 0:ebd170807e11 24 *
kkoichy 0:ebd170807e11 25 * NB one of these timers will be the employed by mbed as systick, unavailable as encoder.
kkoichy 0:ebd170807e11 26 */
kkoichy 0:ebd170807e11 27
kkoichy 0:ebd170807e11 28 #ifdef TARGET_STM32F1
kkoichy 0:ebd170807e11 29 void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
kkoichy 0:ebd170807e11 30 {
kkoichy 0:ebd170807e11 31 GPIO_InitTypeDef GPIO_InitStruct;
kkoichy 0:ebd170807e11 32
kkoichy 0:ebd170807e11 33 if (htim->Instance == TIM1) { //PA8 PA9 = Nucleo D7 D8
kkoichy 0:ebd170807e11 34 __TIM1_CLK_ENABLE();
kkoichy 0:ebd170807e11 35 __GPIOA_CLK_ENABLE();
kkoichy 0:ebd170807e11 36 GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
kkoichy 0:ebd170807e11 37 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
kkoichy 0:ebd170807e11 38 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
kkoichy 0:ebd170807e11 39 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
kkoichy 0:ebd170807e11 40 // GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
kkoichy 0:ebd170807e11 41 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
kkoichy 0:ebd170807e11 42 }
kkoichy 0:ebd170807e11 43 else if (htim->Instance == TIM2) { //PA0 PA1 = Nucleo A0 A1
kkoichy 0:ebd170807e11 44 __TIM2_CLK_ENABLE();
kkoichy 0:ebd170807e11 45 __GPIOA_CLK_ENABLE();
kkoichy 0:ebd170807e11 46 GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;
kkoichy 0:ebd170807e11 47 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
kkoichy 0:ebd170807e11 48 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
kkoichy 0:ebd170807e11 49 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
kkoichy 0:ebd170807e11 50 // GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
kkoichy 0:ebd170807e11 51 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
kkoichy 0:ebd170807e11 52 }
kkoichy 0:ebd170807e11 53 else if (htim->Instance == TIM3) { //PA6 PA7 = Nucleo D12 D11
kkoichy 0:ebd170807e11 54 __TIM3_CLK_ENABLE();
kkoichy 0:ebd170807e11 55 __GPIOA_CLK_ENABLE();
kkoichy 0:ebd170807e11 56 GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
kkoichy 0:ebd170807e11 57 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
kkoichy 0:ebd170807e11 58 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
kkoichy 0:ebd170807e11 59 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
kkoichy 0:ebd170807e11 60 // GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
kkoichy 0:ebd170807e11 61 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
kkoichy 0:ebd170807e11 62 }
kkoichy 0:ebd170807e11 63 else if (htim->Instance == TIM4) { // PB6 PB7 = Nucleo D10 MORPHO PB7
kkoichy 0:ebd170807e11 64 __TIM4_CLK_ENABLE();
kkoichy 0:ebd170807e11 65 __GPIOB_CLK_ENABLE();
kkoichy 0:ebd170807e11 66 GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
kkoichy 0:ebd170807e11 67 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
kkoichy 0:ebd170807e11 68 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
kkoichy 0:ebd170807e11 69 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
kkoichy 0:ebd170807e11 70 // GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
kkoichy 0:ebd170807e11 71 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
kkoichy 0:ebd170807e11 72 }
kkoichy 0:ebd170807e11 73 }
kkoichy 0:ebd170807e11 74 #endif