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

EncoderMspInitF3.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 stm32f3xx_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/DM00093333.pdf
kkoichy 0:ebd170807e11 11 * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00097745.pdf
kkoichy 0:ebd170807e11 12 * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00133117.pdf
kkoichy 0:ebd170807e11 13 * Table 14 has GPIO alternate function pinout mappings.
kkoichy 0:ebd170807e11 14 *
kkoichy 0:ebd170807e11 15 * TIM1_CH1: AF2 @ PC_0, PE_9; AF6 @ PA_8
kkoichy 0:ebd170807e11 16 * TIM1_CH2: AF2 @ PC_1, PE_11; AF6 @ PA_9
kkoichy 0:ebd170807e11 17 *
kkoichy 0:ebd170807e11 18 * (TIM2_CH1: AF1 @ PA_0, PA_5, PA_15; AF2 @ PD_3) TIM2 is the mbed system ticker, so unavailable as encoder.
kkoichy 0:ebd170807e11 19 * (TIM2_CH2: AF1 @ PA_1, PB_3; AF2 @ PD_4)
kkoichy 0:ebd170807e11 20 *
kkoichy 0:ebd170807e11 21 * TIM3_CH1: AF2 @ PA_6, PB_4, PC_6, PE_2 not for F302R8, OK @ F334R8
kkoichy 0:ebd170807e11 22 * TIM3_CH2: AF2 @ PA_4, PA_7, PB_5, PC_7, PE_3
kkoichy 0:ebd170807e11 23 *
kkoichy 0:ebd170807e11 24 * TIM4_CH1: AF2 @ PB_6, PD_12; AF10 @ PA_11 not for both F302R8 & F334R8
kkoichy 0:ebd170807e11 25 * TIM4_CH2: AF2 @ PB_7, PD_13; AF10 @ PA_12
kkoichy 0:ebd170807e11 26 *
kkoichy 0:ebd170807e11 27 */
kkoichy 0:ebd170807e11 28
kkoichy 0:ebd170807e11 29 #ifdef TARGET_STM32F3
kkoichy 0:ebd170807e11 30
kkoichy 0:ebd170807e11 31 void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
kkoichy 0:ebd170807e11 32 {
kkoichy 0:ebd170807e11 33 GPIO_InitTypeDef GPIO_InitStruct;
kkoichy 0:ebd170807e11 34
kkoichy 0:ebd170807e11 35 if (htim->Instance == TIM1) { //PA8 PA9 = Nucleo D7 D8
kkoichy 0:ebd170807e11 36 __TIM1_CLK_ENABLE();
kkoichy 0:ebd170807e11 37 __GPIOA_CLK_ENABLE();
kkoichy 0:ebd170807e11 38 GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
kkoichy 0:ebd170807e11 39 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
kkoichy 0:ebd170807e11 40 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
kkoichy 0:ebd170807e11 41 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
kkoichy 0:ebd170807e11 42 GPIO_InitStruct.Alternate = GPIO_AF6_TIM1;
kkoichy 0:ebd170807e11 43 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
kkoichy 0:ebd170807e11 44 }
kkoichy 0:ebd170807e11 45 #if 0 //TIM2 is the mbed system ticker
kkoichy 0:ebd170807e11 46 else if (htim->Instance == TIM2) { //PA0 PA1 = Nucleo A0 A1
kkoichy 0:ebd170807e11 47 __TIM2_CLK_ENABLE();
kkoichy 0:ebd170807e11 48 __GPIOA_CLK_ENABLE();
kkoichy 0:ebd170807e11 49 GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;
kkoichy 0:ebd170807e11 50 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
kkoichy 0:ebd170807e11 51 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
kkoichy 0:ebd170807e11 52 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
kkoichy 0:ebd170807e11 53 GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
kkoichy 0:ebd170807e11 54 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
kkoichy 0:ebd170807e11 55 }
kkoichy 0:ebd170807e11 56 #endif
kkoichy 0:ebd170807e11 57 #if defined TARGET_STM32F334R8
Brand101 7:c57c8fe63263 58 else if (htim->Instance == TIM3) { //PB7 PB5 = Nucleo D5 D4
kkoichy 0:ebd170807e11 59 __TIM3_CLK_ENABLE();
kkoichy 0:ebd170807e11 60 __GPIOB_CLK_ENABLE();
kkoichy 0:ebd170807e11 61 GPIO_InitStruct.Pin = GPIO_PIN_4 | GPIO_PIN_5;
kkoichy 0:ebd170807e11 62 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
kkoichy 0:ebd170807e11 63 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
kkoichy 0:ebd170807e11 64 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
kkoichy 0:ebd170807e11 65 GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
kkoichy 0:ebd170807e11 66 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
kkoichy 0:ebd170807e11 67 }
kkoichy 0:ebd170807e11 68 #endif
kkoichy 0:ebd170807e11 69 #if 0
kkoichy 0:ebd170807e11 70 else if (htim->Instance == TIM4) { // PB6 PB7 = Nucleo D10 MORPHO_PB7
kkoichy 0:ebd170807e11 71 __TIM4_CLK_ENABLE();
kkoichy 0:ebd170807e11 72 __GPIOB_CLK_ENABLE();
kkoichy 0:ebd170807e11 73 GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
kkoichy 0:ebd170807e11 74 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
kkoichy 0:ebd170807e11 75 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
kkoichy 0:ebd170807e11 76 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
kkoichy 0:ebd170807e11 77 GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
kkoichy 0:ebd170807e11 78 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
kkoichy 0:ebd170807e11 79 }
kkoichy 0:ebd170807e11 80 #endif
kkoichy 0:ebd170807e11 81 }
kkoichy 0:ebd170807e11 82 #endif