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

EncoderMspInitL4.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 stm32f4xx_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/DM00108832.pdf
kkoichy 0:ebd170807e11 11 * Table 15 has GPIOx AFx pinouts
kkoichy 0:ebd170807e11 12 *
kkoichy 0:ebd170807e11 13 * TIM1_CH1: AF1 @ PA8, PE9
kkoichy 0:ebd170807e11 14 * TIM1_CH2: AF1 @ PA9, PE11
kkoichy 0:ebd170807e11 15 *
kkoichy 0:ebd170807e11 16 * TIM2_CH1: AF1 @ PA0, PA5, PA15
kkoichy 0:ebd170807e11 17 * TIM2_CH2: AF1 @ PA1, PB3
kkoichy 0:ebd170807e11 18 *
kkoichy 0:ebd170807e11 19 * TIM3_CH1: AF2 @ PA6, PB4, PC6, PE3
kkoichy 0:ebd170807e11 20 * TIM3_CH2: AF2 @ PA7, PB5, PC7, PE4
kkoichy 0:ebd170807e11 21 *
kkoichy 0:ebd170807e11 22 * TIM4_CH1: AF2 @ PB6, PD12
kkoichy 0:ebd170807e11 23 * TIM4_CH2: AF2 @ PB7, PD13
kkoichy 0:ebd170807e11 24 *
kkoichy 0:ebd170807e11 25 * TIM5_CH1: AF2 @ PA0, PF6
kkoichy 0:ebd170807e11 26 * TIM5_CH2: AF2 @ PA1, PF7
kkoichy 0:ebd170807e11 27 *
kkoichy 0:ebd170807e11 28 */
kkoichy 0:ebd170807e11 29
kkoichy 0:ebd170807e11 30 #ifdef TARGET_STM32L4
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_AF1_TIM1;
kkoichy 0:ebd170807e11 43 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
kkoichy 0:ebd170807e11 44 }
kkoichy 0:ebd170807e11 45 else if (htim->Instance == TIM2) { //PA0 PA1 = Nucleo A0 A1
kkoichy 0:ebd170807e11 46 __TIM2_CLK_ENABLE();
kkoichy 0:ebd170807e11 47 __GPIOA_CLK_ENABLE();
kkoichy 0:ebd170807e11 48 GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;
kkoichy 0:ebd170807e11 49 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
kkoichy 0:ebd170807e11 50 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
kkoichy 0:ebd170807e11 51 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
kkoichy 0:ebd170807e11 52 GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
kkoichy 0:ebd170807e11 53 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
kkoichy 0:ebd170807e11 54 }
kkoichy 0:ebd170807e11 55 else if (htim->Instance == TIM3) { //PB4 PB5 = Nucleo D5 D4
kkoichy 0:ebd170807e11 56 __TIM3_CLK_ENABLE();
kkoichy 0:ebd170807e11 57 __GPIOB_CLK_ENABLE();
kkoichy 0:ebd170807e11 58 GPIO_InitStruct.Pin = GPIO_PIN_4 | GPIO_PIN_5;
kkoichy 0:ebd170807e11 59 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
kkoichy 0:ebd170807e11 60 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
kkoichy 0:ebd170807e11 61 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
kkoichy 0:ebd170807e11 62 GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
kkoichy 0:ebd170807e11 63 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
kkoichy 0:ebd170807e11 64 }
kkoichy 0:ebd170807e11 65 else if (htim->Instance == TIM4) { // PB6 PB7 = Nucleo D10 MORPHO_PB7
kkoichy 0:ebd170807e11 66 __TIM4_CLK_ENABLE();
kkoichy 0:ebd170807e11 67 __GPIOB_CLK_ENABLE();
kkoichy 0:ebd170807e11 68 GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
kkoichy 0:ebd170807e11 69 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
kkoichy 0:ebd170807e11 70 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
kkoichy 0:ebd170807e11 71 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
kkoichy 0:ebd170807e11 72 GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
kkoichy 0:ebd170807e11 73 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
kkoichy 0:ebd170807e11 74 }
kkoichy 0:ebd170807e11 75 else if (htim->Instance == TIM5) { // here for completeness, mbed sytem timer uses this
kkoichy 0:ebd170807e11 76 __TIM5_CLK_ENABLE();
kkoichy 0:ebd170807e11 77 __GPIOA_CLK_ENABLE();
kkoichy 0:ebd170807e11 78 GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;
kkoichy 0:ebd170807e11 79 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
kkoichy 0:ebd170807e11 80 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
kkoichy 0:ebd170807e11 81 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
kkoichy 0:ebd170807e11 82 GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
kkoichy 0:ebd170807e11 83 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
kkoichy 0:ebd170807e11 84 }
kkoichy 0:ebd170807e11 85 }
kkoichy 0:ebd170807e11 86 #endif