32bits encoder counter using 16bits TIM and a 32bits software counter
Dependents: Asserv_mot Asserv_mot
Fork of Encoder_Nucleo_32_bits by
EncoderMspInitF3.cpp
- Committer:
- kkoichy
- Date:
- 2016-05-22
- Revision:
- 0:ebd170807e11
- Child:
- 7:c57c8fe63263
File content as of revision 0:ebd170807e11:
#include "mbed.h" /* * HAL_TIM_Encoder_MspInit() * Overrides the __weak function stub in stm32f3xx_hal_tim.h * * Edit the below for your preferred pin wiring & pullup/down * I have encoder common at 3V3, using GPIO_PULLDOWN on inputs. * Encoder A&B outputs connected directly to GPIOs. * * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00093333.pdf * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00097745.pdf * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00133117.pdf * Table 14 has GPIO alternate function pinout mappings. * * TIM1_CH1: AF2 @ PC_0, PE_9; AF6 @ PA_8 * TIM1_CH2: AF2 @ PC_1, PE_11; AF6 @ PA_9 * * (TIM2_CH1: AF1 @ PA_0, PA_5, PA_15; AF2 @ PD_3) TIM2 is the mbed system ticker, so unavailable as encoder. * (TIM2_CH2: AF1 @ PA_1, PB_3; AF2 @ PD_4) * * TIM3_CH1: AF2 @ PA_6, PB_4, PC_6, PE_2 not for F302R8, OK @ F334R8 * TIM3_CH2: AF2 @ PA_4, PA_7, PB_5, PC_7, PE_3 * * TIM4_CH1: AF2 @ PB_6, PD_12; AF10 @ PA_11 not for both F302R8 & F334R8 * TIM4_CH2: AF2 @ PB_7, PD_13; AF10 @ PA_12 * */ #ifdef TARGET_STM32F3 void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim) { GPIO_InitTypeDef GPIO_InitStruct; if (htim->Instance == TIM1) { //PA8 PA9 = Nucleo D7 D8 __TIM1_CLK_ENABLE(); __GPIOA_CLK_ENABLE(); GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Pull = GPIO_PULLDOWN; GPIO_InitStruct.Speed = GPIO_SPEED_HIGH; GPIO_InitStruct.Alternate = GPIO_AF6_TIM1; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); } #if 0 //TIM2 is the mbed system ticker else if (htim->Instance == TIM2) { //PA0 PA1 = Nucleo A0 A1 __TIM2_CLK_ENABLE(); __GPIOA_CLK_ENABLE(); GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Pull = GPIO_PULLDOWN; GPIO_InitStruct.Speed = GPIO_SPEED_HIGH; GPIO_InitStruct.Alternate = GPIO_AF1_TIM2; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); } #endif #if defined TARGET_STM32F334R8 else if (htim->Instance == TIM3) { //PB4 PB5 = Nucleo D5 D4 __TIM3_CLK_ENABLE(); __GPIOB_CLK_ENABLE(); GPIO_InitStruct.Pin = GPIO_PIN_4 | GPIO_PIN_5; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Pull = GPIO_PULLDOWN; GPIO_InitStruct.Speed = GPIO_SPEED_HIGH; GPIO_InitStruct.Alternate = GPIO_AF2_TIM3; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); } #endif #if 0 else if (htim->Instance == TIM4) { // PB6 PB7 = Nucleo D10 MORPHO_PB7 __TIM4_CLK_ENABLE(); __GPIOB_CLK_ENABLE(); GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Pull = GPIO_PULLDOWN; GPIO_InitStruct.Speed = GPIO_SPEED_HIGH; GPIO_InitStruct.Alternate = GPIO_AF2_TIM4; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); } #endif } #endif