32bits encoder counter using 16bits TIM and a 32bits software counter
Dependents: Asserv_mot Asserv_mot
Fork of Encoder_Nucleo_32_bits by
EncoderMspInitL4.cpp
- Committer:
- kkoichy
- Date:
- 2016-05-22
- Revision:
- 0:ebd170807e11
File content as of revision 0:ebd170807e11:
#include "mbed.h" /* * HAL_TIM_Encoder_MspInit() * Overrides the __weak function stub in stm32f4xx_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/DM00108832.pdf * Table 15 has GPIOx AFx pinouts * * TIM1_CH1: AF1 @ PA8, PE9 * TIM1_CH2: AF1 @ PA9, PE11 * * TIM2_CH1: AF1 @ PA0, PA5, PA15 * TIM2_CH2: AF1 @ PA1, PB3 * * TIM3_CH1: AF2 @ PA6, PB4, PC6, PE3 * TIM3_CH2: AF2 @ PA7, PB5, PC7, PE4 * * TIM4_CH1: AF2 @ PB6, PD12 * TIM4_CH2: AF2 @ PB7, PD13 * * TIM5_CH1: AF2 @ PA0, PF6 * TIM5_CH2: AF2 @ PA1, PF7 * */ #ifdef TARGET_STM32L4 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_AF1_TIM1; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); } 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); } 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); } 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); } else if (htim->Instance == TIM5) { // here for completeness, mbed sytem timer uses this __TIM5_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_AF2_TIM5; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); } } #endif