raspiezo / Nucleo_L432KC_Quadrature_Decoder_with_ADC_and_DAC

A program to monitor some parameters for a motor

Dependencies:   mbed-dev BufferSerial

Thanks to David Lowe for https://developer.mbed.org/users/gregeric/code/Nucleo_Hello_Encoder/ which I adapted for the use of TIM2 32bit timer as an encoder reader on the Nucleo L432KC board.

Encoder/EncoderMspInitF1.cpp@23:5cd74e296f59, 2017-06-22 (annotated)

Committer:
tonnyleonard
Date:
Thu Jun 22 10:41:57 2017 +0000
Revision:
23:5cd74e296f59
Parent:
0:789510d98ade 
Correct adc2 calibration offset and the dac1 calibration factor and offset, remove some junk comments

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tonnyleonard 0:789510d98ade 1 #include "mbed.h"
tonnyleonard 0:789510d98ade 2 /*
tonnyleonard 0:789510d98ade 3 * HAL_TIM_Encoder_MspInit()
tonnyleonard 0:789510d98ade 4 * Overrides the __weak function stub in stm32f1xx_hal_tim.h
tonnyleonard 0:789510d98ade 5 *
tonnyleonard 0:789510d98ade 6 * Edit the below for your preferred pin wiring & pullup/down
tonnyleonard 0:789510d98ade 7 * I have encoder common at 3V3, using GPIO_PULLDOWN on inputs.
tonnyleonard 0:789510d98ade 8 * Encoder A&B outputs connected directly to GPIOs.
tonnyleonard 0:789510d98ade 9 *
tonnyleonard 0:789510d98ade 10 * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/CD00161566.pdf
tonnyleonard 0:789510d98ade 11 * Table 5 has GPIO alternate function pinout mappings.
tonnyleonard 0:789510d98ade 12 *
tonnyleonard 0:789510d98ade 13 * TIM1_CH1: default PA_8, remap PE_9
tonnyleonard 0:789510d98ade 14 * TIM1_CH2: default PA_9, remap PE_11
tonnyleonard 0:789510d98ade 15 *
tonnyleonard 0:789510d98ade 16 * TIM2_CH1: default PA_0
tonnyleonard 0:789510d98ade 17 * TIM2_CH2: default PA_1, remap PB_3
tonnyleonard 0:789510d98ade 18 *
tonnyleonard 0:789510d98ade 19 * TIM3_CH1: default PA_6, remap PB_4, PC_6
tonnyleonard 0:789510d98ade 20 * TIM3_CH2: default PA_7, remap PB_5, PC_7
tonnyleonard 0:789510d98ade 21 *
tonnyleonard 0:789510d98ade 22 * TIM4_CH1: default PB_6, remap PD_12
tonnyleonard 0:789510d98ade 23 * TIM4_CH2: default PB_7, remap PD_13
tonnyleonard 0:789510d98ade 24 *
tonnyleonard 0:789510d98ade 25 * NB one of these timers will be the employed by mbed as systick, unavailable as encoder.
tonnyleonard 0:789510d98ade 26 */
tonnyleonard 0:789510d98ade 27
tonnyleonard 0:789510d98ade 28 #ifdef TARGET_STM32F1
tonnyleonard 0:789510d98ade 29 void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
tonnyleonard 0:789510d98ade 30 {
tonnyleonard 0:789510d98ade 31 GPIO_InitTypeDef GPIO_InitStruct;
tonnyleonard 0:789510d98ade 32
tonnyleonard 0:789510d98ade 33 if (htim->Instance == TIM1) { //PA8 PA9 = Nucleo D7 D8
tonnyleonard 0:789510d98ade 34 __TIM1_CLK_ENABLE();
tonnyleonard 0:789510d98ade 35 __GPIOA_CLK_ENABLE();
tonnyleonard 0:789510d98ade 36 GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
tonnyleonard 0:789510d98ade 37 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
tonnyleonard 0:789510d98ade 38 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
tonnyleonard 0:789510d98ade 39 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
tonnyleonard 0:789510d98ade 40 // GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
tonnyleonard 0:789510d98ade 41 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
tonnyleonard 0:789510d98ade 42 }
tonnyleonard 0:789510d98ade 43 else if (htim->Instance == TIM2) { //PA0 PA1 = Nucleo A0 A1
tonnyleonard 0:789510d98ade 44 __TIM2_CLK_ENABLE();
tonnyleonard 0:789510d98ade 45 __GPIOA_CLK_ENABLE();
tonnyleonard 0:789510d98ade 46 GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;
tonnyleonard 0:789510d98ade 47 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
tonnyleonard 0:789510d98ade 48 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
tonnyleonard 0:789510d98ade 49 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
tonnyleonard 0:789510d98ade 50 // GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
tonnyleonard 0:789510d98ade 51 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
tonnyleonard 0:789510d98ade 52 }
tonnyleonard 0:789510d98ade 53 else if (htim->Instance == TIM3) { //PA6 PA7 = Nucleo D12 D11
tonnyleonard 0:789510d98ade 54 __TIM3_CLK_ENABLE();
tonnyleonard 0:789510d98ade 55 __GPIOA_CLK_ENABLE();
tonnyleonard 0:789510d98ade 56 GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
tonnyleonard 0:789510d98ade 57 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
tonnyleonard 0:789510d98ade 58 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
tonnyleonard 0:789510d98ade 59 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
tonnyleonard 0:789510d98ade 60 // GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
tonnyleonard 0:789510d98ade 61 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
tonnyleonard 0:789510d98ade 62 }
tonnyleonard 0:789510d98ade 63 else if (htim->Instance == TIM4) { // PB6 PB7 = Nucleo D10 MORPHO PB7
tonnyleonard 0:789510d98ade 64 __TIM4_CLK_ENABLE();
tonnyleonard 0:789510d98ade 65 __GPIOB_CLK_ENABLE();
tonnyleonard 0:789510d98ade 66 GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
tonnyleonard 0:789510d98ade 67 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
tonnyleonard 0:789510d98ade 68 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
tonnyleonard 0:789510d98ade 69 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
tonnyleonard 0:789510d98ade 70 // GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
tonnyleonard 0:789510d98ade 71 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
tonnyleonard 0:789510d98ade 72 }
tonnyleonard 0:789510d98ade 73 }
tonnyleonard 0:789510d98ade 74 #endif