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.
Diff: Encoder/EncoderMspInitF3.cpp
- Revision:
- 0:789510d98ade
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Encoder/EncoderMspInitF3.cpp Wed Mar 08 16:59:48 2017 +0000 @@ -0,0 +1,82 @@ +#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 \ No newline at end of file