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/EncoderMspInitL4.cpp@0:789510d98ade, 2017-03-08 (annotated)

Committer:
tonnyleonard
Date:
Wed Mar 08 16:59:48 2017 +0000
Revision:
0:789510d98ade
Child:
1:a611582bffa7
Adapting attempt to L432KC

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 stm32f4xx_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/DM00108832.pdf
tonnyleonard 0:789510d98ade 11 * Table 15 has GPIOx AFx pinouts
tonnyleonard 0:789510d98ade 12 *
tonnyleonard 0:789510d98ade 13 * TIM1_CH1: AF1 @ PA8, PE9
tonnyleonard 0:789510d98ade 14 * TIM1_CH2: AF1 @ PA9, PE11
tonnyleonard 0:789510d98ade 15 *
tonnyleonard 0:789510d98ade 16 * TIM2_CH1: AF1 @ PA0, PA5, PA15
tonnyleonard 0:789510d98ade 17 * TIM2_CH2: AF1 @ PA1, PB3
tonnyleonard 0:789510d98ade 18 *
tonnyleonard 0:789510d98ade 19 * TIM3_CH1: AF2 @ PA6, PB4, PC6, PE3
tonnyleonard 0:789510d98ade 20 * TIM3_CH2: AF2 @ PA7, PB5, PC7, PE4
tonnyleonard 0:789510d98ade 21 *
tonnyleonard 0:789510d98ade 22 * TIM4_CH1: AF2 @ PB6, PD12
tonnyleonard 0:789510d98ade 23 * TIM4_CH2: AF2 @ PB7, PD13
tonnyleonard 0:789510d98ade 24 *
tonnyleonard 0:789510d98ade 25 * TIM5_CH1: AF2 @ PA0, PF6
tonnyleonard 0:789510d98ade 26 * TIM5_CH2: AF2 @ PA1, PF7
tonnyleonard 0:789510d98ade 27 *
tonnyleonard 0:789510d98ade 28 */
tonnyleonard 0:789510d98ade 29
tonnyleonard 0:789510d98ade 30 #ifdef TARGET_STM32L4
tonnyleonard 0:789510d98ade 31 void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
tonnyleonard 0:789510d98ade 32 {
tonnyleonard 0:789510d98ade 33 GPIO_InitTypeDef GPIO_InitStruct;
tonnyleonard 0:789510d98ade 34
tonnyleonard 0:789510d98ade 35 if (htim->Instance == TIM1) { //PA8 PA9 = Nucleo D7 D8
tonnyleonard 0:789510d98ade 36 __TIM1_CLK_ENABLE();
tonnyleonard 0:789510d98ade 37 __GPIOA_CLK_ENABLE();
tonnyleonard 0:789510d98ade 38 GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
tonnyleonard 0:789510d98ade 39 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
tonnyleonard 0:789510d98ade 40 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
tonnyleonard 0:789510d98ade 41 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
tonnyleonard 0:789510d98ade 42 GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
tonnyleonard 0:789510d98ade 43 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
tonnyleonard 0:789510d98ade 44 }
tonnyleonard 0:789510d98ade 45 else if (htim->Instance == TIM2) { //PA0 PA1 = Nucleo A0 A1
tonnyleonard 0:789510d98ade 46 __TIM2_CLK_ENABLE();
tonnyleonard 0:789510d98ade 47 __GPIOA_CLK_ENABLE();
tonnyleonard 0:789510d98ade 48 GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;
tonnyleonard 0:789510d98ade 49 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
tonnyleonard 0:789510d98ade 50 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
tonnyleonard 0:789510d98ade 51 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
tonnyleonard 0:789510d98ade 52 GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
tonnyleonard 0:789510d98ade 53 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
tonnyleonard 0:789510d98ade 54 }
tonnyleonard 0:789510d98ade 55 else if (htim->Instance == TIM3) { //PB4 PB5 = Nucleo D5 D4
tonnyleonard 0:789510d98ade 56 __TIM3_CLK_ENABLE();
tonnyleonard 0:789510d98ade 57 __GPIOB_CLK_ENABLE();
tonnyleonard 0:789510d98ade 58 GPIO_InitStruct.Pin = GPIO_PIN_4 | GPIO_PIN_5;
tonnyleonard 0:789510d98ade 59 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
tonnyleonard 0:789510d98ade 60 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
tonnyleonard 0:789510d98ade 61 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
tonnyleonard 0:789510d98ade 62 GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
tonnyleonard 0:789510d98ade 63 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
tonnyleonard 0:789510d98ade 64 }
tonnyleonard 0:789510d98ade 65 else if (htim->Instance == TIM4) { // PB6 PB7 = Nucleo D10 MORPHO_PB7
tonnyleonard 0:789510d98ade 66 __TIM4_CLK_ENABLE();
tonnyleonard 0:789510d98ade 67 __GPIOB_CLK_ENABLE();
tonnyleonard 0:789510d98ade 68 GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
tonnyleonard 0:789510d98ade 69 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
tonnyleonard 0:789510d98ade 70 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
tonnyleonard 0:789510d98ade 71 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
tonnyleonard 0:789510d98ade 72 GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
tonnyleonard 0:789510d98ade 73 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
tonnyleonard 0:789510d98ade 74 }
tonnyleonard 0:789510d98ade 75 else if (htim->Instance == TIM5) { // here for completeness, mbed sytem timer uses this
tonnyleonard 0:789510d98ade 76 __TIM5_CLK_ENABLE();
tonnyleonard 0:789510d98ade 77 __GPIOA_CLK_ENABLE();
tonnyleonard 0:789510d98ade 78 GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;
tonnyleonard 0:789510d98ade 79 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
tonnyleonard 0:789510d98ade 80 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
tonnyleonard 0:789510d98ade 81 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
tonnyleonard 0:789510d98ade 82 GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
tonnyleonard 0:789510d98ade 83 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
tonnyleonard 0:789510d98ade 84 }
tonnyleonard 0:789510d98ade 85 }
tonnyleonard 0:789510d98ade 86 #endif