Yolanda Tania / Mbed 2 deprecated bacaencoder

nambah buat eksternal

Dependencies:   mbed encoderKRAI Motor_new

encoderHAL/EncoderMspInitF4.cpp@1:bbe0769f00e9, 2021-06-21 (annotated)

Committer:
Yolandataniaa
Date:
Mon Jun 21 07:48:27 2021 +0000
Revision:
1:bbe0769f00e9
Parent:
0:49e87dcad299 
revisi

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Yolandataniaa 0:49e87dcad299 1 #include "mbed.h"
Yolandataniaa 0:49e87dcad299 2 /*
Yolandataniaa 0:49e87dcad299 3 * HAL_TIM_Encoder_MspInit()
Yolandataniaa 0:49e87dcad299 4 * Overrides the __weak function stub in stm32f4xx_hal_tim.h
Yolandataniaa 0:49e87dcad299 5 *
Yolandataniaa 0:49e87dcad299 6 * Edit the below for your preferred pin wiring & pullup/down
Yolandataniaa 0:49e87dcad299 7 * I have encoder common at 3V3, using GPIO_PULLDOWN on inputs.
Yolandataniaa 0:49e87dcad299 8 * Encoder A&B outputs connected directly to GPIOs.
Yolandataniaa 0:49e87dcad299 9 *
Yolandataniaa 0:49e87dcad299 10 * www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00102166.pdf
Yolandataniaa 0:49e87dcad299 11 * www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00141306.pdf
Yolandataniaa 0:49e87dcad299 12 *
Yolandataniaa 0:49e87dcad299 13 * TIM1_CH1: AF1 @ PA_8, PE_9
Yolandataniaa 0:49e87dcad299 14 * TIM1_CH2: AF1 @ PA_9, PE_11
Yolandataniaa 0:49e87dcad299 15 *
Yolandataniaa 0:49e87dcad299 16 * TIM2_CH1: AF1 @ PA_0, PA_5, PA_15, PB_8* *F446 only
Yolandataniaa 0:49e87dcad299 17 * TIM2_CH2: AF1 @ PA_1, PB_3, PB_9* *F446 only
Yolandataniaa 0:49e87dcad299 18 *
Yolandataniaa 0:49e87dcad299 19 * TIM3_CH1: AF2 @ PA_6, PB_4, PC_6
Yolandataniaa 0:49e87dcad299 20 * TIM3_CH2: AF2 @ PA_7, PB_5, PC_7
Yolandataniaa 0:49e87dcad299 21 *
Yolandataniaa 0:49e87dcad299 22 * TIM4_CH1: AF2 @ PB_6, PD_12
Yolandataniaa 0:49e87dcad299 23 * TIM4_CH2: AF2 @ PB_7, PD_13
Yolandataniaa 0:49e87dcad299 24 *
Yolandataniaa 0:49e87dcad299 25 * TIM5_CH1: AF2 @ PA_0* *TIM5 used by mbed system ticker so unavailable
Yolandataniaa 0:49e87dcad299 26 * TIM5_CH2: AF2 @ PA_1*
Yolandataniaa 0:49e87dcad299 27 *
Yolandataniaa 0:49e87dcad299 28 * TIM8_CH1: AF3 @ PC_6
Yolandataniaa 0:49e87dcad299 29 * TIM8_CH2: AF3 @ PC_7
Yolandataniaa 0:49e87dcad299 30 */
Yolandataniaa 0:49e87dcad299 31
Yolandataniaa 0:49e87dcad299 32 #ifdef TARGET_STM32F4
Yolandataniaa 0:49e87dcad299 33 void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
Yolandataniaa 0:49e87dcad299 34 {
Yolandataniaa 0:49e87dcad299 35 GPIO_InitTypeDef GPIO_InitStruct;
Yolandataniaa 0:49e87dcad299 36
Yolandataniaa 0:49e87dcad299 37 if (htim->Instance == TIM1) { //PA8 PA9 = Nucleo D7 D8
Yolandataniaa 0:49e87dcad299 38 __TIM1_CLK_ENABLE();
Yolandataniaa 0:49e87dcad299 39 __GPIOA_CLK_ENABLE();
Yolandataniaa 0:49e87dcad299 40 GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
Yolandataniaa 0:49e87dcad299 41 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
Yolandataniaa 0:49e87dcad299 42 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
Yolandataniaa 0:49e87dcad299 43 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
Yolandataniaa 0:49e87dcad299 44 GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
Yolandataniaa 0:49e87dcad299 45 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
Yolandataniaa 0:49e87dcad299 46 }
Yolandataniaa 0:49e87dcad299 47 else if (htim->Instance == TIM2) { //PA0 PA1 = Nucleo A0 A1 //USANDO ALTERNO PB8 Y PB 9 para el pololulu funcione
Yolandataniaa 0:49e87dcad299 48 __TIM2_CLK_ENABLE();
Yolandataniaa 0:49e87dcad299 49 __GPIOB_CLK_ENABLE();
Yolandataniaa 0:49e87dcad299 50 GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
Yolandataniaa 0:49e87dcad299 51 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
Yolandataniaa 0:49e87dcad299 52 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
Yolandataniaa 0:49e87dcad299 53 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
Yolandataniaa 0:49e87dcad299 54 GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
Yolandataniaa 0:49e87dcad299 55 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
Yolandataniaa 0:49e87dcad299 56 }
Yolandataniaa 0:49e87dcad299 57 else if (htim->Instance == TIM3) { //PB4 PB5 = Nucleo D5 D4
Yolandataniaa 0:49e87dcad299 58 __TIM3_CLK_ENABLE();
Yolandataniaa 0:49e87dcad299 59 __GPIOB_CLK_ENABLE();
Yolandataniaa 0:49e87dcad299 60 GPIO_InitStruct.Pin = GPIO_PIN_4 | GPIO_PIN_5;
Yolandataniaa 0:49e87dcad299 61 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
Yolandataniaa 0:49e87dcad299 62 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
Yolandataniaa 0:49e87dcad299 63 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
Yolandataniaa 0:49e87dcad299 64 GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
Yolandataniaa 0:49e87dcad299 65 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
Yolandataniaa 0:49e87dcad299 66 }
Yolandataniaa 0:49e87dcad299 67 else if (htim->Instance == TIM4) { // PB6 PB7 = Nucleo D10 MORPHO_PB7
Yolandataniaa 0:49e87dcad299 68 __TIM4_CLK_ENABLE();
Yolandataniaa 0:49e87dcad299 69 __GPIOB_CLK_ENABLE();
Yolandataniaa 0:49e87dcad299 70 GPIO_InitStruct.Pin = GPIO_PIN_7 | GPIO_PIN_6;
Yolandataniaa 0:49e87dcad299 71 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
Yolandataniaa 0:49e87dcad299 72 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
Yolandataniaa 0:49e87dcad299 73 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
Yolandataniaa 0:49e87dcad299 74 GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
Yolandataniaa 0:49e87dcad299 75 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
Yolandataniaa 0:49e87dcad299 76 }
Yolandataniaa 0:49e87dcad299 77
Yolandataniaa 0:49e87dcad299 78
Yolandataniaa 0:49e87dcad299 79 else if (htim->Instance == TIM8) { // PC7 PC8 = D9 PC6
Yolandataniaa 0:49e87dcad299 80 __TIM8_CLK_ENABLE();
Yolandataniaa 0:49e87dcad299 81 __GPIOC_CLK_ENABLE();
Yolandataniaa 0:49e87dcad299 82 GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
Yolandataniaa 0:49e87dcad299 83 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
Yolandataniaa 0:49e87dcad299 84 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
Yolandataniaa 0:49e87dcad299 85 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
Yolandataniaa 0:49e87dcad299 86 GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
Yolandataniaa 0:49e87dcad299 87 HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
Yolandataniaa 0:49e87dcad299 88 }
Yolandataniaa 0:49e87dcad299 89
Yolandataniaa 0:49e87dcad299 90
Yolandataniaa 0:49e87dcad299 91
Yolandataniaa 0:49e87dcad299 92
Yolandataniaa 0:49e87dcad299 93
Yolandataniaa 0:49e87dcad299 94
Yolandataniaa 0:49e87dcad299 95 }
Yolandataniaa 0:49e87dcad299 96 #endif