Revision 0:f12d257b587e, committed 2016-09-01

Comitter:

sakanakuuun

Date:

Thu Sep 01 05:13:31 2016 +0000

Child:

1:10cc86cabdce

Commit message:

;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Encoder/Encoder.h	Thu Sep 01 05:13:31 2016 +0000
@@ -0,0 +1,6 @@
+#ifndef ENCODER_H
+#define ENCODER_H
+
+void EncoderInit(TIM_Encoder_InitTypeDef * encoder, TIM_HandleTypeDef * timer, TIM_TypeDef * TIMx, uint32_t maxcount, uint32_t encmode);
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Encoder/EncoderInit.cpp	Thu Sep 01 05:13:31 2016 +0000
@@ -0,0 +1,35 @@
+#include "mbed.h"
+
+void EncoderInit(TIM_Encoder_InitTypeDef * encoder, TIM_HandleTypeDef * timer, TIM_TypeDef * TIMx, uint32_t maxcount, uint32_t encmode)
+{
+
+    timer->Instance = TIMx;
+    timer->Init.Period = maxcount;
+    timer->Init.CounterMode = TIM_COUNTERMODE_UP;
+    timer->Init.Prescaler = 0;
+    timer->Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+
+    encoder->EncoderMode = encmode;
+
+    encoder->IC1Filter = 0x0F;
+    encoder->IC1Polarity = TIM_INPUTCHANNELPOLARITY_RISING;
+    encoder->IC1Prescaler = TIM_ICPSC_DIV4;
+    encoder->IC1Selection = TIM_ICSELECTION_DIRECTTI;
+
+    encoder->IC2Filter = 0x0F;
+    encoder->IC2Polarity = TIM_INPUTCHANNELPOLARITY_FALLING;
+    encoder->IC2Prescaler = TIM_ICPSC_DIV4;
+    encoder->IC2Selection = TIM_ICSELECTION_DIRECTTI;
+
+
+    if (HAL_TIM_Encoder_Init(timer, encoder) != HAL_OK) {
+        printf("Couldn't Init Encoder\r\n");
+        while (1) {}
+    }
+
+    if(HAL_TIM_Encoder_Start(timer,TIM_CHANNEL_1)!=HAL_OK) {
+        printf("Couldn't Start Encoder\r\n");
+        while (1) {}
+    }
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Encoder/EncoderMspInitF0.cpp	Thu Sep 01 05:13:31 2016 +0000
@@ -0,0 +1,37 @@
+#include "mbed.h"
+/*
+ * HAL_TIM_Encoder_MspInit()
+ * Overrides the __weak function stub in stm32f0xx_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/DM00088500.pdf
+ * Table 11 has GPIO alternate function pinout mappings.
+ *
+ * TIM1_CH1: AF2 @ PA_8 - TIM1 used as system ticker under mbed, so unavailable
+ * TIM1_CH2: AF2 @ PA_9
+ *
+ * TIM3_CH1: AF1 @ PA_6, PB_4; AF0 @ PC_6*  *only for F030xC devices
+ * TIM3_CH2: AF1 @ PA_7, PB_5; AF0 @ PC_7*
+ *
+ */
+
+#ifdef TARGET_STM32F0
+void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
+{
+    GPIO_InitTypeDef GPIO_InitStruct;
+
+    if (htim->Instance == TIM3) { //PB_4 PB_5 = 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_AF1_TIM3;
+        HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+    }
+}
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Encoder/EncoderMspInitF1.cpp	Thu Sep 01 05:13:31 2016 +0000
@@ -0,0 +1,74 @@
+#include "mbed.h"
+/*
+ * HAL_TIM_Encoder_MspInit()
+ * Overrides the __weak function stub in stm32f1xx_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/CD00161566.pdf
+ * Table 5 has GPIO alternate function pinout mappings.
+ *
+ * TIM1_CH1: default PA_8, remap PE_9
+ * TIM1_CH2: default PA_9, remap PE_11
+ *
+ * TIM2_CH1: default PA_0 
+ * TIM2_CH2: default PA_1, remap PB_3
+ *
+ * TIM3_CH1: default PA_6, remap PB_4, PC_6
+ * TIM3_CH2: default PA_7, remap PB_5, PC_7
+ *
+ * TIM4_CH1: default PB_6, remap PD_12
+ * TIM4_CH2: default PB_7, remap PD_13
+ *
+ * NB one of these timers will be the employed by mbed as systick, unavailable as encoder.
+ */
+
+#ifdef TARGET_STM32F1
+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) { //PA6 PA7 = Nucleo D12 D11
+        __TIM3_CLK_ENABLE();
+        __GPIOA_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_TIM3;
+        HAL_GPIO_Init(GPIOA, &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);
+    }
+}
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Encoder/EncoderMspInitF3.cpp	Thu Sep 01 05:13:31 2016 +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

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Encoder/EncoderMspInitF4.cpp	Thu Sep 01 05:13:31 2016 +0000
@@ -0,0 +1,76 @@
+#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.
+ *
+ * www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00102166.pdf
+ * www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00141306.pdf
+ *
+ * TIM1_CH1: AF1 @ PA_8, PE_9 
+ * TIM1_CH2: AF1 @ PA_9, PE_11 
+ *
+ * TIM2_CH1: AF1 @ PA_0, PA_5, PA_15, PB_8*     *F446 only
+ * TIM2_CH2: AF1 @ PA_1, PB_3, PB_9*            *F446 only
+ *
+ * TIM3_CH1: AF2 @ PA_6, PB_4, PC_6
+ * TIM3_CH2: AF2 @ PA_7, PB_5, PC_7
+ *
+ * TIM4_CH1: AF2 @ PB_6, PD_12
+ * TIM4_CH2: AF2 @ PB_7, PD_13
+ *
+ * TIM5_CH1: AF2 @ PA_0*    *TIM5 used by mbed system ticker so unavailable
+ * TIM5_CH2: AF2 @ PA_1*
+ *
+ */
+
+#ifdef TARGET_STM32F4
+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);
+    }
+}
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Encoder/EncoderMspInitL0.cpp	Thu Sep 01 05:13:31 2016 +0000
@@ -0,0 +1,28 @@
+#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.
+ *
+ */
+
+#ifdef TARGET_STM32L0
+void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
+{
+    GPIO_InitTypeDef GPIO_InitStruct;
+
+    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
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Encoder/EncoderMspInitL1.cpp	Thu Sep 01 05:13:31 2016 +0000
@@ -0,0 +1,63 @@
+#include "mbed.h"
+/*
+ * HAL_TIM_Encoder_MspInit()
+ * Overrides the __weak function stub in stm32l4xx_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/DM00098321.pdf
+ * Table 9 has GPIO alternate function pinout mappings.
+ *
+ * TIM2_CH1: AF1 @ PA_0, PA_5, PA_15, PE_9
+ * TIM2_CH2: AF1 @ PA_1, PB_3, PE_10
+ *
+ * TIM3_CH1: AF2 @ PA_6, PB_4, PC_6, PE_3
+ * TIM3_CH2: AF2 @ PA_7, PB_5, PC_7, PE_4
+ *
+ * TIM4_CH1: AF2 @ PB_6, PD_12
+ * TIM4_CH2: AF2 @ PB_7, PD_13
+ *
+ * TIM5_CH1: AF2 @ PA_0*    *TIM5 used by mbed system ticker so unavailable
+ * TIM5_CH2: AF2 @ PA_1*
+ *
+ */
+
+#ifdef TARGET_STM32L1
+void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
+{
+    GPIO_InitTypeDef GPIO_InitStruct;
+
+    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);
+    }
+}
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Encoder/EncoderMspInitL4.cpp	Thu Sep 01 05:13:31 2016 +0000
@@ -0,0 +1,86 @@
+#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
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/locate.h	Thu Sep 01 05:13:31 2016 +0000
@@ -0,0 +1,109 @@
+#ifndef Locate_H
+#define Locate_H
+
+#include <math.h>
+#include"mbed.h"
+#include "Encoder.h"
+
+
+#define OUTERRING_D     140             //外輪間距離(mm)
+#define INNERRING_D     136             //内輪間距離(mm)
+#define PI              3.14159         //π
+#define RESOLUSION      400             //P/R(分解能)
+#define DIAMETER        31.8            //タイヤの直径(mm)
+#define LOCATE_STEP     (DIAMETER*PI / RESOLUSION)                  // エンコーダの１ステップあたりの距離(mm)
+#define TIRE_DISTANCE   ((OUTERRING_D + INNERRING_D) / 2)           //タイヤ間距離(mm)
+#define ROUND_HOSEI     1               //角度のズレを補正
+#define ROUND           ((PI * DIAMETER / (RESOLUSION * TIRE_DISTANCE)) * ROUND_HOSEI)   //機体が１回転するために必要なステップ数の”逆数”
+
+//STM mbed bug: these macros are MISSING from stm32f3xx_hal_tim.h
+#ifdef TARGET_STM32F3
+#define __HAL_TIM_GET_COUNTER(__HANDLE__) ((__HANDLE__)->Instance->CNT)
+#define __HAL_TIM_IS_TIM_COUNTING_DOWN(__HANDLE__)            (((__HANDLE__)->Instance->CR1 &(TIM_CR1_DIR)) == (TIM_CR1_DIR))
+#endif
+
+
+//エンコーダから、現在のステップ数（＝タイヤがどれだけ回ったか）を得られる
+
+
+//グローバル変数宣言
+Serial pc(SERIAL_TX, SERIAL_RX);
+TIM_Encoder_InitTypeDef encoder1, encoder2;
+TIM_HandleTypeDef  timer1,  timer2;
+DigitalOut enc_v(PB_10);
+
+uint16_t count1=0,  count2=0;
+int8_t dir1, dir2;
+int r, l;
+int pr = 0, pl = 0;     //前回のステップ数
+short v = 0;        //ステップ速度
+float x = 0, y = 0;     //xy方向に進んだ距離(m換算なし)
+float theta = 0;    //機体角度、x軸正の向きを0とする
+//宣言終わり
+
+
+
+void  setup()      //エンコーダの初期のズレ(dr,dl)を出す、最初に一回だけ行う
+{
+    enc_v = 1;
+    
+    //counting on both A&B inputs, 4 ticks per cycle,  16-bit count
+    //use PA8 PA9 = Nucleo D7 D8
+    EncoderInit(&encoder1, &timer1, TIM1, 0xffff, TIM_ENCODERMODE_TI12);
+
+    //counting on both A&B inputs, 4 ticks per cycle,  16-bit count
+    //use PA0 PA1 = Nucleo A0 A1
+    EncoderInit(&encoder2, &timer2, TIM2, 0xffff, TIM_ENCODERMODE_TI12);
+}
+
+int convert_enc_count(int16_t pulse, int8_t direction)
+{
+    if(direction == 0)
+        pulse = pulse - 0xffff -1;
+    
+    return pulse;
+}
+
+void  update ()
+//位置情報を更新する。r,lはエンコーダから
+{
+    count1=__HAL_TIM_GET_COUNTER(&timer1);
+    dir1 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer1);
+    count2=__HAL_TIM_GET_COUNTER(&timer2);
+    dir2 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2);   
+    
+    r = convert_enc_count(count1, dir1);
+    l = convert_enc_count(count2, dir2);
+        
+    theta = (r - l) * ROUND;
+    v = (r - pr + l - pl);
+
+    x += v * cos(theta);
+    y += v * sin(theta);
+
+    pr = r;
+    pl = l;
+    pc.printf("count1:%d%s  count2:%d%s\r\n", count1, dir1==0 ? "+":"-",count2, dir2==0 ? "+":"-");
+    pc.printf("right:%d     left:%d", r, l);
+}
+
+short coordinateX()
+//xをmm換算して整数値として返す
+{
+    return x * LOCATE_STEP / 2;
+}
+
+short coordinateY()
+//yをmm換算して整数値として返す
+{
+    return y * LOCATE_STEP / 2;
+}
+
+float coordinateTheta()
+//thetaを返す
+{
+    return theta;
+}
+
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Sep 01 05:13:31 2016 +0000
@@ -0,0 +1,11 @@
+#include "mbed.h"
+#include "locate.h"
+
+int main()
+{
+    setup();
+
+    while(1) {
+        update();
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Sep 01 05:13:31 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/2241e3a39974
\ No newline at end of file