Revision 0:ee5cb967aa17, committed 2015-01-10

Comitter:

gregeric

Date:

Sat Jan 10 20:06:07 2015 +0000

Child:

1:3d2fffa6e19f

Commit message:

Hello World example using the STM32's timer hardware interface, no interrupts.; ; Supporting Nucleo F030, F401, F411 (others can be added - L0xx included but untested).; ; Encoder with TIM4 not working on F411, OK on F401?

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Encoder/Encoder.h	Sat Jan 10 20:06:07 2015 +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	Sat Jan 10 20:06:07 2015 +0000
@@ -0,0 +1,34 @@
+#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	Sat Jan 10 20:06:07 2015 +0000
@@ -0,0 +1,30 @@
+#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.
+ *
+ * All Nucleos support encoders, from 030 up.
+ * On 030, there's only TIM3 @ AF1 PA6 PA7 (D11 D12)
+ */
+
+#ifdef TARGET_STM32F0
+void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
+{
+    GPIO_InitTypeDef GPIO_InitStruct;
+
+    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_AF1_TIM3;
+        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/EncoderMspInitF4.cpp	Sat Jan 10 20:06:07 2015 +0000
@@ -0,0 +1,68 @@
+#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_STM32F4
+void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
+{
+    GPIO_InitTypeDef GPIO_InitStruct;
+
+    if (htim->Instance == TIM1) { //PA8 PA9 = Nucleo D7 D8, poss PB0 PB1 usable too (complementary?)
+        __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, PA5 PB3 = D13 D3 poss too
+        __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, PA6 PA7 & PC6 PC7 also an option for Nucleo
+        __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/Encoder/EncoderMspInitL0.cpp	Sat Jan 10 20:06:07 2015 +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/main.cpp	Sat Jan 10 20:06:07 2015 +0000
@@ -0,0 +1,60 @@
+/*
+ * Using STM32's counter peripherals to interface rotary encoders.
+ * Encoders are supported on F4xx's TIM1,2,3,4,5. TIM2 & TIM5 have 32bit count, others 16bit.
+ * Beware mbed uses TIM5 for system timer, others for PWM.
+ * Check your platform's PeripheralPins.c & PeripheralNames.h if you need both PWM & encoders.
+ *
+ * Edit HAL_TIM_Encoder_MspInitFx.cpp to suit your mcu & board's available pinouts & pullups/downs.
+ *
+ * Thanks to:
+ * http://petoknm.wordpress.com/2015/01/05/rotary-encoder-and-stm32/
+ *
+ * References:
+ * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/user_manual/DM00122015.pdf
+ * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/reference_manual/DM00096844.pdf
+ * http://www.st.com/web/en/resource/technical/document/application_note/DM00042534.pdf
+ * http://www.st.com/web/en/resource/technical/document/datasheet/DM00102166.pdf
+ * 
+ * David Lowe Jan 2015
+ */
+
+#include "mbed.h"
+#include "Encoder.h"
+
+TIM_Encoder_InitTypeDef encoder1, encoder2, encoder3, encoder4;
+TIM_HandleTypeDef timer1, timer2, timer3, timer4;
+
+int main()
+{
+    //examples
+    
+    //counting on A-input only, 2 ticks per cycle, rolls over at 100
+    EncoderInit(encoder1, timer1, TIM1, 99, TIM_ENCODERMODE_TI1);
+    
+    //counting on both A&B inputs, 4 ticks per cycle, full 32-bit count
+    EncoderInit(encoder2, timer2, TIM2, 0xffffffff, TIM_ENCODERMODE_TI12);
+
+    //counting on B-input only, 2 ticks per cycle, full 16-bit count
+    EncoderInit(encoder3, timer3, TIM3, 0xffff, TIM_ENCODERMODE_TI2);
+    
+    //counting on both A&B inputs, 4 ticks per cycle, full 16-bit count
+    EncoderInit(encoder4, timer4, TIM4, 0xffff, TIM_ENCODERMODE_TI12);
+    
+    //TIM5 is used by mbed for systick
+    //EncoderInit(encoder2, timer2, TIM5, 0xffffffff, TIM_ENCODERMODE_TI12);
+    
+    printf("STM HAL encoder demo\n\r");
+    
+    while(1) {
+        int16_t count1=0, count3=0, count4=0;
+        int32_t count2=0, count5=0;
+        
+        count1=TIM1->CNT; //OK 401 411 TICKER 030
+        count2=TIM2->CNT; //OK 401 411 N/A 030
+        count3=TIM3->CNT; //OK 401 411 030
+        count4=TIM4->CNT; //OK 401 NOK 411 N/A 030
+        count5=TIM5->CNT; //TICKER 401 411 N/A 030
+        printf("%d %d %d %d %d\r\n", count1, count2, count3, count4, count5);
+        wait(1.0);
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sat Jan 10 20:06:07 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/4fc01daae5a5
\ No newline at end of file