GERMAN REINA / HAL_QEI_PWM_MBED_PID

NUCLEO-F446RE ENCODER TIMER3 Y TIMER 2 HAL AND PWM. PID PARA UN PENDULO INVERTIDO CON 2 ENCODER DE CUADRATURA

Dependencies:   mbed-dev

Encoder/EncoderMspInitF0.cpp@0:95f924550159, 2016-05-21 (annotated)

Committer:
gereina
Date:
Sat May 21 04:17:35 2016 +0000
Revision:
0:95f924550159
QEI_TIMER2_TIMER_3 OK; PWM MBED; PID

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gereina 0:95f924550159 1 #include "mbed.h"
gereina 0:95f924550159 2 /*
gereina 0:95f924550159 3 * HAL_TIM_Encoder_MspInit()
gereina 0:95f924550159 4 * Overrides the __weak function stub in stm32f0xx_hal_tim.h
gereina 0:95f924550159 5 *
gereina 0:95f924550159 6 * Edit the below for your preferred pin wiring & pullup/down
gereina 0:95f924550159 7 * I have encoder common at 3V3, using GPIO_PULLDOWN on inputs.
gereina 0:95f924550159 8 * Encoder A&B outputs connected directly to GPIOs.
gereina 0:95f924550159 9 *
gereina 0:95f924550159 10 * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00088500.pdf
gereina 0:95f924550159 11 * Table 11 has GPIO alternate function pinout mappings.
gereina 0:95f924550159 12 *
gereina 0:95f924550159 13 * TIM1_CH1: AF2 @ PA_8 - TIM1 used as system ticker under mbed, so unavailable
gereina 0:95f924550159 14 * TIM1_CH2: AF2 @ PA_9
gereina 0:95f924550159 15 *
gereina 0:95f924550159 16 * TIM3_CH1: AF1 @ PA_6, PB_4; AF0 @ PC_6* *only for F030xC devices
gereina 0:95f924550159 17 * TIM3_CH2: AF1 @ PA_7, PB_5; AF0 @ PC_7*
gereina 0:95f924550159 18 *
gereina 0:95f924550159 19 */
gereina 0:95f924550159 20
gereina 0:95f924550159 21 #ifdef TARGET_STM32F0
gereina 0:95f924550159 22 void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
gereina 0:95f924550159 23 {
gereina 0:95f924550159 24 GPIO_InitTypeDef GPIO_InitStruct;
gereina 0:95f924550159 25
gereina 0:95f924550159 26 if (htim->Instance == TIM3) { //PB_4 PB_5 = Nucleo D5 D4
gereina 0:95f924550159 27 __TIM3_CLK_ENABLE();
gereina 0:95f924550159 28 __GPIOB_CLK_ENABLE();
gereina 0:95f924550159 29 GPIO_InitStruct.Pin = GPIO_PIN_4 | GPIO_PIN_5;
gereina 0:95f924550159 30 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
gereina 0:95f924550159 31 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
gereina 0:95f924550159 32 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
gereina 0:95f924550159 33 GPIO_InitStruct.Alternate = GPIO_AF1_TIM3;
gereina 0:95f924550159 34 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
gereina 0:95f924550159 35 }
gereina 0:95f924550159 36 }
gereina 0:95f924550159 37 #endif