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/EncoderMspInitF1.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 stm32f1xx_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/CD00161566.pdf
gereina 0:95f924550159 11 * Table 5 has GPIO alternate function pinout mappings.
gereina 0:95f924550159 12 *
gereina 0:95f924550159 13 * TIM1_CH1: default PA_8, remap PE_9
gereina 0:95f924550159 14 * TIM1_CH2: default PA_9, remap PE_11
gereina 0:95f924550159 15 *
gereina 0:95f924550159 16 * TIM2_CH1: default PA_0
gereina 0:95f924550159 17 * TIM2_CH2: default PA_1, remap PB_3
gereina 0:95f924550159 18 *
gereina 0:95f924550159 19 * TIM3_CH1: default PA_6, remap PB_4, PC_6
gereina 0:95f924550159 20 * TIM3_CH2: default PA_7, remap PB_5, PC_7
gereina 0:95f924550159 21 *
gereina 0:95f924550159 22 * TIM4_CH1: default PB_6, remap PD_12
gereina 0:95f924550159 23 * TIM4_CH2: default PB_7, remap PD_13
gereina 0:95f924550159 24 *
gereina 0:95f924550159 25 * NB one of these timers will be the employed by mbed as systick, unavailable as encoder.
gereina 0:95f924550159 26 */
gereina 0:95f924550159 27
gereina 0:95f924550159 28 #ifdef TARGET_STM32F1
gereina 0:95f924550159 29 void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
gereina 0:95f924550159 30 {
gereina 0:95f924550159 31 GPIO_InitTypeDef GPIO_InitStruct;
gereina 0:95f924550159 32
gereina 0:95f924550159 33 if (htim->Instance == TIM1) { //PA8 PA9 = Nucleo D7 D8
gereina 0:95f924550159 34 __TIM1_CLK_ENABLE();
gereina 0:95f924550159 35 __GPIOA_CLK_ENABLE();
gereina 0:95f924550159 36 GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
gereina 0:95f924550159 37 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
gereina 0:95f924550159 38 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
gereina 0:95f924550159 39 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
gereina 0:95f924550159 40 // GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
gereina 0:95f924550159 41 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
gereina 0:95f924550159 42 }
gereina 0:95f924550159 43 else if (htim->Instance == TIM2) { //PA0 PA1 = Nucleo A0 A1
gereina 0:95f924550159 44 __TIM2_CLK_ENABLE();
gereina 0:95f924550159 45 __GPIOA_CLK_ENABLE();
gereina 0:95f924550159 46 GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;
gereina 0:95f924550159 47 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
gereina 0:95f924550159 48 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
gereina 0:95f924550159 49 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
gereina 0:95f924550159 50 // GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
gereina 0:95f924550159 51 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
gereina 0:95f924550159 52 }
gereina 0:95f924550159 53 else if (htim->Instance == TIM3) { //PA6 PA7 = Nucleo D12 D11
gereina 0:95f924550159 54 __TIM3_CLK_ENABLE();
gereina 0:95f924550159 55 __GPIOA_CLK_ENABLE();
gereina 0:95f924550159 56 GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
gereina 0:95f924550159 57 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
gereina 0:95f924550159 58 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
gereina 0:95f924550159 59 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
gereina 0:95f924550159 60 // GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
gereina 0:95f924550159 61 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
gereina 0:95f924550159 62 }
gereina 0:95f924550159 63 else if (htim->Instance == TIM4) { // PB6 PB7 = Nucleo D10 MORPHO PB7
gereina 0:95f924550159 64 __TIM4_CLK_ENABLE();
gereina 0:95f924550159 65 __GPIOB_CLK_ENABLE();
gereina 0:95f924550159 66 GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
gereina 0:95f924550159 67 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
gereina 0:95f924550159 68 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
gereina 0:95f924550159 69 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
gereina 0:95f924550159 70 // GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
gereina 0:95f924550159 71 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
gereina 0:95f924550159 72 }
gereina 0:95f924550159 73 }
gereina 0:95f924550159 74 #endif