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/EncoderMspInitL4.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 stm32f4xx_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/DM00108832.pdf
gereina 0:95f924550159 11 * Table 15 has GPIOx AFx pinouts
gereina 0:95f924550159 12 *
gereina 0:95f924550159 13 * TIM1_CH1: AF1 @ PA8, PE9
gereina 0:95f924550159 14 * TIM1_CH2: AF1 @ PA9, PE11
gereina 0:95f924550159 15 *
gereina 0:95f924550159 16 * TIM2_CH1: AF1 @ PA0, PA5, PA15
gereina 0:95f924550159 17 * TIM2_CH2: AF1 @ PA1, PB3
gereina 0:95f924550159 18 *
gereina 0:95f924550159 19 * TIM3_CH1: AF2 @ PA6, PB4, PC6, PE3
gereina 0:95f924550159 20 * TIM3_CH2: AF2 @ PA7, PB5, PC7, PE4
gereina 0:95f924550159 21 *
gereina 0:95f924550159 22 * TIM4_CH1: AF2 @ PB6, PD12
gereina 0:95f924550159 23 * TIM4_CH2: AF2 @ PB7, PD13
gereina 0:95f924550159 24 *
gereina 0:95f924550159 25 * TIM5_CH1: AF2 @ PA0, PF6
gereina 0:95f924550159 26 * TIM5_CH2: AF2 @ PA1, PF7
gereina 0:95f924550159 27 *
gereina 0:95f924550159 28 */
gereina 0:95f924550159 29
gereina 0:95f924550159 30 #ifdef TARGET_STM32L4
gereina 0:95f924550159 31 void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
gereina 0:95f924550159 32 {
gereina 0:95f924550159 33 GPIO_InitTypeDef GPIO_InitStruct;
gereina 0:95f924550159 34
gereina 0:95f924550159 35 if (htim->Instance == TIM1) { //PA8 PA9 = Nucleo D7 D8
gereina 0:95f924550159 36 __TIM1_CLK_ENABLE();
gereina 0:95f924550159 37 __GPIOA_CLK_ENABLE();
gereina 0:95f924550159 38 GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
gereina 0:95f924550159 39 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
gereina 0:95f924550159 40 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
gereina 0:95f924550159 41 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
gereina 0:95f924550159 42 GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
gereina 0:95f924550159 43 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
gereina 0:95f924550159 44 }
gereina 0:95f924550159 45 else if (htim->Instance == TIM2) { //PA0 PA1 = Nucleo A0 A1
gereina 0:95f924550159 46 __TIM2_CLK_ENABLE();
gereina 0:95f924550159 47 __GPIOA_CLK_ENABLE();
gereina 0:95f924550159 48 GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;
gereina 0:95f924550159 49 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
gereina 0:95f924550159 50 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
gereina 0:95f924550159 51 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
gereina 0:95f924550159 52 GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
gereina 0:95f924550159 53 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
gereina 0:95f924550159 54 }
gereina 0:95f924550159 55 else if (htim->Instance == TIM3) { //PB4 PB5 = Nucleo D5 D4
gereina 0:95f924550159 56 __TIM3_CLK_ENABLE();
gereina 0:95f924550159 57 __GPIOB_CLK_ENABLE();
gereina 0:95f924550159 58 GPIO_InitStruct.Pin = GPIO_PIN_4 | GPIO_PIN_5;
gereina 0:95f924550159 59 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
gereina 0:95f924550159 60 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
gereina 0:95f924550159 61 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
gereina 0:95f924550159 62 GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
gereina 0:95f924550159 63 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
gereina 0:95f924550159 64 }
gereina 0:95f924550159 65 else if (htim->Instance == TIM4) { // PB6 PB7 = Nucleo D10 MORPHO_PB7
gereina 0:95f924550159 66 __TIM4_CLK_ENABLE();
gereina 0:95f924550159 67 __GPIOB_CLK_ENABLE();
gereina 0:95f924550159 68 GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
gereina 0:95f924550159 69 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
gereina 0:95f924550159 70 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
gereina 0:95f924550159 71 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
gereina 0:95f924550159 72 GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
gereina 0:95f924550159 73 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
gereina 0:95f924550159 74 }
gereina 0:95f924550159 75 else if (htim->Instance == TIM5) { // here for completeness, mbed sytem timer uses this
gereina 0:95f924550159 76 __TIM5_CLK_ENABLE();
gereina 0:95f924550159 77 __GPIOA_CLK_ENABLE();
gereina 0:95f924550159 78 GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;
gereina 0:95f924550159 79 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
gereina 0:95f924550159 80 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
gereina 0:95f924550159 81 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
gereina 0:95f924550159 82 GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
gereina 0:95f924550159 83 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
gereina 0:95f924550159 84 }
gereina 0:95f924550159 85 }
gereina 0:95f924550159 86 #endif