NUCLEO-F446RE ENCODER TIMER3 Y TIMER 2 HAL AND PWM. PID PARA UN PENDULO INVERTIDO CON 2 ENCODER DE CUADRATURA
Encoder/EncoderInit.cpp
- Committer:
- gereina
- Date:
- 2016-05-21
- Revision:
- 0:95f924550159
File content as of revision 0:95f924550159:
#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) {} } }