NUCLEO-F446RE ENCODER TIMER3 Y TIMER 2 HAL AND PWM. PID PARA UN PENDULO INVERTIDO CON 2 ENCODER DE CUADRATURA
Encoder/EncoderMspInitF4.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?
User | Revision | Line number | New 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 | * www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00102166.pdf |
gereina | 0:95f924550159 | 11 | * www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00141306.pdf |
gereina | 0:95f924550159 | 12 | * |
gereina | 0:95f924550159 | 13 | * TIM1_CH1: AF1 @ PA_8, PE_9 |
gereina | 0:95f924550159 | 14 | * TIM1_CH2: AF1 @ PA_9, PE_11 |
gereina | 0:95f924550159 | 15 | * |
gereina | 0:95f924550159 | 16 | * TIM2_CH1: AF1 @ PA_0, PA_5, PA_15, PB_8* *F446 only |
gereina | 0:95f924550159 | 17 | * TIM2_CH2: AF1 @ PA_1, PB_3, PB_9* *F446 only |
gereina | 0:95f924550159 | 18 | * |
gereina | 0:95f924550159 | 19 | * TIM3_CH1: AF2 @ PA_6, PB_4, PC_6 |
gereina | 0:95f924550159 | 20 | * TIM3_CH2: AF2 @ PA_7, PB_5, PC_7 |
gereina | 0:95f924550159 | 21 | * |
gereina | 0:95f924550159 | 22 | * TIM4_CH1: AF2 @ PB_6, PD_12 |
gereina | 0:95f924550159 | 23 | * TIM4_CH2: AF2 @ PB_7, PD_13 |
gereina | 0:95f924550159 | 24 | * |
gereina | 0:95f924550159 | 25 | * TIM5_CH1: AF2 @ PA_0* *TIM5 used by mbed system ticker so unavailable |
gereina | 0:95f924550159 | 26 | * TIM5_CH2: AF2 @ PA_1* |
gereina | 0:95f924550159 | 27 | * |
gereina | 0:95f924550159 | 28 | * |
gereina | 0:95f924550159 | 29 | * Agrego el TIMER 8 tambien funciona |
gereina | 0:95f924550159 | 30 | * TIM8_CH1: AF3 @ PC_6 |
gereina | 0:95f924550159 | 31 | * TIM8_CH2: AF3 @ PC_7 |
gereina | 0:95f924550159 | 32 | * |
gereina | 0:95f924550159 | 33 | * |
gereina | 0:95f924550159 | 34 | * |
gereina | 0:95f924550159 | 35 | * |
gereina | 0:95f924550159 | 36 | */ |
gereina | 0:95f924550159 | 37 | |
gereina | 0:95f924550159 | 38 | #ifdef TARGET_STM32F4 |
gereina | 0:95f924550159 | 39 | void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim) |
gereina | 0:95f924550159 | 40 | { |
gereina | 0:95f924550159 | 41 | GPIO_InitTypeDef GPIO_InitStruct; |
gereina | 0:95f924550159 | 42 | |
gereina | 0:95f924550159 | 43 | if (htim->Instance == TIM1) { //PA8 PA9 = Nucleo D7 D8 |
gereina | 0:95f924550159 | 44 | __TIM1_CLK_ENABLE(); |
gereina | 0:95f924550159 | 45 | __GPIOA_CLK_ENABLE(); |
gereina | 0:95f924550159 | 46 | GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9; |
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_TIM1; |
gereina | 0:95f924550159 | 51 | HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); |
gereina | 0:95f924550159 | 52 | } |
gereina | 0:95f924550159 | 53 | else if (htim->Instance == TIM2) { //PA0 PA1 = Nucleo A0 A1 //USANDO ALTERNO PB8 Y PB 9 para el pololulu funcione |
gereina | 0:95f924550159 | 54 | __TIM2_CLK_ENABLE(); |
gereina | 0:95f924550159 | 55 | __GPIOB_CLK_ENABLE(); |
gereina | 0:95f924550159 | 56 | GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9; |
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_AF1_TIM2; |
gereina | 0:95f924550159 | 61 | HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); |
gereina | 0:95f924550159 | 62 | } |
gereina | 0:95f924550159 | 63 | else if (htim->Instance == TIM3) { //PB4 PB5 = Nucleo D5 D4 |
gereina | 0:95f924550159 | 64 | __TIM3_CLK_ENABLE(); |
gereina | 0:95f924550159 | 65 | __GPIOB_CLK_ENABLE(); |
gereina | 0:95f924550159 | 66 | GPIO_InitStruct.Pin = GPIO_PIN_4 | GPIO_PIN_5; |
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_TIM3; |
gereina | 0:95f924550159 | 71 | HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); |
gereina | 0:95f924550159 | 72 | } |
gereina | 0:95f924550159 | 73 | else if (htim->Instance == TIM4) { // PB6 PB7 = Nucleo D10 MORPHO_PB7 |
gereina | 0:95f924550159 | 74 | __TIM4_CLK_ENABLE(); |
gereina | 0:95f924550159 | 75 | __GPIOB_CLK_ENABLE(); |
gereina | 0:95f924550159 | 76 | GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7; |
gereina | 0:95f924550159 | 77 | GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; |
gereina | 0:95f924550159 | 78 | GPIO_InitStruct.Pull = GPIO_PULLDOWN; |
gereina | 0:95f924550159 | 79 | GPIO_InitStruct.Speed = GPIO_SPEED_HIGH; |
gereina | 0:95f924550159 | 80 | GPIO_InitStruct.Alternate = GPIO_AF2_TIM4; |
gereina | 0:95f924550159 | 81 | HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); |
gereina | 0:95f924550159 | 82 | } |
gereina | 0:95f924550159 | 83 | |
gereina | 0:95f924550159 | 84 | |
gereina | 0:95f924550159 | 85 | else if (htim->Instance == TIM8) { // PC7 PC8 = D9 PC6 |
gereina | 0:95f924550159 | 86 | __TIM8_CLK_ENABLE(); |
gereina | 0:95f924550159 | 87 | __GPIOC_CLK_ENABLE(); |
gereina | 0:95f924550159 | 88 | GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7; |
gereina | 0:95f924550159 | 89 | GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; |
gereina | 0:95f924550159 | 90 | GPIO_InitStruct.Pull = GPIO_PULLDOWN; |
gereina | 0:95f924550159 | 91 | GPIO_InitStruct.Speed = GPIO_SPEED_HIGH; |
gereina | 0:95f924550159 | 92 | GPIO_InitStruct.Alternate = GPIO_AF3_TIM8; |
gereina | 0:95f924550159 | 93 | HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); |
gereina | 0:95f924550159 | 94 | } |
gereina | 0:95f924550159 | 95 | |
gereina | 0:95f924550159 | 96 | |
gereina | 0:95f924550159 | 97 | |
gereina | 0:95f924550159 | 98 | |
gereina | 0:95f924550159 | 99 | |
gereina | 0:95f924550159 | 100 | |
gereina | 0:95f924550159 | 101 | } |
gereina | 0:95f924550159 | 102 | #endif |