NUCLEO-F446RE ENCODER TIMER3 Y TIMER 2 HAL AND PWM. PID PARA UN PENDULO INVERTIDO CON 2 ENCODER DE CUADRATURA
Diff: Encoder/EncoderMspInitL1.cpp
- Revision:
- 0:95f924550159
diff -r 000000000000 -r 95f924550159 Encoder/EncoderMspInitL1.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Encoder/EncoderMspInitL1.cpp Sat May 21 04:17:35 2016 +0000 @@ -0,0 +1,63 @@ +#include "mbed.h" +/* + * HAL_TIM_Encoder_MspInit() + * Overrides the __weak function stub in stm32l4xx_hal_tim.h + * + * Edit the below for your preferred pin wiring & pullup/down + * I have encoder common at 3V3, using GPIO_PULLDOWN on inputs. + * Encoder A&B outputs connected directly to GPIOs. + * + * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00098321.pdf + * Table 9 has GPIO alternate function pinout mappings. + * + * TIM2_CH1: AF1 @ PA_0, PA_5, PA_15, PE_9 + * TIM2_CH2: AF1 @ PA_1, PB_3, PE_10 + * + * TIM3_CH1: AF2 @ PA_6, PB_4, PC_6, PE_3 + * TIM3_CH2: AF2 @ PA_7, PB_5, PC_7, PE_4 + * + * TIM4_CH1: AF2 @ PB_6, PD_12 + * TIM4_CH2: AF2 @ PB_7, PD_13 + * + * TIM5_CH1: AF2 @ PA_0* *TIM5 used by mbed system ticker so unavailable + * TIM5_CH2: AF2 @ PA_1* + * + */ + +#ifdef TARGET_STM32L1 +void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim) +{ + GPIO_InitTypeDef GPIO_InitStruct; + + if (htim->Instance == TIM2) { //PA0 PA1 = Nucleo A0 A1 + __TIM2_CLK_ENABLE(); + __GPIOA_CLK_ENABLE(); + GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_PULLDOWN; + GPIO_InitStruct.Speed = GPIO_SPEED_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF1_TIM2; + HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + } + else if (htim->Instance == TIM3) { //PB4 PB5 = Nucleo D5 D4 + __TIM3_CLK_ENABLE(); + __GPIOB_CLK_ENABLE(); + GPIO_InitStruct.Pin = GPIO_PIN_4 | GPIO_PIN_5; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_PULLDOWN; + GPIO_InitStruct.Speed = GPIO_SPEED_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF2_TIM3; + HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); + } + else if (htim->Instance == TIM4) { // PB6 PB7 = Nucleo D10 MORPHO_PB7 + __TIM4_CLK_ENABLE(); + __GPIOB_CLK_ENABLE(); + GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_PULLDOWN; + GPIO_InitStruct.Speed = GPIO_SPEED_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF2_TIM4; + HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); + } +} +#endif \ No newline at end of file