David Lowe / Nucleo_Hello_Encoder

Hello World example for interfacing up to four rotary encoders to the STM32's timer/counter hardware, without interrupts.

Dependencies:   mbed-dev

Encoder/EncoderMspInitF3.cpp@1:cd7b42c99ff8, 2015-10-04 (annotated)

Committer:
gregeric
Date:
Sun Oct 04 11:58:58 2015 +0000
Revision:
1:cd7b42c99ff8
Added more targets, use HAL macros to read counter value & direction.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gregeric 1:cd7b42c99ff8 1 #include "mbed.h"
gregeric 1:cd7b42c99ff8 2 /*
gregeric 1:cd7b42c99ff8 3 * HAL_TIM_Encoder_MspInit()
gregeric 1:cd7b42c99ff8 4 * Overrides the __weak function stub in stm32f3xx_hal_tim.h
gregeric 1:cd7b42c99ff8 5 *
gregeric 1:cd7b42c99ff8 6 * Edit the below for your preferred pin wiring & pullup/down
gregeric 1:cd7b42c99ff8 7 * I have encoder common at 3V3, using GPIO_PULLDOWN on inputs.
gregeric 1:cd7b42c99ff8 8 * Encoder A&B outputs connected directly to GPIOs.
gregeric 1:cd7b42c99ff8 9 *
gregeric 1:cd7b42c99ff8 10 * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00093333.pdf
gregeric 1:cd7b42c99ff8 11 * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00097745.pdf
gregeric 1:cd7b42c99ff8 12 * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00133117.pdf
gregeric 1:cd7b42c99ff8 13 * Table 14 has GPIO alternate function pinout mappings.
gregeric 1:cd7b42c99ff8 14 *
gregeric 1:cd7b42c99ff8 15 * TIM1_CH1: AF2 @ PC_0, PE_9; AF6 @ PA_8
gregeric 1:cd7b42c99ff8 16 * TIM1_CH2: AF2 @ PC_1, PE_11; AF6 @ PA_9
gregeric 1:cd7b42c99ff8 17 *
gregeric 1:cd7b42c99ff8 18 * (TIM2_CH1: AF1 @ PA_0, PA_5, PA_15; AF2 @ PD_3) TIM2 is the mbed system ticker, so unavailable as encoder.
gregeric 1:cd7b42c99ff8 19 * (TIM2_CH2: AF1 @ PA_1, PB_3; AF2 @ PD_4)
gregeric 1:cd7b42c99ff8 20 *
gregeric 1:cd7b42c99ff8 21 * TIM3_CH1: AF2 @ PA_6, PB_4, PC_6, PE_2 not for F302R8, OK @ F334R8
gregeric 1:cd7b42c99ff8 22 * TIM3_CH2: AF2 @ PA_4, PA_7, PB_5, PC_7, PE_3
gregeric 1:cd7b42c99ff8 23 *
gregeric 1:cd7b42c99ff8 24 * TIM4_CH1: AF2 @ PB_6, PD_12; AF10 @ PA_11 not for both F302R8 & F334R8
gregeric 1:cd7b42c99ff8 25 * TIM4_CH2: AF2 @ PB_7, PD_13; AF10 @ PA_12
gregeric 1:cd7b42c99ff8 26 *
gregeric 1:cd7b42c99ff8 27 */
gregeric 1:cd7b42c99ff8 28
gregeric 1:cd7b42c99ff8 29 #ifdef TARGET_STM32F3
gregeric 1:cd7b42c99ff8 30
gregeric 1:cd7b42c99ff8 31 void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
gregeric 1:cd7b42c99ff8 32 {
gregeric 1:cd7b42c99ff8 33 GPIO_InitTypeDef GPIO_InitStruct;
gregeric 1:cd7b42c99ff8 34
gregeric 1:cd7b42c99ff8 35 if (htim->Instance == TIM1) { //PA8 PA9 = Nucleo D7 D8
gregeric 1:cd7b42c99ff8 36 __TIM1_CLK_ENABLE();
gregeric 1:cd7b42c99ff8 37 __GPIOA_CLK_ENABLE();
gregeric 1:cd7b42c99ff8 38 GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
gregeric 1:cd7b42c99ff8 39 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
gregeric 1:cd7b42c99ff8 40 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
gregeric 1:cd7b42c99ff8 41 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
gregeric 1:cd7b42c99ff8 42 GPIO_InitStruct.Alternate = GPIO_AF6_TIM1;
gregeric 1:cd7b42c99ff8 43 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
gregeric 1:cd7b42c99ff8 44 }
gregeric 1:cd7b42c99ff8 45 #if 0 //TIM2 is the mbed system ticker
gregeric 1:cd7b42c99ff8 46 else if (htim->Instance == TIM2) { //PA0 PA1 = Nucleo A0 A1
gregeric 1:cd7b42c99ff8 47 __TIM2_CLK_ENABLE();
gregeric 1:cd7b42c99ff8 48 __GPIOA_CLK_ENABLE();
gregeric 1:cd7b42c99ff8 49 GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;
gregeric 1:cd7b42c99ff8 50 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
gregeric 1:cd7b42c99ff8 51 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
gregeric 1:cd7b42c99ff8 52 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
gregeric 1:cd7b42c99ff8 53 GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
gregeric 1:cd7b42c99ff8 54 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
gregeric 1:cd7b42c99ff8 55 }
gregeric 1:cd7b42c99ff8 56 #endif
gregeric 1:cd7b42c99ff8 57 #if defined TARGET_STM32F334R8
gregeric 1:cd7b42c99ff8 58 else if (htim->Instance == TIM3) { //PB4 PB5 = Nucleo D5 D4
gregeric 1:cd7b42c99ff8 59 __TIM3_CLK_ENABLE();
gregeric 1:cd7b42c99ff8 60 __GPIOB_CLK_ENABLE();
gregeric 1:cd7b42c99ff8 61 GPIO_InitStruct.Pin = GPIO_PIN_4 | GPIO_PIN_5;
gregeric 1:cd7b42c99ff8 62 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
gregeric 1:cd7b42c99ff8 63 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
gregeric 1:cd7b42c99ff8 64 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
gregeric 1:cd7b42c99ff8 65 GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
gregeric 1:cd7b42c99ff8 66 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
gregeric 1:cd7b42c99ff8 67 }
gregeric 1:cd7b42c99ff8 68 #endif
gregeric 1:cd7b42c99ff8 69 #if 0
gregeric 1:cd7b42c99ff8 70 else if (htim->Instance == TIM4) { // PB6 PB7 = Nucleo D10 MORPHO_PB7
gregeric 1:cd7b42c99ff8 71 __TIM4_CLK_ENABLE();
gregeric 1:cd7b42c99ff8 72 __GPIOB_CLK_ENABLE();
gregeric 1:cd7b42c99ff8 73 GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
gregeric 1:cd7b42c99ff8 74 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
gregeric 1:cd7b42c99ff8 75 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
gregeric 1:cd7b42c99ff8 76 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
gregeric 1:cd7b42c99ff8 77 GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
gregeric 1:cd7b42c99ff8 78 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
gregeric 1:cd7b42c99ff8 79 }
gregeric 1:cd7b42c99ff8 80 #endif
gregeric 1:cd7b42c99ff8 81 }
gregeric 1:cd7b42c99ff8 82 #endif