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/EncoderMspInitL4.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 stm32f4xx_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/DM00108832.pdf
gregeric 1:cd7b42c99ff8 11 * Table 15 has GPIOx AFx pinouts
gregeric 1:cd7b42c99ff8 12 *
gregeric 1:cd7b42c99ff8 13 * TIM1_CH1: AF1 @ PA8, PE9
gregeric 1:cd7b42c99ff8 14 * TIM1_CH2: AF1 @ PA9, PE11
gregeric 1:cd7b42c99ff8 15 *
gregeric 1:cd7b42c99ff8 16 * TIM2_CH1: AF1 @ PA0, PA5, PA15
gregeric 1:cd7b42c99ff8 17 * TIM2_CH2: AF1 @ PA1, PB3
gregeric 1:cd7b42c99ff8 18 *
gregeric 1:cd7b42c99ff8 19 * TIM3_CH1: AF2 @ PA6, PB4, PC6, PE3
gregeric 1:cd7b42c99ff8 20 * TIM3_CH2: AF2 @ PA7, PB5, PC7, PE4
gregeric 1:cd7b42c99ff8 21 *
gregeric 1:cd7b42c99ff8 22 * TIM4_CH1: AF2 @ PB6, PD12
gregeric 1:cd7b42c99ff8 23 * TIM4_CH2: AF2 @ PB7, PD13
gregeric 1:cd7b42c99ff8 24 *
gregeric 1:cd7b42c99ff8 25 * TIM5_CH1: AF2 @ PA0, PF6
gregeric 1:cd7b42c99ff8 26 * TIM5_CH2: AF2 @ PA1, PF7
gregeric 1:cd7b42c99ff8 27 *
gregeric 1:cd7b42c99ff8 28 */
gregeric 1:cd7b42c99ff8 29
gregeric 1:cd7b42c99ff8 30 #ifdef TARGET_STM32L4
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_AF1_TIM1;
gregeric 1:cd7b42c99ff8 43 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
gregeric 1:cd7b42c99ff8 44 }
gregeric 1:cd7b42c99ff8 45 else if (htim->Instance == TIM2) { //PA0 PA1 = Nucleo A0 A1
gregeric 1:cd7b42c99ff8 46 __TIM2_CLK_ENABLE();
gregeric 1:cd7b42c99ff8 47 __GPIOA_CLK_ENABLE();
gregeric 1:cd7b42c99ff8 48 GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;
gregeric 1:cd7b42c99ff8 49 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
gregeric 1:cd7b42c99ff8 50 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
gregeric 1:cd7b42c99ff8 51 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
gregeric 1:cd7b42c99ff8 52 GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
gregeric 1:cd7b42c99ff8 53 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
gregeric 1:cd7b42c99ff8 54 }
gregeric 1:cd7b42c99ff8 55 else if (htim->Instance == TIM3) { //PB4 PB5 = Nucleo D5 D4
gregeric 1:cd7b42c99ff8 56 __TIM3_CLK_ENABLE();
gregeric 1:cd7b42c99ff8 57 __GPIOB_CLK_ENABLE();
gregeric 1:cd7b42c99ff8 58 GPIO_InitStruct.Pin = GPIO_PIN_4 | GPIO_PIN_5;
gregeric 1:cd7b42c99ff8 59 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
gregeric 1:cd7b42c99ff8 60 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
gregeric 1:cd7b42c99ff8 61 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
gregeric 1:cd7b42c99ff8 62 GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
gregeric 1:cd7b42c99ff8 63 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
gregeric 1:cd7b42c99ff8 64 }
gregeric 1:cd7b42c99ff8 65 else if (htim->Instance == TIM4) { // PB6 PB7 = Nucleo D10 MORPHO_PB7
gregeric 1:cd7b42c99ff8 66 __TIM4_CLK_ENABLE();
gregeric 1:cd7b42c99ff8 67 __GPIOB_CLK_ENABLE();
gregeric 1:cd7b42c99ff8 68 GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
gregeric 1:cd7b42c99ff8 69 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
gregeric 1:cd7b42c99ff8 70 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
gregeric 1:cd7b42c99ff8 71 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
gregeric 1:cd7b42c99ff8 72 GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
gregeric 1:cd7b42c99ff8 73 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
gregeric 1:cd7b42c99ff8 74 }
gregeric 1:cd7b42c99ff8 75 else if (htim->Instance == TIM5) { // here for completeness, mbed sytem timer uses this
gregeric 1:cd7b42c99ff8 76 __TIM5_CLK_ENABLE();
gregeric 1:cd7b42c99ff8 77 __GPIOA_CLK_ENABLE();
gregeric 1:cd7b42c99ff8 78 GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;
gregeric 1:cd7b42c99ff8 79 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
gregeric 1:cd7b42c99ff8 80 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
gregeric 1:cd7b42c99ff8 81 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
gregeric 1:cd7b42c99ff8 82 GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
gregeric 1:cd7b42c99ff8 83 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
gregeric 1:cd7b42c99ff8 84 }
gregeric 1:cd7b42c99ff8 85 }
gregeric 1:cd7b42c99ff8 86 #endif