Revision 1:cd7b42c99ff8, committed 2015-10-04

Comitter:

gregeric

Date:

Sun Oct 04 11:58:58 2015 +0000

Parent:

0:ee5cb967aa17

Commit message:

Added more targets, use HAL macros to read counter value & direction.

Changed in this revision

diff -r ee5cb967aa17 -r cd7b42c99ff8 Encoder/Encoder.h
--- a/Encoder/Encoder.h	Sat Jan 10 20:06:07 2015 +0000
+++ b/Encoder/Encoder.h	Sun Oct 04 11:58:58 2015 +0000
@@ -1,6 +1,6 @@
 #ifndef ENCODER_H
 #define ENCODER_H
 
-void EncoderInit(TIM_Encoder_InitTypeDef encoder, TIM_HandleTypeDef timer, TIM_TypeDef *TIMx, uint32_t maxcount, uint32_t encmode);
+void EncoderInit(TIM_Encoder_InitTypeDef * encoder, TIM_HandleTypeDef * timer, TIM_TypeDef * TIMx, uint32_t maxcount, uint32_t encmode);
 
 #endif
\ No newline at end of file

diff -r ee5cb967aa17 -r cd7b42c99ff8 Encoder/EncoderInit.cpp
--- a/Encoder/EncoderInit.cpp	Sat Jan 10 20:06:07 2015 +0000
+++ b/Encoder/EncoderInit.cpp	Sun Oct 04 11:58:58 2015 +0000
@@ -1,32 +1,33 @@
 #include "mbed.h"
 
-void EncoderInit(TIM_Encoder_InitTypeDef encoder, TIM_HandleTypeDef timer, TIM_TypeDef *TIMx, uint32_t maxcount, uint32_t encmode)
+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;
+    timer->Instance = TIMx;
+    timer->Init.Period = maxcount;
+    timer->Init.CounterMode = TIM_COUNTERMODE_UP;
+    timer->Init.Prescaler = 0;
+    timer->Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
 
-    encoder.IC1Filter = 0x0F;
-    encoder.IC1Polarity = TIM_INPUTCHANNELPOLARITY_RISING;
-    encoder.IC1Prescaler = TIM_ICPSC_DIV4;
-    encoder.IC1Selection = TIM_ICSELECTION_DIRECTTI;
+    encoder->EncoderMode = encmode;
 
-    encoder.IC2Filter = 0x0F;
-    encoder.IC2Polarity = TIM_INPUTCHANNELPOLARITY_FALLING;
-    encoder.IC2Prescaler = TIM_ICPSC_DIV4;
-    encoder.IC2Selection = TIM_ICSELECTION_DIRECTTI;
+    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) {
+    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) {
+    if(HAL_TIM_Encoder_Start(timer,TIM_CHANNEL_1)!=HAL_OK) {
         printf("Couldn't Start Encoder\r\n");
         while (1) {}
     }

diff -r ee5cb967aa17 -r cd7b42c99ff8 Encoder/EncoderMspInitF0.cpp
--- a/Encoder/EncoderMspInitF0.cpp	Sat Jan 10 20:06:07 2015 +0000
+++ b/Encoder/EncoderMspInitF0.cpp	Sun Oct 04 11:58:58 2015 +0000
@@ -1,14 +1,21 @@
 #include "mbed.h"
 /*
  * HAL_TIM_Encoder_MspInit()
- * Overrides the __weak function stub in stm32f4xx_hal_tim.h
+ * Overrides the __weak function stub in stm32f0xx_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.
  *
- * All Nucleos support encoders, from 030 up.
- * On 030, there's only TIM3 @ AF1 PA6 PA7 (D11 D12)
+ * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00088500.pdf
+ * Table 11 has GPIO alternate function pinout mappings.
+ *
+ * TIM1_CH1: AF2 @ PA_8 - TIM1 used as system ticker under mbed, so unavailable
+ * TIM1_CH2: AF2 @ PA_9
+ *
+ * TIM3_CH1: AF1 @ PA_6, PB_4; AF0 @ PC_6*  *only for F030xC devices
+ * TIM3_CH2: AF1 @ PA_7, PB_5; AF0 @ PC_7*
+ *
  */
 
 #ifdef TARGET_STM32F0
@@ -16,15 +23,15 @@
 {
     GPIO_InitTypeDef GPIO_InitStruct;
 
-    if (htim->Instance == TIM3) { //PA6 PA7 = Nucleo D12 D11
+    if (htim->Instance == TIM3) { //PB_4 PB_5 = Nucleo D5 D4
         __TIM3_CLK_ENABLE();
-        __GPIOA_CLK_ENABLE();
-        GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
+        __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_AF1_TIM3;
-        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+        HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
     }
 }
 #endif
\ No newline at end of file

diff -r ee5cb967aa17 -r cd7b42c99ff8 Encoder/EncoderMspInitF1.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Encoder/EncoderMspInitF1.cpp	Sun Oct 04 11:58:58 2015 +0000
@@ -0,0 +1,74 @@
+#include "mbed.h"
+/*
+ * HAL_TIM_Encoder_MspInit()
+ * Overrides the __weak function stub in stm32f1xx_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/CD00161566.pdf
+ * Table 5 has GPIO alternate function pinout mappings.
+ *
+ * TIM1_CH1: default PA_8, remap PE_9
+ * TIM1_CH2: default PA_9, remap PE_11
+ *
+ * TIM2_CH1: default PA_0 
+ * TIM2_CH2: default PA_1, remap PB_3
+ *
+ * TIM3_CH1: default PA_6, remap PB_4, PC_6
+ * TIM3_CH2: default PA_7, remap PB_5, PC_7
+ *
+ * TIM4_CH1: default PB_6, remap PD_12
+ * TIM4_CH2: default PB_7, remap PD_13
+ *
+ * NB one of these timers will be the employed by mbed as systick, unavailable as encoder.
+ */
+
+#ifdef TARGET_STM32F1
+void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
+{
+    GPIO_InitTypeDef GPIO_InitStruct;
+
+    if (htim->Instance == TIM1) { //PA8 PA9 = Nucleo D7 D8
+        __TIM1_CLK_ENABLE();
+        __GPIOA_CLK_ENABLE();
+        GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
+        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
+        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
+//        GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
+        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+    }
+    else 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) { //PA6 PA7 = Nucleo D12 D11
+        __TIM3_CLK_ENABLE();
+        __GPIOA_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_TIM3;
+        HAL_GPIO_Init(GPIOA, &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

diff -r ee5cb967aa17 -r cd7b42c99ff8 Encoder/EncoderMspInitF3.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Encoder/EncoderMspInitF3.cpp	Sun Oct 04 11:58:58 2015 +0000
@@ -0,0 +1,82 @@
+#include "mbed.h"
+/*
+ * HAL_TIM_Encoder_MspInit()
+ * Overrides the __weak function stub in stm32f3xx_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/DM00093333.pdf
+ * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00097745.pdf
+ * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00133117.pdf
+ * Table 14 has GPIO alternate function pinout mappings.
+ *
+ * TIM1_CH1: AF2 @ PC_0, PE_9; AF6 @ PA_8
+ * TIM1_CH2: AF2 @ PC_1, PE_11; AF6 @ PA_9
+ *
+ * (TIM2_CH1: AF1 @ PA_0, PA_5, PA_15; AF2 @ PD_3)  TIM2 is the mbed system ticker, so unavailable as encoder.
+ * (TIM2_CH2: AF1 @ PA_1, PB_3; AF2 @ PD_4)
+ *
+ * TIM3_CH1: AF2 @ PA_6, PB_4, PC_6, PE_2           not for F302R8, OK @ F334R8
+ * TIM3_CH2: AF2 @ PA_4, PA_7, PB_5, PC_7, PE_3
+ *
+ * TIM4_CH1: AF2 @ PB_6, PD_12; AF10 @ PA_11        not for both F302R8 & F334R8
+ * TIM4_CH2: AF2 @ PB_7, PD_13; AF10 @ PA_12
+ *
+ */
+
+#ifdef TARGET_STM32F3
+
+void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
+{
+    GPIO_InitTypeDef GPIO_InitStruct;
+
+    if (htim->Instance == TIM1) { //PA8 PA9 = Nucleo D7 D8
+        __TIM1_CLK_ENABLE();
+        __GPIOA_CLK_ENABLE();
+        GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
+        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
+        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
+        GPIO_InitStruct.Alternate = GPIO_AF6_TIM1;
+        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+    }
+#if 0 //TIM2 is the mbed system ticker
+    else 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);
+    }
+#endif
+#if defined TARGET_STM32F334R8
+    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);
+    }
+#endif
+#if 0
+    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
+}
+#endif
\ No newline at end of file

diff -r ee5cb967aa17 -r cd7b42c99ff8 Encoder/EncoderMspInitF4.cpp
--- a/Encoder/EncoderMspInitF4.cpp	Sat Jan 10 20:06:07 2015 +0000
+++ b/Encoder/EncoderMspInitF4.cpp	Sun Oct 04 11:58:58 2015 +0000
@@ -7,6 +7,24 @@
  * I have encoder common at 3V3, using GPIO_PULLDOWN on inputs.
  * Encoder A&B outputs connected directly to GPIOs.
  *
+ * www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00102166.pdf
+ * www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00141306.pdf
+ *
+ * TIM1_CH1: AF1 @ PA_8, PE_9 
+ * TIM1_CH2: AF1 @ PA_9, PE_11 
+ *
+ * TIM2_CH1: AF1 @ PA_0, PA_5, PA_15, PB_8*     *F446 only
+ * TIM2_CH2: AF1 @ PA_1, PB_3, PB_9*            *F446 only
+ *
+ * TIM3_CH1: AF2 @ PA_6, PB_4, PC_6
+ * TIM3_CH2: AF2 @ PA_7, PB_5, PC_7
+ *
+ * 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_STM32F4
@@ -14,7 +32,7 @@
 {
     GPIO_InitTypeDef GPIO_InitStruct;
 
-    if (htim->Instance == TIM1) { //PA8 PA9 = Nucleo D7 D8, poss PB0 PB1 usable too (complementary?)
+    if (htim->Instance == TIM1) { //PA8 PA9 = Nucleo D7 D8
         __TIM1_CLK_ENABLE();
         __GPIOA_CLK_ENABLE();
         GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
@@ -24,7 +42,7 @@
         GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
         HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
     }
-    else if (htim->Instance == TIM2) { //PA0 PA1 = Nucleo A0 A1, PA5 PB3 = D13 D3 poss too
+    else if (htim->Instance == TIM2) { //PA0 PA1 = Nucleo A0 A1
         __TIM2_CLK_ENABLE();
         __GPIOA_CLK_ENABLE();
         GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;
@@ -34,7 +52,7 @@
         GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
         HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
     }
-    else if (htim->Instance == TIM3) { //PB4 PB5 = Nucleo D5 D4, PA6 PA7 & PC6 PC7 also an option for Nucleo
+    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;
@@ -54,15 +72,5 @@
         GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
         HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
     }
-    else if (htim->Instance == TIM5) { // here for completeness, mbed sytem timer uses this
-        __TIM5_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_AF2_TIM5;
-        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-    }
 }
 #endif
\ No newline at end of file

diff -r ee5cb967aa17 -r cd7b42c99ff8 Encoder/EncoderMspInitL1.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Encoder/EncoderMspInitL1.cpp	Sun Oct 04 11:58:58 2015 +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

diff -r ee5cb967aa17 -r cd7b42c99ff8 Encoder/EncoderMspInitL4.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Encoder/EncoderMspInitL4.cpp	Sun Oct 04 11:58:58 2015 +0000
@@ -0,0 +1,86 @@
+#include "mbed.h"
+/*
+ * HAL_TIM_Encoder_MspInit()
+ * Overrides the __weak function stub in stm32f4xx_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/DM00108832.pdf
+ * Table 15 has GPIOx AFx pinouts
+ *
+ * TIM1_CH1: AF1 @ PA8, PE9
+ * TIM1_CH2: AF1 @ PA9, PE11
+ *
+ * TIM2_CH1: AF1 @ PA0, PA5, PA15
+ * TIM2_CH2: AF1 @ PA1, PB3
+ *
+ * TIM3_CH1: AF2 @ PA6, PB4, PC6, PE3
+ * TIM3_CH2: AF2 @ PA7, PB5, PC7, PE4
+ *
+ * TIM4_CH1: AF2 @ PB6, PD12
+ * TIM4_CH2: AF2 @ PB7, PD13
+ *
+ * TIM5_CH1: AF2 @ PA0, PF6
+ * TIM5_CH2: AF2 @ PA1, PF7
+ *
+ */
+
+#ifdef TARGET_STM32L4
+void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
+{
+    GPIO_InitTypeDef GPIO_InitStruct;
+
+    if (htim->Instance == TIM1) {       //PA8 PA9 = Nucleo D7 D8
+        __TIM1_CLK_ENABLE();
+        __GPIOA_CLK_ENABLE();
+        GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
+        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
+        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
+        GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
+        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+    }
+    else 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);
+    }
+    else if (htim->Instance == TIM5) { // here for completeness, mbed sytem timer uses this
+        __TIM5_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_AF2_TIM5;
+        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+    }
+}
+#endif
\ No newline at end of file

diff -r ee5cb967aa17 -r cd7b42c99ff8 main.cpp
--- a/main.cpp	Sat Jan 10 20:06:07 2015 +0000
+++ b/main.cpp	Sun Oct 04 11:58:58 2015 +0000
@@ -1,7 +1,7 @@
 /*
  * Using STM32's counter peripherals to interface rotary encoders.
  * Encoders are supported on F4xx's TIM1,2,3,4,5. TIM2 & TIM5 have 32bit count, others 16bit.
- * Beware mbed uses TIM5 for system timer, others for PWM.
+ * Beware mbed uses TIM5 for system timer, SPI needs TIM1, others used for PWM.
  * Check your platform's PeripheralPins.c & PeripheralNames.h if you need both PWM & encoders.
  *
  * Edit HAL_TIM_Encoder_MspInitFx.cpp to suit your mcu & board's available pinouts & pullups/downs.
@@ -21,24 +21,30 @@
 #include "mbed.h"
 #include "Encoder.h"
 
+//STM mbed bug: these macros are MISSING from stm32f3xx_hal_tim.h
+#ifdef TARGET_STM32F3
+#define __HAL_TIM_GET_COUNTER(__HANDLE__) ((__HANDLE__)->Instance->CNT)
+#define __HAL_TIM_IS_TIM_COUNTING_DOWN(__HANDLE__)            (((__HANDLE__)->Instance->CR1 &(TIM_CR1_DIR)) == (TIM_CR1_DIR))
+#endif
+
 TIM_Encoder_InitTypeDef encoder1, encoder2, encoder3, encoder4;
-TIM_HandleTypeDef timer1, timer2, timer3, timer4;
+TIM_HandleTypeDef  timer1,  timer2,  timer3,  timer4;
 
 int main()
 {
     //examples
     
     //counting on A-input only, 2 ticks per cycle, rolls over at 100
-    EncoderInit(encoder1, timer1, TIM1, 99, TIM_ENCODERMODE_TI1);
-    
+    EncoderInit(&encoder1, &timer1, TIM1, 99, TIM_ENCODERMODE_TI1);
+
     //counting on both A&B inputs, 4 ticks per cycle, full 32-bit count
-    EncoderInit(encoder2, timer2, TIM2, 0xffffffff, TIM_ENCODERMODE_TI12);
+    EncoderInit(&encoder2, &timer2, TIM2, 0xffffffff, TIM_ENCODERMODE_TI12);
 
     //counting on B-input only, 2 ticks per cycle, full 16-bit count
-    EncoderInit(encoder3, timer3, TIM3, 0xffff, TIM_ENCODERMODE_TI2);
+    EncoderInit(&encoder3, &timer3, TIM3, 0xffff, TIM_ENCODERMODE_TI2);
     
     //counting on both A&B inputs, 4 ticks per cycle, full 16-bit count
-    EncoderInit(encoder4, timer4, TIM4, 0xffff, TIM_ENCODERMODE_TI12);
+    EncoderInit(&encoder4, &timer4, TIM4, 0xffff, TIM_ENCODERMODE_TI12);
     
     //TIM5 is used by mbed for systick
     //EncoderInit(encoder2, timer2, TIM5, 0xffffffff, TIM_ENCODERMODE_TI12);
@@ -46,15 +52,43 @@
     printf("STM HAL encoder demo\n\r");
     
     while(1) {
-        int16_t count1=0, count3=0, count4=0;
-        int32_t count2=0, count5=0;
+        uint16_t count1=0, count3=0, count4=0;
+        uint32_t count2=0;
+        int8_t dir1, dir2, dir3, dir4;
+
         
-        count1=TIM1->CNT; //OK 401 411 TICKER 030
-        count2=TIM2->CNT; //OK 401 411 N/A 030
-        count3=TIM3->CNT; //OK 401 411 030
-        count4=TIM4->CNT; //OK 401 NOK 411 N/A 030
-        count5=TIM5->CNT; //TICKER 401 411 N/A 030
-        printf("%d %d %d %d %d\r\n", count1, count2, count3, count4, count5);
-        wait(1.0);
+        //OK 401 411 446 TICKER 030
+        //count1=TIM1->CNT;
+        //dir1=TIM1->CR1&TIM_CR1_DIR;
+        count1=__HAL_TIM_GET_COUNTER(&timer1);
+        dir1 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer1);
+
+        //OK 401 411 446 NOK 030
+        //count2=TIM2->CNT;
+        //dir2=TIM2->CR1&TIM_CR1_DIR;
+        count2=__HAL_TIM_GET_COUNTER(&timer2);
+        dir2 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2);
+
+        //OK 401 411 446 030
+        //count3=TIM3->CNT;
+        //dir3=TIM3->CR1&TIM_CR1_DIR;
+        count3=__HAL_TIM_GET_COUNTER(&timer3);
+        dir3 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer3);
+
+        //OK 401 411 446 N/A 030
+        //count4=TIM4->CNT;
+        //dir4=TIM4->CR1&TIM_CR1_DIR;
+        count4=__HAL_TIM_GET_COUNTER(&timer4);
+        dir4 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer4);
+
+        //TICKER 401 411 446 N/A 030
+//        count5=__HAL_TIM_GET_COUNTER(&timer5);
+//        dir5 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer5);
+        
+        printf("%d%s %d%s %d%s %d%s\r\n", count1, dir1==0 ? "+":"-",
+                                             count2, dir2==0 ? "+":"-",
+                                             count3, dir3==0 ? "+":"-",
+                                             count4, dir4==0 ? "+":"-" );
+        wait(0.5);
     }
 }

diff -r ee5cb967aa17 -r cd7b42c99ff8 mbed-dev.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-dev.lib	Sun Oct 04 11:58:58 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed-dev/#9b334a45a8ff

diff -r ee5cb967aa17 -r cd7b42c99ff8 mbed.bld
--- a/mbed.bld	Sat Jan 10 20:06:07 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/mbed_official/code/mbed/builds/4fc01daae5a5
\ No newline at end of file