Revision 9:d1e6284a13ab, committed 2016-05-21

Comitter:

inst

Date:

Sat May 21 03:19:33 2016 +0000

Parent:

8:0a217d9f31c7

Child:

10:684e1604e5ea

Commit message:

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HAL_TIM_Encoder_MspInit/EncoderMspInitF0.cpp	Sat May 21 03:19:33 2016 +0000
@@ -0,0 +1,37 @@
+#include "mbed.h"
+/*
+ * HAL_TIM_Encoder_MspInit()
+ * 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.
+ *
+ * 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
+void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
+{
+    GPIO_InitTypeDef GPIO_InitStruct;
+
+    if (htim->Instance == TIM3) { //PB_4 PB_5 = 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_AF1_TIM3;
+        HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+    }
+}
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HAL_TIM_Encoder_MspInit/EncoderMspInitF1.cpp	Sat May 21 03:19:33 2016 +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

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HAL_TIM_Encoder_MspInit/EncoderMspInitF3.cpp	Sat May 21 03:19:33 2016 +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

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HAL_TIM_Encoder_MspInit/EncoderMspInitF4.cpp	Sat May 21 03:19:33 2016 +0000
@@ -0,0 +1,73 @@
+#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.
+ *
+ * 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
+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);
+    }
+}
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HAL_TIM_Encoder_MspInit/EncoderMspInitL0.cpp	Sat May 21 03:19:33 2016 +0000
@@ -0,0 +1,28 @@
+#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.
+ *
+ */
+
+#ifdef TARGET_STM32L0
+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);
+    }
+}
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HAL_TIM_Encoder_MspInit/EncoderMspInitL1.cpp	Sat May 21 03:19:33 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

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HAL_TIM_Encoder_MspInit/EncoderMspInitL4.cpp	Sat May 21 03:19:33 2016 +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

--- a/rotary_encoder_a_phase.hpp	Sat May 21 02:52:16 2016 +0000
+++ b/rotary_encoder_a_phase.hpp	Sat May 21 03:19:33 2016 +0000
@@ -2,7 +2,6 @@
 #define INCLUDED_ROTARY_ENCODER_A_PHASE_H
 
 #include "rotary_encoder_base.hpp"
-#include "mbed.h"
 
 class rotary_encoder_a_phase : public rotary_encoder_base {
 public:

--- a/rotary_encoder_ab_phase.hpp	Sat May 21 02:52:16 2016 +0000
+++ b/rotary_encoder_ab_phase.hpp	Sat May 21 03:19:33 2016 +0000
@@ -2,7 +2,6 @@
 #define INCLUDED_ROTARY_ENCODER_AB_PHASE_H
 
 #include "rotary_encoder_base.hpp"
-#include "mbed.h"
 
 class rotary_encoder_ab_phase : public rotary_encoder_base {
 public:

--- a/rotary_encoder_base/EncoderMspInitF4.cpp	Sat May 21 02:52:16 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,73 +0,0 @@
-#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.
- *
- * 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
-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);
-    }
-}
-
-#endif
\ No newline at end of file

--- a/rotary_encoder_base/rotary_encoder_base.cpp	Sat May 21 02:52:16 2016 +0000
+++ b/rotary_encoder_base/rotary_encoder_base.cpp	Sat May 21 03:19:33 2016 +0000
@@ -1,57 +1,28 @@
 #include "rotary_encoder_base.hpp"
 #include "rotary_encoder.hpp"
-#include "mbed.h"
+#include "rotary_encoder_base_impl.hpp"
 
 rotary_encoder_base::rotary_encoder_base(TIM_TypeDef* timer_type,
                                         uint32_t encoder_mode,
-                                        size_t resolution) : rotary_encoder(resolution) {
-    timer_handler_.Instance              = timer_type;
-    timer_handler_.Init.Period           = max_counts_;
-    timer_handler_.Init.CounterMode      = TIM_COUNTERMODE_UP;
-    timer_handler_.Init.Prescaler        = 0;
-    timer_handler_.Init.ClockDivision    = TIM_CLOCKDIVISION_DIV1;
-    
-    TIM_Encoder_InitTypeDef encoder;
-    encoder.EncoderMode = encoder_mode;
-    
-    encoder.IC1Filter       = 0x0F;
-    encoder.IC1Polarity     = TIM_INPUTCHANNELPOLARITY_RISING;
-    encoder.IC1Prescaler    = TIM_ICPSC_DIV4;
-    encoder.IC1Selection    = TIM_ICSELECTION_DIRECTTI;
+                                        size_t resolution) : rotary_encoder(resolution),
+                                                             encoder_(new rotary_encoder_base_impl(timer_type, encoder_mode, resolution)) {}
 
-    encoder.IC2Filter       = 0x0F;
-    encoder.IC2Polarity     = TIM_INPUTCHANNELPOLARITY_FALLING;
-    encoder.IC2Prescaler    = TIM_ICPSC_DIV4;
-    encoder.IC2Selection    = TIM_ICSELECTION_DIRECTTI;
-    
-    if (HAL_TIM_Encoder_Init(&timer_handler_, &encoder) != HAL_OK) {
-        error("couldn't init encoder\n");
-    }
+rotary_encoder_base::~rotary_encoder_base() {
+    delete encoder_;
 }
 
-rotary_encoder_base::~rotary_encoder_base() {}
-
 int32_t rotary_encoder_base::get_counts() const {
-    int32_t counts = timer_handler_.Instance->CNT;
-    
-    if (counts > (max_counts_ >> 1)) {
-        return counts - max_counts_;
-    }
-    return  counts;
+    return encoder_->get_counts();
 }
 
 void rotary_encoder_base::reset() {
-    timer_handler_.Instance->CNT = 0;
+    encoder_->reset();
 }
 
 void rotary_encoder_base::start() {
-    if(HAL_TIM_Encoder_Start(&timer_handler_, TIM_CHANNEL_1) != HAL_OK) {
-        error("couldn't start encoder\r\n");
-    }
+    encoder_->start();
 }
 
 void rotary_encoder_base::stop() {
-    if(HAL_TIM_Encoder_Stop(&timer_handler_, TIM_CHANNEL_1) != HAL_OK) {
-        error("couldn't start encoder\r\n");
-    }
+    encoder_->stop();
 }

--- a/rotary_encoder_base/rotary_encoder_base.hpp	Sat May 21 02:52:16 2016 +0000
+++ b/rotary_encoder_base/rotary_encoder_base.hpp	Sat May 21 03:19:33 2016 +0000
@@ -4,6 +4,8 @@
 #include "mbed.h"
 #include "rotary_encoder.hpp"
 
+class rotary_encoder_base_impl;
+
 class rotary_encoder_base : public rotary_encoder {
 public:
     rotary_encoder_base(TIM_TypeDef* timer_type,
@@ -18,7 +20,7 @@
     virtual void stop();
     
 protected:
-    TIM_HandleTypeDef timer_handler_;
+    rotary_encoder_base_impl* encoder_;
 };
 
 #endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rotary_encoder_base/rotary_encoder_base_impl.cpp	Sat May 21 03:19:33 2016 +0000
@@ -0,0 +1,57 @@
+#include "rotary_encoder_base_impl.hpp"
+#include "rotary_encoder.hpp"
+#include "mbed.h"
+
+rotary_encoder_base_impl::rotary_encoder_base_impl(TIM_TypeDef* timer_type,
+                                                   uint32_t encoder_mode,
+                                                   size_t resolution) : rotary_encoder(resolution) {
+    timer_handler_.Instance              = timer_type;
+    timer_handler_.Init.Period           = max_counts_;
+    timer_handler_.Init.CounterMode      = TIM_COUNTERMODE_UP;
+    timer_handler_.Init.Prescaler        = 0;
+    timer_handler_.Init.ClockDivision    = TIM_CLOCKDIVISION_DIV1;
+    
+    TIM_Encoder_InitTypeDef encoder;
+    encoder.EncoderMode = encoder_mode;
+    
+    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_handler_, &encoder) != HAL_OK) {
+        error("couldn't init encoder\n");
+    }
+}
+
+rotary_encoder_base_impl::~rotary_encoder_base_impl() {}
+
+int32_t rotary_encoder_base_impl::get_counts() const {
+    int32_t counts = timer_handler_.Instance->CNT;
+    
+    if (counts > (max_counts_ >> 1)) {
+        return counts - max_counts_;
+    }
+    return  counts;
+}
+
+void rotary_encoder_base_impl::reset() {
+    timer_handler_.Instance->CNT = 0;
+}
+
+void rotary_encoder_base_impl::start() {
+    if(HAL_TIM_Encoder_Start(&timer_handler_, TIM_CHANNEL_1) != HAL_OK) {
+        error("couldn't start encoder\r\n");
+    }
+}
+
+void rotary_encoder_base_impl::stop() {
+    if(HAL_TIM_Encoder_Stop(&timer_handler_, TIM_CHANNEL_1) != HAL_OK) {
+        error("couldn't start encoder\r\n");
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rotary_encoder_base/rotary_encoder_base_impl.hpp	Sat May 21 03:19:33 2016 +0000
@@ -0,0 +1,24 @@
+#ifndef INCLUDED_ROTARY_ENCODER_BASE_IMPL_H
+#define INCLUDED_ROTARY_ENCODER_BASE_IMPL_H
+
+#include "mbed.h"
+#include "rotary_encoder.hpp"
+
+class rotary_encoder_base_impl : public rotary_encoder {
+public:
+    rotary_encoder_base_impl(TIM_TypeDef* timer_type,
+                             uint32_t encoder_mode,
+                             size_t resolution);
+    virtual ~rotary_encoder_base_impl();
+    
+    virtual int32_t get_counts() const;
+    
+    virtual void reset();
+    virtual void start();
+    virtual void stop();
+    
+protected:
+    TIM_HandleTypeDef timer_handler_;
+};
+
+#endif