Revision 0:ebd170807e11, committed 2016-05-22

Comitter:

kkoichy

Date:

Sun May 22 19:59:18 2016 +0000

Child:

1:e82009479b5c

Commit message:

V1.0 :; - Objet Encoder_Nucleo_16_bits created, allowing 32bits encoder counting operation, based on a software 32bits counter, using a 16bits TIM with interrupt.; Based on the work of David Lowe

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/EncoderInit.cpp	Sun May 22 19:59:18 2016 +0000
@@ -0,0 +1,35 @@
+#include "mbed.h"
+
+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;
+
+    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) {
+        printf("Couldn't Init Encoder\r\n");
+        while (1) {}
+    }
+
+    if(HAL_TIM_Encoder_Start(timer,TIM_CHANNEL_1)!=HAL_OK) {
+        printf("Couldn't Start Encoder\r\n");
+        while (1) {}
+    }
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/EncoderMspInitF0.cpp	Sun May 22 19:59:18 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/EncoderMspInitF1.cpp	Sun May 22 19:59:18 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/EncoderMspInitF3.cpp	Sun May 22 19:59:18 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/EncoderMspInitF4.cpp	Sun May 22 19:59:18 2016 +0000
@@ -0,0 +1,76 @@
+#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/EncoderMspInitL0.cpp	Sun May 22 19:59:18 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/EncoderMspInitL1.cpp	Sun May 22 19:59:18 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/EncoderMspInitL4.cpp	Sun May 22 19:59:18 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

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Nucleo_Encoder_16_bits.cpp	Sun May 22 19:59:18 2016 +0000
@@ -0,0 +1,185 @@
+#include "Nucleo_Encoder_16_bits.h"
+
+int32_t Soft_32_Counter_TIM2, Soft_32_Counter_TIM3, Soft_32_Counter_TIM4, Soft_32_Counter_TIM5;
+
+void Overflow_Routine_TIM2()
+{
+    if(TIM2->SR & 0x0001)
+    {
+        printf("Overflow Routine");
+        TIM2->SR &= 0xfffe;
+        if(!(TIM2->CR1&TIM_CR1_DIR))
+            Soft_32_Counter_TIM2 += 0xffff;
+        else
+            Soft_32_Counter_TIM2 -= 0xffff;
+    }
+}
+
+void Overflow_Routine_TIM3()
+{
+    if(TIM3->SR & 0x0001)
+    {
+        printf("Overflow Routine");
+        TIM3->SR &= 0xfffe;
+        if(!(TIM3->CR1&TIM_CR1_DIR))
+            Soft_32_Counter_TIM3 += 0xffff;
+        else
+            Soft_32_Counter_TIM3 -= 0xffff;
+    }
+}
+void Overflow_Routine_TIM4()
+{
+    if(TIM4->SR & 0x0001)
+    {
+        printf("Overflow Routine");
+        TIM4->SR &= 0xfffe;
+        if(!(TIM4->CR1&TIM_CR1_DIR))
+            Soft_32_Counter_TIM4 += 0xffff;
+        else
+            Soft_32_Counter_TIM4 -= 0xffff;
+    }
+}
+void Overflow_Routine_TIM5()
+{
+    if(TIM5->SR & 0x0001)
+    {
+        printf("Overflow Routine");
+        TIM5->SR &= 0xfffe;
+        if(!(TIM5->CR1&TIM_CR1_DIR))
+            Soft_32_Counter_TIM5 += 0xffff;
+        else
+            Soft_32_Counter_TIM5 -= 0xffff;
+    }
+}
+
+namespace mbed
+{   
+    Nucleo_Encoder_16_bits::Nucleo_Encoder_16_bits(TIM_TypeDef * _TIM, uint32_t _maxcount, uint32_t _encmode)
+    {
+        TIM = _TIM;
+        // Initialisation of the TIM module as an encoder counter
+        EncoderInit(&encoder, &timer, _TIM, _maxcount, _encmode);
+
+        // Update (aka over- and underflow) interrupt enabled
+        TIM->DIER |= 0x0001;
+        // The initialisation process generates an update interrupt, so we'll have to clear the update flag before anything else
+        TIM->SR &= 0xfffe;
+
+        // Setting the ISR for the corresponding interrupt vector
+        switch((uint32_t)TIM)
+        {
+            case TIM2_BASE :
+            NVIC_SetVector(TIM2_IRQn, (uint32_t)&Overflow_Routine_TIM2);
+            NVIC_EnableIRQ(TIM2_IRQn);
+            Soft_32_Counter_TIM2 = 0;
+            break;
+            
+            case TIM3_BASE :
+            NVIC_SetVector(TIM3_IRQn, (uint32_t)&Overflow_Routine_TIM3);
+            NVIC_EnableIRQ(TIM3_IRQn);
+            Soft_32_Counter_TIM3 = 0;
+            break;
+            
+            case TIM4_BASE :
+            NVIC_SetVector(TIM4_IRQn, (uint32_t)&Overflow_Routine_TIM4);
+            NVIC_EnableIRQ(TIM4_IRQn);
+            Soft_32_Counter_TIM4 = 0;
+            break;
+            
+            case TIM5_BASE :
+            NVIC_SetVector(TIM5_IRQn, (uint32_t)&Overflow_Routine_TIM5);
+            NVIC_EnableIRQ(TIM5_IRQn);
+            Soft_32_Counter_TIM5 = 0;
+            break;
+            
+            default :
+            
+            break;
+        }
+        
+    }
+    
+    Nucleo_Encoder_16_bits::Nucleo_Encoder_16_bits(TIM_Encoder_InitTypeDef * _encoder, TIM_HandleTypeDef * _timer, TIM_TypeDef * _TIM, uint32_t _maxcount, uint32_t _encmode)
+    {
+        timer = *_timer;
+        encoder = *_encoder;
+        TIM = _TIM;
+        // Initialisation of the TIM module as an encoder counter
+        EncoderInit(&encoder, &timer, _TIM, _maxcount, _encmode);
+
+        // Update (aka over- and underflow) interrupt enabled
+        TIM->DIER |= 0x0001;
+        // The initialisation process generates an update interrupt, so we'll have to clear the update flag before anything else
+        TIM->SR &= 0xfffe;
+
+        // Setting the ISR for the corresponding interrupt vector
+        switch((uint32_t)TIM)
+        {
+            case TIM2_BASE :
+            NVIC_SetVector(TIM2_IRQn, (uint32_t)&Overflow_Routine_TIM2);
+            NVIC_EnableIRQ(TIM2_IRQn);
+            Soft_32_Counter_TIM2 = 0;
+            break;
+            
+            case TIM3_BASE :
+            NVIC_SetVector(TIM3_IRQn, (uint32_t)&Overflow_Routine_TIM3);
+            NVIC_EnableIRQ(TIM3_IRQn);
+            Soft_32_Counter_TIM3 = 0;
+            break;
+            
+            case TIM4_BASE :
+            NVIC_SetVector(TIM4_IRQn, (uint32_t)&Overflow_Routine_TIM4);
+            NVIC_EnableIRQ(TIM4_IRQn);
+            Soft_32_Counter_TIM4 = 0;
+            break;
+            
+            case TIM5_BASE :
+            NVIC_SetVector(TIM5_IRQn, (uint32_t)&Overflow_Routine_TIM5);
+            NVIC_EnableIRQ(TIM5_IRQn);
+            Soft_32_Counter_TIM5 = 0;
+            break;
+            
+            default :
+            
+            break;
+        }
+
+    }
+
+    
+    int32_t Nucleo_Encoder_16_bits::GetCounter()
+    {
+        uint16_t count = TIM->CNT;
+        switch((uint32_t)TIM)
+        {
+            case TIM2_BASE :
+            return (int32_t)count + Soft_32_Counter_TIM2;
+            break;
+            
+            case TIM3_BASE :
+            return (int32_t)count + Soft_32_Counter_TIM3;
+            break;
+            
+            case TIM4_BASE :
+            return (int32_t)count + Soft_32_Counter_TIM4;
+            break;
+            
+            case TIM5_BASE :
+            return (int32_t)count + Soft_32_Counter_TIM5;
+            break;
+        }
+        
+        return (int32_t)count;
+    } 
+    
+    TIM_HandleTypeDef* Nucleo_Encoder_16_bits::GetTimer()
+    {
+        return &timer;    
+    }
+
+    
+    
+
+    
+    
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Nucleo_Encoder_16_bits.h	Sun May 22 19:59:18 2016 +0000
@@ -0,0 +1,30 @@
+#ifndef ENCODER_H
+#define ENCODER_H
+#include "mbed.h"
+
+void EncoderInit(TIM_Encoder_InitTypeDef * encoder, TIM_HandleTypeDef * timer, TIM_TypeDef * TIMx, uint32_t maxcount, uint32_t encmode);
+
+
+namespace mbed{
+    
+    class Nucleo_Encoder_16_bits {
+        
+        public :
+            Nucleo_Encoder_16_bits(TIM_TypeDef * _TIM, uint32_t _maxcount, uint32_t _encmode);
+            Nucleo_Encoder_16_bits(TIM_Encoder_InitTypeDef * _encoder, TIM_HandleTypeDef * _timer, TIM_TypeDef * _TIM, uint32_t _maxcount, uint32_t _encmode);
+            int32_t GetCounter();
+            TIM_HandleTypeDef* GetTimer();
+        
+        private :
+        
+        
+        protected :
+            TIM_Encoder_InitTypeDef encoder;
+            TIM_HandleTypeDef timer;
+            TIM_TypeDef * TIM;
+        
+    };
+
+}// namespace mbed
+
+#endif
\ No newline at end of file