Yulin Chen / Encoder

test

Dependents:   SOLamr_move_driver

EncoderMspInitF4.cpp@0:33aac5ba5a2b, 2021-03-10 (annotated)

Committer:
r08522622
Date:
Wed Mar 10 03:21:19 2021 +0000
Revision:
0:33aac5ba5a2b
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
r08522622 0:33aac5ba5a2b 1 #include "mbed.h"
r08522622 0:33aac5ba5a2b 2 /*
r08522622 0:33aac5ba5a2b 3 * HAL_TIM_Encoder_MspInit()
r08522622 0:33aac5ba5a2b 4 * Overrides the __weak function stub in stm32f4xx_hal_tim.h
r08522622 0:33aac5ba5a2b 5 *
r08522622 0:33aac5ba5a2b 6 * Edit the below for your preferred pin wiring & pullup/down
r08522622 0:33aac5ba5a2b 7 * I have encoder common at 3V3, using GPIO_PULLDOWN on inputs.
r08522622 0:33aac5ba5a2b 8 * Encoder A&B outputs connected directly to GPIOs.
r08522622 0:33aac5ba5a2b 9 *
r08522622 0:33aac5ba5a2b 10 * www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00102166.pdf
r08522622 0:33aac5ba5a2b 11 * www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00141306.pdf
r08522622 0:33aac5ba5a2b 12 *
r08522622 0:33aac5ba5a2b 13 * TIM1_CH1: AF1 @ PA_8, PE_9
r08522622 0:33aac5ba5a2b 14 * TIM1_CH2: AF1 @ PA_9, PE_11
r08522622 0:33aac5ba5a2b 15 *
r08522622 0:33aac5ba5a2b 16 * TIM2_CH1: AF1 @ PA_0, PA_5, PA_15, PB_8* *F446 only
r08522622 0:33aac5ba5a2b 17 * TIM2_CH2: AF1 @ PA_1, PB_3, PB_9* *F446 only
r08522622 0:33aac5ba5a2b 18 *
r08522622 0:33aac5ba5a2b 19 * TIM3_CH1: AF2 @ PA_6, PB_4, PC_6
r08522622 0:33aac5ba5a2b 20 * TIM3_CH2: AF2 @ PA_7, PB_5, PC_7
r08522622 0:33aac5ba5a2b 21 *
r08522622 0:33aac5ba5a2b 22 * TIM4_CH1: AF2 @ PB_6, PD_12
r08522622 0:33aac5ba5a2b 23 * TIM4_CH2: AF2 @ PB_7, PD_13
r08522622 0:33aac5ba5a2b 24 *
r08522622 0:33aac5ba5a2b 25 * TIM5_CH1: AF2 @ PA_0* *TIM5 used by mbed system ticker so unavailable
r08522622 0:33aac5ba5a2b 26 * TIM5_CH2: AF2 @ PA_1*
r08522622 0:33aac5ba5a2b 27 *
r08522622 0:33aac5ba5a2b 28 */
r08522622 0:33aac5ba5a2b 29
r08522622 0:33aac5ba5a2b 30 #ifdef TARGET_STM32F4
r08522622 0:33aac5ba5a2b 31 void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
r08522622 0:33aac5ba5a2b 32 {
r08522622 0:33aac5ba5a2b 33 GPIO_InitTypeDef GPIO_InitStruct;
r08522622 0:33aac5ba5a2b 34
r08522622 0:33aac5ba5a2b 35 if (htim->Instance == TIM1) { //PA8 PA9 = Nucleo D7 D8
r08522622 0:33aac5ba5a2b 36 __TIM1_CLK_ENABLE();
r08522622 0:33aac5ba5a2b 37 __GPIOA_CLK_ENABLE();
r08522622 0:33aac5ba5a2b 38 GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
r08522622 0:33aac5ba5a2b 39 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
r08522622 0:33aac5ba5a2b 40 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
r08522622 0:33aac5ba5a2b 41 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
r08522622 0:33aac5ba5a2b 42 GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
r08522622 0:33aac5ba5a2b 43 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
r08522622 0:33aac5ba5a2b 44 }
r08522622 0:33aac5ba5a2b 45 else if (htim->Instance == TIM2) { //PA0 PA1 = Nucleo A0 A1
r08522622 0:33aac5ba5a2b 46 __TIM2_CLK_ENABLE();
r08522622 0:33aac5ba5a2b 47 __GPIOA_CLK_ENABLE();
r08522622 0:33aac5ba5a2b 48 GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;
r08522622 0:33aac5ba5a2b 49 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
r08522622 0:33aac5ba5a2b 50 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
r08522622 0:33aac5ba5a2b 51 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
r08522622 0:33aac5ba5a2b 52 GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
r08522622 0:33aac5ba5a2b 53 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
r08522622 0:33aac5ba5a2b 54 }
r08522622 0:33aac5ba5a2b 55 else if (htim->Instance == TIM3) { //PA6 PA7 = Nucleo D12 D11
r08522622 0:33aac5ba5a2b 56 __TIM3_CLK_ENABLE();
r08522622 0:33aac5ba5a2b 57 __GPIOB_CLK_ENABLE();
r08522622 0:33aac5ba5a2b 58 GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
r08522622 0:33aac5ba5a2b 59 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
r08522622 0:33aac5ba5a2b 60 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
r08522622 0:33aac5ba5a2b 61 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
r08522622 0:33aac5ba5a2b 62 GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
r08522622 0:33aac5ba5a2b 63 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
r08522622 0:33aac5ba5a2b 64 }
r08522622 0:33aac5ba5a2b 65 else if (htim->Instance == TIM4) { // PB6 PB7 = Nucleo D10 MORPHO_PB7
r08522622 0:33aac5ba5a2b 66 __TIM4_CLK_ENABLE();
r08522622 0:33aac5ba5a2b 67 __GPIOB_CLK_ENABLE();
r08522622 0:33aac5ba5a2b 68 GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
r08522622 0:33aac5ba5a2b 69 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
r08522622 0:33aac5ba5a2b 70 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
r08522622 0:33aac5ba5a2b 71 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
r08522622 0:33aac5ba5a2b 72 GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
r08522622 0:33aac5ba5a2b 73 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
r08522622 0:33aac5ba5a2b 74 }
r08522622 0:33aac5ba5a2b 75 }
r08522622 0:33aac5ba5a2b 76 #endif