Yulin Chen / WheelVelocityControl

This program is for controlling the velocity of 2 motors.

EncoderMspInitF4.cpp@0:e3e886021c90, 2020-07-15 (annotated)

Committer:
r08522622
Date:
Wed Jul 15 11:18:13 2020 +0000
Revision:
0:e3e886021c90
edit parameters

Who changed what in which revision?

UserRevisionLine numberNew contents of line
r08522622 0:e3e886021c90 1 #include "mbed.h"
r08522622 0:e3e886021c90 2 /*
r08522622 0:e3e886021c90 3 * HAL_TIM_Encoder_MspInit()
r08522622 0:e3e886021c90 4 * Overrides the __weak function stub in stm32f4xx_hal_tim.h
r08522622 0:e3e886021c90 5 *
r08522622 0:e3e886021c90 6 * Edit the below for your preferred pin wiring & pullup/down
r08522622 0:e3e886021c90 7 * I have encoder common at 3V3, using GPIO_PULLDOWN on inputs.
r08522622 0:e3e886021c90 8 * Encoder A&B outputs connected directly to GPIOs.
r08522622 0:e3e886021c90 9 *
r08522622 0:e3e886021c90 10 * www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00102166.pdf
r08522622 0:e3e886021c90 11 * www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00141306.pdf
r08522622 0:e3e886021c90 12 *
r08522622 0:e3e886021c90 13 * TIM1_CH1: AF1 @ PA_8, PE_9
r08522622 0:e3e886021c90 14 * TIM1_CH2: AF1 @ PA_9, PE_11
r08522622 0:e3e886021c90 15 *
r08522622 0:e3e886021c90 16 * TIM2_CH1: AF1 @ PA_0, PA_5, PA_15, PB_8* *F446 only
r08522622 0:e3e886021c90 17 * TIM2_CH2: AF1 @ PA_1, PB_3, PB_9* *F446 only
r08522622 0:e3e886021c90 18 *
r08522622 0:e3e886021c90 19 * TIM3_CH1: AF2 @ PA_6, PB_4, PC_6
r08522622 0:e3e886021c90 20 * TIM3_CH2: AF2 @ PA_7, PB_5, PC_7
r08522622 0:e3e886021c90 21 *
r08522622 0:e3e886021c90 22 * TIM4_CH1: AF2 @ PB_6, PD_12
r08522622 0:e3e886021c90 23 * TIM4_CH2: AF2 @ PB_7, PD_13
r08522622 0:e3e886021c90 24 *
r08522622 0:e3e886021c90 25 * TIM5_CH1: AF2 @ PA_0* *TIM5 used by mbed system ticker so unavailable
r08522622 0:e3e886021c90 26 * TIM5_CH2: AF2 @ PA_1*
r08522622 0:e3e886021c90 27 *
r08522622 0:e3e886021c90 28 */
r08522622 0:e3e886021c90 29
r08522622 0:e3e886021c90 30 #ifdef TARGET_STM32F4
r08522622 0:e3e886021c90 31 void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
r08522622 0:e3e886021c90 32 {
r08522622 0:e3e886021c90 33 GPIO_InitTypeDef GPIO_InitStruct;
r08522622 0:e3e886021c90 34
r08522622 0:e3e886021c90 35 if (htim->Instance == TIM1) { //PA8 PA9 = Nucleo D7 D8
r08522622 0:e3e886021c90 36 __TIM1_CLK_ENABLE();
r08522622 0:e3e886021c90 37 __GPIOA_CLK_ENABLE();
r08522622 0:e3e886021c90 38 GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
r08522622 0:e3e886021c90 39 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
r08522622 0:e3e886021c90 40 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
r08522622 0:e3e886021c90 41 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
r08522622 0:e3e886021c90 42 GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
r08522622 0:e3e886021c90 43 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
r08522622 0:e3e886021c90 44 }
r08522622 0:e3e886021c90 45 else if (htim->Instance == TIM2) { //PA0 PA1 = Nucleo A0 A1
r08522622 0:e3e886021c90 46 __TIM2_CLK_ENABLE();
r08522622 0:e3e886021c90 47 __GPIOA_CLK_ENABLE();
r08522622 0:e3e886021c90 48 GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;
r08522622 0:e3e886021c90 49 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
r08522622 0:e3e886021c90 50 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
r08522622 0:e3e886021c90 51 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
r08522622 0:e3e886021c90 52 GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
r08522622 0:e3e886021c90 53 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
r08522622 0:e3e886021c90 54 }
r08522622 0:e3e886021c90 55 else if (htim->Instance == TIM3) { //PA6 PA7 = Nucleo D12 D11
r08522622 0:e3e886021c90 56 __TIM3_CLK_ENABLE();
r08522622 0:e3e886021c90 57 __GPIOB_CLK_ENABLE();
r08522622 0:e3e886021c90 58 GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
r08522622 0:e3e886021c90 59 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
r08522622 0:e3e886021c90 60 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
r08522622 0:e3e886021c90 61 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
r08522622 0:e3e886021c90 62 GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
r08522622 0:e3e886021c90 63 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
r08522622 0:e3e886021c90 64 }
r08522622 0:e3e886021c90 65 else if (htim->Instance == TIM4) { // PB6 PB7 = Nucleo D10 MORPHO_PB7
r08522622 0:e3e886021c90 66 __TIM4_CLK_ENABLE();
r08522622 0:e3e886021c90 67 __GPIOB_CLK_ENABLE();
r08522622 0:e3e886021c90 68 GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
r08522622 0:e3e886021c90 69 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
r08522622 0:e3e886021c90 70 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
r08522622 0:e3e886021c90 71 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
r08522622 0:e3e886021c90 72 GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
r08522622 0:e3e886021c90 73 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
r08522622 0:e3e886021c90 74 }
r08522622 0:e3e886021c90 75 }
r08522622 0:e3e886021c90 76 #endif