raspiezo / Nucleo_L432KC_Quadrature_Decoder_with_ADC_and_DAC

A program to monitor some parameters for a motor

Dependencies:   mbed-dev BufferSerial

Thanks to David Lowe for https://developer.mbed.org/users/gregeric/code/Nucleo_Hello_Encoder/ which I adapted for the use of TIM2 32bit timer as an encoder reader on the Nucleo L432KC board.

Encoder/EncoderMspInitF3.cpp@23:5cd74e296f59, 2017-06-22 (annotated)

Committer:
tonnyleonard
Date:
Thu Jun 22 10:41:57 2017 +0000
Revision:
23:5cd74e296f59
Parent:
0:789510d98ade 
Correct adc2 calibration offset and the dac1 calibration factor and offset, remove some junk comments

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tonnyleonard 0:789510d98ade 1 #include "mbed.h"
tonnyleonard 0:789510d98ade 2 /*
tonnyleonard 0:789510d98ade 3 * HAL_TIM_Encoder_MspInit()
tonnyleonard 0:789510d98ade 4 * Overrides the __weak function stub in stm32f3xx_hal_tim.h
tonnyleonard 0:789510d98ade 5 *
tonnyleonard 0:789510d98ade 6 * Edit the below for your preferred pin wiring & pullup/down
tonnyleonard 0:789510d98ade 7 * I have encoder common at 3V3, using GPIO_PULLDOWN on inputs.
tonnyleonard 0:789510d98ade 8 * Encoder A&B outputs connected directly to GPIOs.
tonnyleonard 0:789510d98ade 9 *
tonnyleonard 0:789510d98ade 10 * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00093333.pdf
tonnyleonard 0:789510d98ade 11 * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00097745.pdf
tonnyleonard 0:789510d98ade 12 * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00133117.pdf
tonnyleonard 0:789510d98ade 13 * Table 14 has GPIO alternate function pinout mappings.
tonnyleonard 0:789510d98ade 14 *
tonnyleonard 0:789510d98ade 15 * TIM1_CH1: AF2 @ PC_0, PE_9; AF6 @ PA_8
tonnyleonard 0:789510d98ade 16 * TIM1_CH2: AF2 @ PC_1, PE_11; AF6 @ PA_9
tonnyleonard 0:789510d98ade 17 *
tonnyleonard 0:789510d98ade 18 * (TIM2_CH1: AF1 @ PA_0, PA_5, PA_15; AF2 @ PD_3) TIM2 is the mbed system ticker, so unavailable as encoder.
tonnyleonard 0:789510d98ade 19 * (TIM2_CH2: AF1 @ PA_1, PB_3; AF2 @ PD_4)
tonnyleonard 0:789510d98ade 20 *
tonnyleonard 0:789510d98ade 21 * TIM3_CH1: AF2 @ PA_6, PB_4, PC_6, PE_2 not for F302R8, OK @ F334R8
tonnyleonard 0:789510d98ade 22 * TIM3_CH2: AF2 @ PA_4, PA_7, PB_5, PC_7, PE_3
tonnyleonard 0:789510d98ade 23 *
tonnyleonard 0:789510d98ade 24 * TIM4_CH1: AF2 @ PB_6, PD_12; AF10 @ PA_11 not for both F302R8 & F334R8
tonnyleonard 0:789510d98ade 25 * TIM4_CH2: AF2 @ PB_7, PD_13; AF10 @ PA_12
tonnyleonard 0:789510d98ade 26 *
tonnyleonard 0:789510d98ade 27 */
tonnyleonard 0:789510d98ade 28
tonnyleonard 0:789510d98ade 29 #ifdef TARGET_STM32F3
tonnyleonard 0:789510d98ade 30
tonnyleonard 0:789510d98ade 31 void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
tonnyleonard 0:789510d98ade 32 {
tonnyleonard 0:789510d98ade 33 GPIO_InitTypeDef GPIO_InitStruct;
tonnyleonard 0:789510d98ade 34
tonnyleonard 0:789510d98ade 35 if (htim->Instance == TIM1) { //PA8 PA9 = Nucleo D7 D8
tonnyleonard 0:789510d98ade 36 __TIM1_CLK_ENABLE();
tonnyleonard 0:789510d98ade 37 __GPIOA_CLK_ENABLE();
tonnyleonard 0:789510d98ade 38 GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
tonnyleonard 0:789510d98ade 39 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
tonnyleonard 0:789510d98ade 40 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
tonnyleonard 0:789510d98ade 41 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
tonnyleonard 0:789510d98ade 42 GPIO_InitStruct.Alternate = GPIO_AF6_TIM1;
tonnyleonard 0:789510d98ade 43 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
tonnyleonard 0:789510d98ade 44 }
tonnyleonard 0:789510d98ade 45 #if 0 //TIM2 is the mbed system ticker
tonnyleonard 0:789510d98ade 46 else if (htim->Instance == TIM2) { //PA0 PA1 = Nucleo A0 A1
tonnyleonard 0:789510d98ade 47 __TIM2_CLK_ENABLE();
tonnyleonard 0:789510d98ade 48 __GPIOA_CLK_ENABLE();
tonnyleonard 0:789510d98ade 49 GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;
tonnyleonard 0:789510d98ade 50 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
tonnyleonard 0:789510d98ade 51 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
tonnyleonard 0:789510d98ade 52 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
tonnyleonard 0:789510d98ade 53 GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
tonnyleonard 0:789510d98ade 54 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
tonnyleonard 0:789510d98ade 55 }
tonnyleonard 0:789510d98ade 56 #endif
tonnyleonard 0:789510d98ade 57 #if defined TARGET_STM32F334R8
tonnyleonard 0:789510d98ade 58 else if (htim->Instance == TIM3) { //PB4 PB5 = Nucleo D5 D4
tonnyleonard 0:789510d98ade 59 __TIM3_CLK_ENABLE();
tonnyleonard 0:789510d98ade 60 __GPIOB_CLK_ENABLE();
tonnyleonard 0:789510d98ade 61 GPIO_InitStruct.Pin = GPIO_PIN_4 | GPIO_PIN_5;
tonnyleonard 0:789510d98ade 62 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
tonnyleonard 0:789510d98ade 63 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
tonnyleonard 0:789510d98ade 64 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
tonnyleonard 0:789510d98ade 65 GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
tonnyleonard 0:789510d98ade 66 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
tonnyleonard 0:789510d98ade 67 }
tonnyleonard 0:789510d98ade 68 #endif
tonnyleonard 0:789510d98ade 69 #if 0
tonnyleonard 0:789510d98ade 70 else if (htim->Instance == TIM4) { // PB6 PB7 = Nucleo D10 MORPHO_PB7
tonnyleonard 0:789510d98ade 71 __TIM4_CLK_ENABLE();
tonnyleonard 0:789510d98ade 72 __GPIOB_CLK_ENABLE();
tonnyleonard 0:789510d98ade 73 GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
tonnyleonard 0:789510d98ade 74 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
tonnyleonard 0:789510d98ade 75 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
tonnyleonard 0:789510d98ade 76 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
tonnyleonard 0:789510d98ade 77 GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
tonnyleonard 0:789510d98ade 78 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
tonnyleonard 0:789510d98ade 79 }
tonnyleonard 0:789510d98ade 80 #endif
tonnyleonard 0:789510d98ade 81 }
tonnyleonard 0:789510d98ade 82 #endif