GERMAN REINA / HAL_QEI_PWM_MBED_PID

NUCLEO-F446RE ENCODER TIMER3 Y TIMER 2 HAL AND PWM. PID PARA UN PENDULO INVERTIDO CON 2 ENCODER DE CUADRATURA

Dependencies:   mbed-dev

Encoder/EncoderInit.cpp@0:95f924550159, 2016-05-21 (annotated)

Committer:
gereina
Date:
Sat May 21 04:17:35 2016 +0000
Revision:
0:95f924550159
QEI_TIMER2_TIMER_3 OK; PWM MBED; PID

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gereina 0:95f924550159 1 #include "mbed.h"
gereina 0:95f924550159 2
gereina 0:95f924550159 3 void EncoderInit(TIM_Encoder_InitTypeDef * encoder, TIM_HandleTypeDef * timer, TIM_TypeDef * TIMx, uint32_t maxcount, uint32_t encmode)
gereina 0:95f924550159 4 {
gereina 0:95f924550159 5
gereina 0:95f924550159 6 timer->Instance = TIMx;
gereina 0:95f924550159 7 timer->Init.Period = maxcount;
gereina 0:95f924550159 8 timer->Init.CounterMode = TIM_COUNTERMODE_UP;
gereina 0:95f924550159 9 timer->Init.Prescaler = 0;
gereina 0:95f924550159 10 timer->Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
gereina 0:95f924550159 11
gereina 0:95f924550159 12 encoder->EncoderMode = encmode;
gereina 0:95f924550159 13
gereina 0:95f924550159 14 encoder->IC1Filter = 0x0F;
gereina 0:95f924550159 15 encoder->IC1Polarity = TIM_INPUTCHANNELPOLARITY_RISING;
gereina 0:95f924550159 16 encoder->IC1Prescaler = TIM_ICPSC_DIV4;
gereina 0:95f924550159 17 encoder->IC1Selection = TIM_ICSELECTION_DIRECTTI;
gereina 0:95f924550159 18
gereina 0:95f924550159 19 encoder->IC2Filter = 0x0F;
gereina 0:95f924550159 20 encoder->IC2Polarity = TIM_INPUTCHANNELPOLARITY_FALLING;
gereina 0:95f924550159 21 encoder->IC2Prescaler = TIM_ICPSC_DIV4;
gereina 0:95f924550159 22 encoder->IC2Selection = TIM_ICSELECTION_DIRECTTI;
gereina 0:95f924550159 23
gereina 0:95f924550159 24
gereina 0:95f924550159 25 if (HAL_TIM_Encoder_Init(timer, encoder) != HAL_OK) {
gereina 0:95f924550159 26 printf("Couldn't Init Encoder\r\n");
gereina 0:95f924550159 27 while (1) {}
gereina 0:95f924550159 28 }
gereina 0:95f924550159 29
gereina 0:95f924550159 30 if(HAL_TIM_Encoder_Start(timer,TIM_CHANNEL_1)!=HAL_OK) {
gereina 0:95f924550159 31 printf("Couldn't Start Encoder\r\n");
gereina 0:95f924550159 32 while (1) {}
gereina 0:95f924550159 33 }
gereina 0:95f924550159 34 }
gereina 0:95f924550159 35