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/EncoderMspInitF4.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 * HAL_TIM_Encoder_MspInit()
gereina 0:95f924550159 4 * Overrides the __weak function stub in stm32f4xx_hal_tim.h
gereina 0:95f924550159 5 *
gereina 0:95f924550159 6 * Edit the below for your preferred pin wiring & pullup/down
gereina 0:95f924550159 7 * I have encoder common at 3V3, using GPIO_PULLDOWN on inputs.
gereina 0:95f924550159 8 * Encoder A&B outputs connected directly to GPIOs.
gereina 0:95f924550159 9 *
gereina 0:95f924550159 10 * www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00102166.pdf
gereina 0:95f924550159 11 * www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00141306.pdf
gereina 0:95f924550159 12 *
gereina 0:95f924550159 13 * TIM1_CH1: AF1 @ PA_8, PE_9
gereina 0:95f924550159 14 * TIM1_CH2: AF1 @ PA_9, PE_11
gereina 0:95f924550159 15 *
gereina 0:95f924550159 16 * TIM2_CH1: AF1 @ PA_0, PA_5, PA_15, PB_8* *F446 only
gereina 0:95f924550159 17 * TIM2_CH2: AF1 @ PA_1, PB_3, PB_9* *F446 only
gereina 0:95f924550159 18 *
gereina 0:95f924550159 19 * TIM3_CH1: AF2 @ PA_6, PB_4, PC_6
gereina 0:95f924550159 20 * TIM3_CH2: AF2 @ PA_7, PB_5, PC_7
gereina 0:95f924550159 21 *
gereina 0:95f924550159 22 * TIM4_CH1: AF2 @ PB_6, PD_12
gereina 0:95f924550159 23 * TIM4_CH2: AF2 @ PB_7, PD_13
gereina 0:95f924550159 24 *
gereina 0:95f924550159 25 * TIM5_CH1: AF2 @ PA_0* *TIM5 used by mbed system ticker so unavailable
gereina 0:95f924550159 26 * TIM5_CH2: AF2 @ PA_1*
gereina 0:95f924550159 27 *
gereina 0:95f924550159 28 *
gereina 0:95f924550159 29 * Agrego el TIMER 8 tambien funciona
gereina 0:95f924550159 30 * TIM8_CH1: AF3 @ PC_6
gereina 0:95f924550159 31 * TIM8_CH2: AF3 @ PC_7
gereina 0:95f924550159 32 *
gereina 0:95f924550159 33 *
gereina 0:95f924550159 34 *
gereina 0:95f924550159 35 *
gereina 0:95f924550159 36 */
gereina 0:95f924550159 37
gereina 0:95f924550159 38 #ifdef TARGET_STM32F4
gereina 0:95f924550159 39 void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
gereina 0:95f924550159 40 {
gereina 0:95f924550159 41 GPIO_InitTypeDef GPIO_InitStruct;
gereina 0:95f924550159 42
gereina 0:95f924550159 43 if (htim->Instance == TIM1) { //PA8 PA9 = Nucleo D7 D8
gereina 0:95f924550159 44 __TIM1_CLK_ENABLE();
gereina 0:95f924550159 45 __GPIOA_CLK_ENABLE();
gereina 0:95f924550159 46 GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
gereina 0:95f924550159 47 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
gereina 0:95f924550159 48 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
gereina 0:95f924550159 49 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
gereina 0:95f924550159 50 GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
gereina 0:95f924550159 51 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
gereina 0:95f924550159 52 }
gereina 0:95f924550159 53 else if (htim->Instance == TIM2) { //PA0 PA1 = Nucleo A0 A1 //USANDO ALTERNO PB8 Y PB 9 para el pololulu funcione
gereina 0:95f924550159 54 __TIM2_CLK_ENABLE();
gereina 0:95f924550159 55 __GPIOB_CLK_ENABLE();
gereina 0:95f924550159 56 GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
gereina 0:95f924550159 57 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
gereina 0:95f924550159 58 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
gereina 0:95f924550159 59 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
gereina 0:95f924550159 60 GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
gereina 0:95f924550159 61 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
gereina 0:95f924550159 62 }
gereina 0:95f924550159 63 else if (htim->Instance == TIM3) { //PB4 PB5 = Nucleo D5 D4
gereina 0:95f924550159 64 __TIM3_CLK_ENABLE();
gereina 0:95f924550159 65 __GPIOB_CLK_ENABLE();
gereina 0:95f924550159 66 GPIO_InitStruct.Pin = GPIO_PIN_4 | GPIO_PIN_5;
gereina 0:95f924550159 67 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
gereina 0:95f924550159 68 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
gereina 0:95f924550159 69 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
gereina 0:95f924550159 70 GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
gereina 0:95f924550159 71 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
gereina 0:95f924550159 72 }
gereina 0:95f924550159 73 else if (htim->Instance == TIM4) { // PB6 PB7 = Nucleo D10 MORPHO_PB7
gereina 0:95f924550159 74 __TIM4_CLK_ENABLE();
gereina 0:95f924550159 75 __GPIOB_CLK_ENABLE();
gereina 0:95f924550159 76 GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
gereina 0:95f924550159 77 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
gereina 0:95f924550159 78 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
gereina 0:95f924550159 79 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
gereina 0:95f924550159 80 GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
gereina 0:95f924550159 81 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
gereina 0:95f924550159 82 }
gereina 0:95f924550159 83
gereina 0:95f924550159 84
gereina 0:95f924550159 85 else if (htim->Instance == TIM8) { // PC7 PC8 = D9 PC6
gereina 0:95f924550159 86 __TIM8_CLK_ENABLE();
gereina 0:95f924550159 87 __GPIOC_CLK_ENABLE();
gereina 0:95f924550159 88 GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
gereina 0:95f924550159 89 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
gereina 0:95f924550159 90 GPIO_InitStruct.Pull = GPIO_PULLDOWN;
gereina 0:95f924550159 91 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
gereina 0:95f924550159 92 GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
gereina 0:95f924550159 93 HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
gereina 0:95f924550159 94 }
gereina 0:95f924550159 95
gereina 0:95f924550159 96
gereina 0:95f924550159 97
gereina 0:95f924550159 98
gereina 0:95f924550159 99
gereina 0:95f924550159 100
gereina 0:95f924550159 101 }
gereina 0:95f924550159 102 #endif