/* TIM4 init function */
void MX_TIM4_Init(void)
{
TIM_Encoder_InitTypeDef sConfig;
TIM_MasterConfigTypeDef sMasterConfig;
htim4.Instance = TIM4;
htim4.Init.Prescaler = 0;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 10000;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 0;
sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 0;
if (HAL_TIM_Encoder_Init(&htim4, &sConfig) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
}
/* TIM1 init function */
void MX_TIM1_Init(void)
{
TIM_Encoder_InitTypeDef sConfig;
TIM_MasterConfigTypeDef sMasterConfig;
htim1.Instance = TIM1;
htim1.Init.Prescaler = 0;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 128;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV2;
htim1.Init.RepetitionCounter = 0;
sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sConfig.IC1Polarity = TIM_ICPOLARITY_FALLING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 5;
sConfig.IC2Polarity = TIM_ICPOLARITY_FALLING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 5;
HAL_TIM_Encoder_Init(&htim1, &sConfig);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig);
}
void EncoderInit(TIM_HandleTypeDef *encoderL,TIM_HandleTypeDef *encoderR){
//Left motor encoder initialization
encoderL->Instance = TIM3;
encoderL->Init.Period = 0xFFFF;
encoderL->Init.Prescaler = 0;
encoderL->Init.ClockDivision = 0;
encoderL->Init.CounterMode = TIM_COUNTERMODE_UP;
encoderL->Init.RepetitionCounter = 0;
TIM_Encoder_InitTypeDef sEncoderConfig;
sEncoderConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sEncoderConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sEncoderConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sEncoderConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sEncoderConfig.IC1Filter = 3; ///?????
sEncoderConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sEncoderConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sEncoderConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sEncoderConfig.IC2Filter = 3;
HAL_TIM_Encoder_Init(encoderL, &sEncoderConfig);
HAL_TIM_Encoder_Start(encoderL, TIM_CHANNEL_ALL); //TI1&TI2
//Right motor encoder initialization
//*
encoderR->Instance = TIM2;
encoderR->Init.Period = 0xFFFF;
encoderR->Init.Prescaler = 0;
encoderR->Init.ClockDivision = 0;
encoderR->Init.CounterMode = TIM_COUNTERMODE_UP;
//encoderR->Init.RepetitionCounter = 3;
HAL_TIM_Encoder_Init(encoderR, &sEncoderConfig);
HAL_TIM_Encoder_Start(encoderR, TIM_CHANNEL_ALL);//*/
}
void encoder2_init(void) {
GPIO_InitTypeDef gpio_init;
gpio_init.Pin = GPIO_PIN_12;
gpio_init.Pull = GPIO_PULLUP;
gpio_init.Speed = GPIO_SPEED_HIGH;
gpio_init.Mode = GPIO_MODE_AF_PP;
gpio_init.Alternate = GPIO_AF2_TIM4;
__GPIOD_CLK_ENABLE();
HAL_GPIO_Init(GPIOD, &gpio_init);
gpio_init.Pin = GPIO_PIN_13;
HAL_GPIO_Init(GPIOD, &gpio_init);
__TIM4_CLK_ENABLE();
hTIM4.Instance = TIM4;
// hTIM4.Init.Prescaler = (SystemCoreClock/65535) - 1; // 1s
// hTIM4.Init.CounterMode = TIM_COUNTERMODE_UP;
// hTIM4.Init.ClockDivision = 0;
hTIM4.Init.Period = 65535;
//hTIM4.Channel = HAL_TIM_ACTIVE_CHANNEL_1 | HAL_TIM_ACTIVE_CHANNEL_2;
//HAL_TIM_Base_Init(&hTIM4);
TIM_Encoder_InitTypeDef enc_init;
enc_init.EncoderMode = TIM_ENCODERMODE_TI12;
enc_init.IC1Polarity = TIM_INPUTCHANNELPOLARITY_RISING;
enc_init.IC2Polarity = TIM_INPUTCHANNELPOLARITY_RISING;
enc_init.IC1Selection = TIM_ICSELECTION_DIRECTTI;
enc_init.IC2Selection = TIM_ICSELECTION_DIRECTTI;
enc_init.IC1Prescaler = TIM_ICPSC_DIV1;
enc_init.IC2Prescaler = TIM_ICPSC_DIV1;
enc_init.IC1Filter = 0;
enc_init.IC2Filter = 0;
HAL_TIM_Encoder_Init(&hTIM4, &enc_init);
__HAL_TIM_SetCounter(&hTIM4,0);
HAL_TIM_Encoder_Start(&hTIM4, TIM_CHANNEL_1 | TIM_CHANNEL_2);
}
/* TIM3 init function */
void MX_TIM3_Init(void) {
TIM_Encoder_InitTypeDef sEncoderConfig;
htim3.Instance = TIM3;
htim3.Init.Prescaler = 0;
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
htim3.Init.Period = 65535;
sEncoderConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sEncoderConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sEncoderConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sEncoderConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sEncoderConfig.IC1Filter = 0;
sEncoderConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sEncoderConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sEncoderConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sEncoderConfig.IC2Filter = 0;
HAL_TIM_Encoder_Init(&htim3, &sEncoderConfig);
}
/**********************************************************
* @brief Encoder init timer 8
* @param None
* @retval None
**********************************************************/
static void encoder_iniTimer8(void)
{
TIM_HandleTypeDef timer8_initStruct;
TIM_Encoder_InitTypeDef t8Encod_initStruct;
// TIM8 Clock Enable
__TIM8_CLK_ENABLE();
// Timer 8 init structure
timer8_initStruct.Instance = TIM8;
timer8_initStruct.Init.Prescaler = 0;
timer8_initStruct.Init.CounterMode = TIM_COUNTERMODE_UP;
timer8_initStruct.Init.Period = 0xFFFF;
timer8_initStruct.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
t8Encod_initStruct.EncoderMode = TIM_ENCODERMODE_TI12;
t8Encod_initStruct.IC1Polarity = TIM_INPUTCHANNELPOLARITY_RISING;
t8Encod_initStruct.IC2Polarity = TIM_INPUTCHANNELPOLARITY_RISING;
t8Encod_initStruct.IC1Selection = TIM_ICSELECTION_DIRECTTI;
t8Encod_initStruct.IC2Selection = TIM_ICSELECTION_DIRECTTI;
t8Encod_initStruct.IC1Prescaler = TIM_ICPSC_DIV1;
t8Encod_initStruct.IC2Prescaler = TIM_ICPSC_DIV1;
t8Encod_initStruct.IC1Filter = 8;// digital filter
t8Encod_initStruct.IC2Filter = 8;// digital filter
// Init timer
HAL_TIM_Encoder_Init(&timer8_initStruct,&t8Encod_initStruct);
__HAL_TIM_SetCounter(&timer8_initStruct,0);
HAL_TIM_Encoder_Start(&timer8_initStruct, TIM_CHANNEL_1 | TIM_CHANNEL_2);
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Configure the Systick to generate an interrupt each 1 msec
- Set NVIC Group Priority to 4
- Global MSP (MCU Support Package) initialization
*/
HAL_Init();
/* Configure the system clock to 168 MHz */
SystemClock_Config();
/* Configure LED1 and LED3 */
BSP_LED_Init(LED1);
BSP_LED_Init(LED3);
/* Initialize TIM3 to emulate a quadrature encoder outputs */
Init_TIM_Emulator(&EmulatorHandle);
/* -1- Initialize TIM1 to handle the encoder sensor */
/* Initialize TIM1 peripheral as follow:
+ Period = 65535
+ Prescaler = 0
+ ClockDivision = 0
+ Counter direction = Up
*/
Encoder_Handle.Instance = TIM1;
Encoder_Handle.Init.Period = 65535;
Encoder_Handle.Init.Prescaler = 0;
Encoder_Handle.Init.ClockDivision = 0;
Encoder_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
Encoder_Handle.Init.RepetitionCounter = 0;
sEncoderConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sEncoderConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sEncoderConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sEncoderConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sEncoderConfig.IC1Filter = 0;
sEncoderConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sEncoderConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sEncoderConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sEncoderConfig.IC2Filter = 0;
if(HAL_TIM_Encoder_Init(&Encoder_Handle, &sEncoderConfig) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Start the encoder interface */
HAL_TIM_Encoder_Start(&Encoder_Handle, TIM_CHANNEL_ALL);
/* Infinite loop */
while (1)
{
/* Step 1: */
/* Emulate a Forward direction */
Emulate_Forward_Direction(&EmulatorHandle);
/* Insert 1s delay */
HAL_Delay(1000);
/* Get the current direction */
uwDirection = __HAL_TIM_IS_TIM_COUNTING_DOWN(&Encoder_Handle);
/* Step 2: */
/* Emulate a Backward direction */
Emulate_Backward_Direction(&EmulatorHandle);
/* Insert 1s delay */
HAL_Delay(1000);
/* Get the current direction */
uwDirection = __HAL_TIM_IS_TIM_COUNTING_DOWN(&Encoder_Handle);
}
}
/**
* @brief Configures IOs to control the two motors and one pump
* @param None
* @retval None
*/
void MOTOR_Init(void) {
GPIO_InitTypeDef GPIO_InitStruct;
// Enable all timers
PUMP_PWM_TIMER_CLK_ENABLE();
MOTOR_PWM_TIMER_CLK_ENABLE();
MOTOR_HALL_ENC1_TIMER_CLK_ENABLE();
MOTOR_HALL_ENC2_TIMER_CLK_ENABLE();
MOTOR_HALL_SPEED_TIMER_CLK_ENABLE();
// Enable the clock for all IO pins
MOTOR_PWM_CLK_ENABLE();
MOTOR_CURR_CLK_ENABLE();
MOTOR_HALL_M1_ENC_CLK_ENABLE();
MOTOR_HALL_M2_ENC_CLK_ENABLE();
MOTOR_HALL_SPEED_CLK_ENABLE();
// Motor driver --------------------------------------------------------
// Configure the 4 motor pins of motor 1 and 2 as normal IO
GPIO_InitStruct.Pin = MOTOR_M2_IN1_PIN | MOTOR_M2_IN2_PIN
| MOTOR_M1_IN1_PIN| MOTOR_M1_IN2_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
GPIO_InitStruct.Alternate = MOTOR_PWM_TIMER_AF;
HAL_GPIO_Init(MOTOR_PWM_PORT, &GPIO_InitStruct);
// Configure the 2 motor pins of motor 3 as PWM output
GPIO_InitStruct.Pin = MOTOR_M3_IN1_PIN | MOTOR_M3_IN2_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
GPIO_InitStruct.Alternate = PUMP_PWM_TIMER_AF;
HAL_GPIO_Init(MOTOR_PWM_PORT, &GPIO_InitStruct);
// Configure the 10 motor current pins
GPIO_InitStruct.Pin = MOTOR_M2_I0_PIN | MOTOR_M2_I1_PIN | MOTOR_M2_I2_PIN
| MOTOR_M2_I3_PIN | MOTOR_M2_I4_PIN
| MOTOR_M1_I0_PIN | MOTOR_M1_I1_PIN | MOTOR_M1_I2_PIN
| MOTOR_M1_I3_PIN | MOTOR_M1_I4_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
HAL_GPIO_Init(MOTOR_CURR_PORT, &GPIO_InitStruct);
// Timer configuration for motor pwm
htimMotor.Instance = MOTOR_PWM_TIMER;
htimMotor.Init.Period = MOTOR_MAX - 1; // = 20kHz = 84MHz / 1 / 4200
htimMotor.Init.Prescaler = 1-1;
htimMotor.Init.ClockDivision = 1;
htimMotor.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_PWM_Init(&htimMotor);
// Timer configuration for pump
htimPump.Instance = PUMP_PWM_TIMER;
htimPump.Init.Period = MOTOR_MAX - 1; // = 20kHz = 168MHz / 2 / 4200
htimPump.Init.Prescaler = 2-1;
htimPump.Init.ClockDivision = 1;
htimPump.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_PWM_Init(&htimPump);
// Configure Timer 1 channel 1 and 2 as PWM output
sConfigTimMotor.OCMode = TIM_OCMODE_PWM1;
sConfigTimMotor.Pulse = 0;
sConfigTimMotor.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigTimMotor.OCFastMode = TIM_OCFAST_ENABLE;
sConfigTimMotor.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sConfigTimMotor.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigTimMotor.OCNIdleState= TIM_OCNIDLESTATE_SET;
// Configure Timer 1 channel 1 as PWM output
sConfigTimPump.OCMode = TIM_OCMODE_PWM1;
sConfigTimPump.Pulse = 0;
sConfigTimPump.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigTimPump.OCFastMode = TIM_OCFAST_ENABLE;
sConfigTimPump.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sConfigTimPump.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigTimPump.OCNIdleState= TIM_OCNIDLESTATE_SET;
// PWM Mode
HAL_TIM_PWM_ConfigChannel(&htimMotor, &sConfigTimMotor, TIM_CHANNEL_1);
HAL_TIM_PWM_ConfigChannel(&htimMotor, &sConfigTimMotor, TIM_CHANNEL_2);
HAL_TIM_PWM_ConfigChannel(&htimMotor, &sConfigTimMotor, TIM_CHANNEL_3);
HAL_TIM_PWM_ConfigChannel(&htimMotor, &sConfigTimMotor, TIM_CHANNEL_4);
HAL_TIM_PWM_ConfigChannel(&htimPump, &sConfigTimPump, TIM_CHANNEL_1);
HAL_TIM_PWM_ConfigChannel(&htimPump, &sConfigTimPump, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htimMotor, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htimMotor, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htimMotor, TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&htimMotor, TIM_CHANNEL_4);
HAL_TIM_PWM_Start(&htimPump, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htimPump, TIM_CHANNEL_2);
MOTOR_SetVal(MOTOR_M1, 0, 0);
MOTOR_SetVal(MOTOR_M2, 0 , 0);
MOTOR_SetVal(MOTOR_PUMP, 0, 0);
// Encoder ----------------------------------------------------------
// Configure the hall encoder pins
GPIO_InitStruct.Pin = MOTOR_HALL_M1A_ENC_PIN | MOTOR_HALL_M1B_ENC_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
GPIO_InitStruct.Alternate = MOTOR_HALL_ENC1_TIMER_AF;
HAL_GPIO_Init(MOTOR_HALL_M1_ENC_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = MOTOR_HALL_M2A_ENC_PIN | MOTOR_HALL_M2B_ENC_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
GPIO_InitStruct.Alternate = MOTOR_HALL_ENC2_TIMER_AF;
HAL_GPIO_Init(MOTOR_HALL_M2_ENC_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = MOTOR_HALL_M1A_SPEED_PIN | MOTOR_HALL_M1B_SPEED_PIN
| MOTOR_HALL_M2A_SPEED_PIN | MOTOR_HALL_M2B_SPEED_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
GPIO_InitStruct.Alternate = MOTOR_HALL_SPEED_TIMER_AF;
HAL_GPIO_Init(MOTOR_HALL_SPEED_PORT, &GPIO_InitStruct);
// Timer configuration for hall encoder M1
htimEncM1.Instance = MOTOR_HALL_ENC1_TIMER;
htimEncM1.Init.Period = 0xFFFF;
htimEncM1.Init.Prescaler = 0;
htimEncM1.Init.ClockDivision = 0;
htimEncM1.Init.CounterMode = TIM_COUNTERMODE_UP;
sConfigEncM.EncoderMode = TIM_ENCODERMODE_TI2;
sConfigEncM.IC1Filter = 0;
sConfigEncM.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfigEncM.IC1Prescaler = TIM_ICPSC_DIV1;
sConfigEncM.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfigEncM.IC2Filter = 0;
sConfigEncM.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfigEncM.IC2Prescaler = TIM_ICPSC_DIV1;
sConfigEncM.IC2Selection = TIM_ICSELECTION_DIRECTTI;
// Encoder Mode
HAL_TIM_Encoder_Init(&htimEncM1, &sConfigEncM);
HAL_TIM_Encoder_Start(&htimEncM1, TIM_CHANNEL_1);
HAL_TIM_Encoder_Start(&htimEncM1, TIM_CHANNEL_2);
// Timer configuration for hall encoder M2
htimEncM2.Instance = MOTOR_HALL_ENC2_TIMER;
htimEncM2.Init.Period = 0xFFFF;
htimEncM2.Init.Prescaler = 0;
htimEncM2.Init.ClockDivision = 0;
htimEncM2.Init.CounterMode = TIM_COUNTERMODE_UP;
// Encoder mode
HAL_TIM_Encoder_Init(&htimEncM2, &sConfigEncM);
HAL_TIM_Encoder_Start(&htimEncM2, TIM_CHANNEL_1);
HAL_TIM_Encoder_Start(&htimEncM2, TIM_CHANNEL_2);
#ifdef MOTOR_MEASURE_SPEED
// Timer configuration for input capture
htimEncSpeed.Instance = MOTOR_HALL_SPEED_TIMER;
htimEncSpeed.Init.Period = 0xFFFF;
htimEncSpeed.Init.Prescaler = 84-1; // 10us
htimEncSpeed.Init.ClockDivision = 0;
htimEncSpeed.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_IC_Init(&htimEncSpeed);
sConfigEncSpeed.ICFilter = 0;
sConfigEncSpeed.ICPolarity = TIM_ICPOLARITY_RISING;
sConfigEncSpeed.ICPrescaler = TIM_ICPSC_DIV1;
sConfigEncSpeed.ICSelection = TIM_ICSELECTION_DIRECTTI;
// Configure the NVIC
HAL_NVIC_SetPriority(TIM_HALL_SPEED_IRQn, 0, 1);
/* Enable the TIM8 global Interrupt */
HAL_NVIC_EnableIRQ(TIM_HALL_SPEED_IRQn);
// Input capture mode
HAL_TIM_IC_ConfigChannel(&htimEncSpeed, &sConfigEncSpeed, TIM_CHANNEL_1);
HAL_TIM_IC_ConfigChannel(&htimEncSpeed, &sConfigEncSpeed, TIM_CHANNEL_2);
HAL_TIM_IC_ConfigChannel(&htimEncSpeed, &sConfigEncSpeed, TIM_CHANNEL_3);
HAL_TIM_IC_ConfigChannel(&htimEncSpeed, &sConfigEncSpeed, TIM_CHANNEL_4);
HAL_TIM_IC_Start_IT(&htimEncSpeed, TIM_CHANNEL_1);
HAL_TIM_IC_Start_IT(&htimEncSpeed, TIM_CHANNEL_2);
HAL_TIM_IC_Start_IT(&htimEncSpeed, TIM_CHANNEL_3);
HAL_TIM_IC_Start_IT(&htimEncSpeed, TIM_CHANNEL_4);
#endif //MOTOR_MEASURE_SPEED
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch
- Systick timer is configured by default as source of time base, but user
can eventually implement his proper time base source (a general purpose
timer for example or other time source), keeping in mind that Time base
duration should be kept 1ms since PPP_TIMEOUT_VALUEs are defined and
handled in milliseconds basis.
- Set NVIC Group Priority to 4
- Low Level Initialization
*/
HAL_Init();
/* Configure the system clock to 180 MHz */
SystemClock_Config();
/* Initialize LED1 & LED3 */
BSP_LED_Init(LED1);
BSP_LED_Init(LED3);
/* Initialize TIM3 to emulate a quadrature encoder outputs */
Init_TIM_Emulator(&EmulatorHandle);
/* -1- Initialize TIM1 to handle the encoder sensor */
/* Initialize TIM1 peripheral as follow:
+ Period = 65535
+ Prescaler = 0
+ ClockDivision = 0
+ Counter direction = Up
*/
Encoder_Handle.Instance = TIM1;
Encoder_Handle.Init.Period = 65535;
Encoder_Handle.Init.Prescaler = 0;
Encoder_Handle.Init.ClockDivision = 0;
Encoder_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
Encoder_Handle.Init.RepetitionCounter = 0;
sEncoderConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sEncoderConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sEncoderConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sEncoderConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sEncoderConfig.IC1Filter = 0;
sEncoderConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sEncoderConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sEncoderConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sEncoderConfig.IC2Filter = 0;
if(HAL_TIM_Encoder_Init(&Encoder_Handle, &sEncoderConfig) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Start the encoder interface */
HAL_TIM_Encoder_Start(&Encoder_Handle, TIM_CHANNEL_ALL);
/* Infinite loop */
while (1)
{
/* Step 1: */
/* Emulate a Forward direction */
Emulate_Forward_Direction(&EmulatorHandle);
/* Insert 1s delay */
HAL_Delay(1000);
/* Get the current direction */
uwDirection = __HAL_TIM_DIRECTION_STATUS(&Encoder_Handle);
/* Step 2: */
/* Emulate a Backward direction */
Emulate_Backward_Direction(&EmulatorHandle);
/* Insert 1s delay */
HAL_Delay(1000);
/* Get the current direction */
uwDirection = __HAL_TIM_DIRECTION_STATUS(&Encoder_Handle);
}
}
void encodersbsp_init(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
TIM_Encoder_InitTypeDef sConfig;
__TIM2_CLK_ENABLE();
GPIO_InitStruct.Pin = GPIO_PIN_15;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
__TIM5_CLK_ENABLE();
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
mst_htim2.Instance = TIM2;
mst_htim2.Init.Prescaler = 0;
mst_htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
mst_htim2.Init.Period = 0xffffffff;
mst_htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 3;
sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 3;
HAL_TIM_Encoder_Init(&mst_htim2, &sConfig);
mst_htim5.Instance = TIM5;
mst_htim5.Init.Prescaler = 0;
mst_htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
mst_htim5.Init.Period = 0xffffffff;
mst_htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 3;
sConfig.IC2Polarity = TIM_ICPOLARITY_FALLING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 3;
HAL_TIM_Encoder_Init(&mst_htim5, &sConfig);
HAL_TIM_Encoder_Start(&mst_htim2, TIM_CHANNEL_1);
HAL_TIM_Encoder_Start(&mst_htim2, TIM_CHANNEL_2);
HAL_TIM_Encoder_Start(&mst_htim5, TIM_CHANNEL_1);
HAL_TIM_Encoder_Start(&mst_htim5, TIM_CHANNEL_2);
}
