Hi,
I know that this post is very old, so I assume you fixed it 😅, but this might be helpful to someone else.
On the STM32F105, I used TIM1 and TIM4 in the very same configuration of you to read 2 hall sensors (that produce the very same signals of a quadrature encoder):
TIM1 in encoder mode, and trigger output on Compare Pulse (OC1).
TIM4 as slave in reset mode with channel 1 as Input Capture triggered by TRC.
Here my timers config (extracted from the STM32CUBEMX):
TIM1.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_DISABLE
TIM1.EncoderMode=TIM_ENCODERMODE_TI12
TIM1.IC1Filter=1
TIM1.IC1Polarity=TIM_ICPOLARITY_RISING
TIM1.IC2Filter=1
TIM1.IC2Polarity=TIM_ICPOLARITY_RISING
TIM1.IPParameters=EncoderMode,AutoReloadPreload,Period,IC1Polarity,IC2Polarity,IC2Filter,TIM_MasterOutputTrigger,TIM_MasterSlaveMode,IC1Filter
TIM1.Period=65535
TIM1.TIM_MasterOutputTrigger=TIM_TRGO_OC1
TIM1.TIM_MasterSlaveMode=TIM_MASTERSLAVEMODE_DISABLE
TIM4.Channel-Input_Capture1_from_TRC=TIM_CHANNEL_1
TIM4.Channel-Output\ Compare2\ No\ Output=TIM_CHANNEL_2
TIM4.IPParameters=Channel-Input_Capture1_from_TRC,Prescaler,Channel-Output Compare2 No Output,Pulse-Output Compare2 No Output,OCMode_2
TIM4.OCMode_2=TIM_OCMODE_ACTIVE
TIM4.Prescaler=\ 72-1
TIM4.Pulse-Output\ Compare2\ No\ Output=65535Here the screenshots:
As all the work is done by the peripherals, so the code is very simple:
Timers are initialized as:
HAL_TIM_Encoder_Start_IT(&htim1, TIM_CHANNEL_ALL);
HAL_TIM_Base_Start_IT(&htim1);
HAL_TIM_IC_Start_IT(&htim4, TIM_CHANNEL_1);
HAL_TIM_IC_Start_IT(&htim4, TIM_CHANNEL_2);
When I need to get the encoder measure I simply call:
bool bRead_speed = Shaft_Measure();
Shaft_Speed(bRead_speed);
Where these functions are defined as:
bool Shaft_Measure(void)
{
static int32_t aShaft_old = 0;
/* Get the current shaft rotation direction */
uint8_t bGet_dir = (uint8_t)__HAL_TIM_IS_TIM_COUNTING_DOWN(&htim1);
/* Get the current shaft position - consider the possible overflow */
int32_t aShaft = NOverflow_cnt + (int32_t)htim1.Instance->CNT;
/*
* Check for the speed calculation
* As the TIM4 rolls over when the speed is too low...
* I set a limit (~20 rpm), to avoid to return wrong values
* aShaft - aShaft_old > 1
*/
if (ABS(aShaft - aShaft_old) > 1){
bRead_speed = true;
}
else{
bRead_speed = false;
}
aShaft_old = aShaft;
return bRead_speed;
}
void Shaft_Speed(bool bRead_speed)
{
if (bRead_speed){
nShaft = (uint16_t)((1000000.0)/(float)(htim4.Instance->CCR1));
}
else{
nShaft = 0 ;
}
}While the code for the ISR (I needed to use only TIM1) is:
void TIM1_UP_IRQHandler(void)
{
/* USER CODE BEGIN TIM1_UP_IRQn 0 */
// TIM1 counter counting UP
if (!__HAL_TIM_IS_TIM_COUNTING_DOWN(&htim1)){
// TIM1 counter just started
if (0 == aShaft){
// 32 bit counter in the range 0 to 65535
NOverflow_cnt = 0;
}
else{
NOverflow_cnt += MAX_UNSIGNED_16_BIT;
}
}
// TIM1 counter counting DOWN
else {
NOverflow_cnt -= MAX_UNSIGNED_16_BIT;
}
/* USER CODE END TIM1_UP_IRQn 0 */
HAL_TIM_IRQHandler(&htim1);
/* USER CODE BEGIN TIM1_UP_IRQn 1 */
/* USER CODE END TIM1_UP_IRQn 1 */
}
Doing that all work like a charm.
I hope that this might help.
AGA
