Posted on February 09, 2015 at 15:24Hello,
I'm learing to use STM32Cube and HAL.
Then I tried to set TIM encoder mode,but it can't work.
This is my code of initialization and function
Can someone tell me ,what mistake I made or what
important step I missed.
Thank you for your reading and forgive my poor poor
English.
/* TIM4 init function */
void TIM4_Init(void)
{
TIM_Encoder_InitTypeDef sConfig;
TIM_MasterConfigTypeDef sMasterConfig;
GPIO_InitTypeDef GPIO_InitStruct;
GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_13;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
htim4.Instance = TIM4;
htim4.Init.Prescaler = 65535;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 0;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
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;
HAL_TIM_Encoder_Init(&htim4, &sConfig);
HAL_TIM_Base_Init(&htim4);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim4,&sMasterConfig);
HAL_TIM_Encoder_MspInit(&htim4);
HAL_TIM_Encoder_Start(&htim4,TIM_CHANNEL_1);
HAL_TIM_Encoder_Start(&htim4,TIM_CHANNEL_2);
}
/*QEI Get Value Function*/
#define QEI_R TIM4->CNT
int32_t Encoder_R;
int16_t E_r_V;
void read_encoder (void)
{
Encoder_R=QEI_R;
}
