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Encoder mode and rotary encoder

Question asked by Ariel G on Apr 3, 2018
Latest reply on Apr 5, 2018 by Julien FAUCHER


I'm using STM32F072RB and a rotary encoder (with 30 dentet) connected to TIM2 in 'encoder mode' and I can see in TIM2->CNT that it is actually counting correctly.

I trying to get an interrupt on each detent rotation but unsuccessfully

To start the encoder in interrupt mode in the main function I'm using:

  HAL_TIM_Encoder_Start_IT(&htim2, TIM_ENCODERMODE_TI2);

And the callback:

void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
  if(htim->Instance == TIM2)


but the counterISR is not equal to TIM2->CNT.


How to get an interrupt of each detent rotation? or what is the correct way to implement such thing?


Timer 2 init:

/* TIM2 init function */
static void MX_TIM2_Init(void)
  TIM_Encoder_InitTypeDef sConfig;
  TIM_MasterConfigTypeDef sMasterConfig;

  htim2.Instance = TIM2;
  htim2.Init.Prescaler = 0;
  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim2.Init.Period = 29;
  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  sConfig.EncoderMode = TIM_ENCODERMODE_TI2;
  sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
  sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC1Filter = 0x0F;
  sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
  sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC2Filter = 0x0F;
  if (HAL_TIM_Encoder_Init(&htim2, &sConfig) != HAL_OK)
    _Error_Handler(__FILE__, __LINE__);

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
    _Error_Handler(__FILE__, __LINE__);