Revision 11:2c48a1479026, committed 2019-08-30

Comitter:

Gongorou

Date:

Fri Aug 30 00:50:34 2019 +0000

Parent:

10:684e1604e5ea

Commit message:

Encoder

Changed in this revision

--- a/HAL_TIM_Encoder_MspInit/EncoderMspInitF0.cpp	Sat Jun 25 05:40:31 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,37 +0,0 @@
-#include "mbed.h"
-/*
- * HAL_TIM_Encoder_MspInit()
- * Overrides the __weak function stub in stm32f0xx_hal_tim.h
- *
- * Edit the below for your preferred pin wiring & pullup/down
- * I have encoder common at 3V3, using GPIO_PULLDOWN on inputs.
- * Encoder A&B outputs connected directly to GPIOs.
- *
- * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00088500.pdf
- * Table 11 has GPIO alternate function pinout mappings.
- *
- * TIM1_CH1: AF2 @ PA_8 - TIM1 used as system ticker under mbed, so unavailable
- * TIM1_CH2: AF2 @ PA_9
- *
- * TIM3_CH1: AF1 @ PA_6, PB_4; AF0 @ PC_6*  *only for F030xC devices
- * TIM3_CH2: AF1 @ PA_7, PB_5; AF0 @ PC_7*
- *
- */
-
-#ifdef TARGET_STM32F0
-void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
-{
-    GPIO_InitTypeDef GPIO_InitStruct;
-
-    if (htim->Instance == TIM3) { //PB_4 PB_5 = Nucleo D5 D4
-        __TIM3_CLK_ENABLE();
-        __GPIOB_CLK_ENABLE();
-        GPIO_InitStruct.Pin = GPIO_PIN_4 | GPIO_PIN_5;
-        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
-        GPIO_InitStruct.Alternate = GPIO_AF1_TIM3;
-        HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-    }
-}
-#endif
\ No newline at end of file

--- a/HAL_TIM_Encoder_MspInit/EncoderMspInitF1.cpp	Sat Jun 25 05:40:31 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,74 +0,0 @@
-#include "mbed.h"
-/*
- * HAL_TIM_Encoder_MspInit()
- * Overrides the __weak function stub in stm32f1xx_hal_tim.h
- *
- * Edit the below for your preferred pin wiring & pullup/down
- * I have encoder common at 3V3, using GPIO_PULLDOWN on inputs.
- * Encoder A&B outputs connected directly to GPIOs.
- *
- * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/CD00161566.pdf
- * Table 5 has GPIO alternate function pinout mappings.
- *
- * TIM1_CH1: default PA_8, remap PE_9
- * TIM1_CH2: default PA_9, remap PE_11
- *
- * TIM2_CH1: default PA_0 
- * TIM2_CH2: default PA_1, remap PB_3
- *
- * TIM3_CH1: default PA_6, remap PB_4, PC_6
- * TIM3_CH2: default PA_7, remap PB_5, PC_7
- *
- * TIM4_CH1: default PB_6, remap PD_12
- * TIM4_CH2: default PB_7, remap PD_13
- *
- * NB one of these timers will be the employed by mbed as systick, unavailable as encoder.
- */
-
-#ifdef TARGET_STM32F1
-void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
-{
-    GPIO_InitTypeDef GPIO_InitStruct;
-
-    if (htim->Instance == TIM1) { //PA8 PA9 = Nucleo D7 D8
-        __TIM1_CLK_ENABLE();
-        __GPIOA_CLK_ENABLE();
-        GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
-        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
-//        GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
-        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-    }
-    else if (htim->Instance == TIM2) { //PA0 PA1 = Nucleo A0 A1
-        __TIM2_CLK_ENABLE();
-        __GPIOA_CLK_ENABLE();
-        GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;
-        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
-//        GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
-        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-    }
-    else if (htim->Instance == TIM3) { //PA6 PA7 = Nucleo D12 D11
-        __TIM3_CLK_ENABLE();
-        __GPIOA_CLK_ENABLE();
-        GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
-        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
-//        GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
-        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-    }
-    else if (htim->Instance == TIM4) { // PB6 PB7 = Nucleo D10 MORPHO PB7
-        __TIM4_CLK_ENABLE();
-        __GPIOB_CLK_ENABLE();
-        GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
-        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
-//        GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
-        HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-    }
-}
-#endif
\ No newline at end of file

--- a/HAL_TIM_Encoder_MspInit/EncoderMspInitF3.cpp	Sat Jun 25 05:40:31 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,82 +0,0 @@
-#include "mbed.h"
-/*
- * HAL_TIM_Encoder_MspInit()
- * Overrides the __weak function stub in stm32f3xx_hal_tim.h
- *
- * Edit the below for your preferred pin wiring & pullup/down
- * I have encoder common at 3V3, using GPIO_PULLDOWN on inputs.
- * Encoder A&B outputs connected directly to GPIOs.
- *
- * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00093333.pdf
- * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00097745.pdf
- * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00133117.pdf
- * Table 14 has GPIO alternate function pinout mappings.
- *
- * TIM1_CH1: AF2 @ PC_0, PE_9; AF6 @ PA_8
- * TIM1_CH2: AF2 @ PC_1, PE_11; AF6 @ PA_9
- *
- * (TIM2_CH1: AF1 @ PA_0, PA_5, PA_15; AF2 @ PD_3)  TIM2 is the mbed system ticker, so unavailable as encoder.
- * (TIM2_CH2: AF1 @ PA_1, PB_3; AF2 @ PD_4)
- *
- * TIM3_CH1: AF2 @ PA_6, PB_4, PC_6, PE_2           not for F302R8, OK @ F334R8
- * TIM3_CH2: AF2 @ PA_4, PA_7, PB_5, PC_7, PE_3
- *
- * TIM4_CH1: AF2 @ PB_6, PD_12; AF10 @ PA_11        not for both F302R8 & F334R8
- * TIM4_CH2: AF2 @ PB_7, PD_13; AF10 @ PA_12
- *
- */
-
-#ifdef TARGET_STM32F3
-
-void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
-{
-    GPIO_InitTypeDef GPIO_InitStruct;
-
-    if (htim->Instance == TIM1) { //PA8 PA9 = Nucleo D7 D8
-        __TIM1_CLK_ENABLE();
-        __GPIOA_CLK_ENABLE();
-        GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
-        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
-        GPIO_InitStruct.Alternate = GPIO_AF6_TIM1;
-        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-    }
-#if 0 //TIM2 is the mbed system ticker
-    else if (htim->Instance == TIM2) { //PA0 PA1 = Nucleo A0 A1
-        __TIM2_CLK_ENABLE();
-        __GPIOA_CLK_ENABLE();
-        GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;
-        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
-        GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
-        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-    }
-#endif
-#if defined TARGET_STM32F334R8
-    else if (htim->Instance == TIM3) { //PB4 PB5 = Nucleo D5 D4
-        __TIM3_CLK_ENABLE();
-        __GPIOB_CLK_ENABLE();
-        GPIO_InitStruct.Pin = GPIO_PIN_4 | GPIO_PIN_5;
-        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
-        GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
-        HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-    }
-#endif
-#if 0
-    else if (htim->Instance == TIM4) { // PB6 PB7 = Nucleo D10 MORPHO_PB7
-        __TIM4_CLK_ENABLE();
-        __GPIOB_CLK_ENABLE();
-        GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
-        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
-        GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
-        HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-    }
-#endif
-}
-#endif
\ No newline at end of file

--- a/HAL_TIM_Encoder_MspInit/EncoderMspInitF4.cpp	Sat Jun 25 05:40:31 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,73 +0,0 @@
-#include "mbed.h"
-/*
- * HAL_TIM_Encoder_MspInit()
- * Overrides the __weak function stub in stm32f4xx_hal_tim.h
- *
- * Edit the below for your preferred pin wiring & pullup/down
- * I have encoder common at 3V3, using GPIO_PULLDOWN on inputs.
- * Encoder A&B outputs connected directly to GPIOs.
- *
- * www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00102166.pdf
- * www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00141306.pdf
- *
- * TIM1_CH1: AF1 @ PA_8, PE_9 
- * TIM1_CH2: AF1 @ PA_9, PE_11 
- *
- * TIM2_CH1: AF1 @ PA_0, PA_5, PA_15, PB_8*     *F446 only
- * TIM2_CH2: AF1 @ PA_1, PB_3, PB_9*            *F446 only
- *
- * TIM3_CH1: AF2 @ PA_6, PB_4, PC_6
- * TIM3_CH2: AF2 @ PA_7, PB_5, PC_7
- *
- * TIM4_CH1: AF2 @ PB_6, PD_12
- * TIM4_CH2: AF2 @ PB_7, PD_13
- *
- * TIM5_CH1: AF2 @ PA_0*    *TIM5 used by mbed system ticker so unavailable
- * TIM5_CH2: AF2 @ PA_1*
- *
- */
-
-#ifdef TARGET_STM32F4
-void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim) {
-    GPIO_InitTypeDef GPIO_InitStruct;
-
-    if (htim->Instance == TIM1) { //PA8 PA9 = Nucleo D7 D8
-        __TIM1_CLK_ENABLE();
-        __GPIOA_CLK_ENABLE();
-        GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
-        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
-        GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
-        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-    } else if (htim->Instance == TIM2) { //PA0 PA1 = Nucleo A0 A1
-        __TIM2_CLK_ENABLE();
-        __GPIOA_CLK_ENABLE();
-        GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;
-        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
-        GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
-        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-    } else if (htim->Instance == TIM3) { //PB4 PB5 = Nucleo D5 D4
-        __TIM3_CLK_ENABLE();
-        __GPIOB_CLK_ENABLE();
-        GPIO_InitStruct.Pin = GPIO_PIN_4 | GPIO_PIN_5;
-        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
-        GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
-        HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-    } else if (htim->Instance == TIM4) { // PB6 PB7 = Nucleo D10 MORPHO_PB7
-        __TIM4_CLK_ENABLE();
-        __GPIOB_CLK_ENABLE();
-        GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
-        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
-        GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
-        HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-    }
-}
-
-#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HAL_TIM_Encoder_MspInit/EncoderMspInitF7.cpp	Fri Aug 30 00:50:34 2019 +0000
@@ -0,0 +1,67 @@
+#include "mbed.h"
+/*
+ * HAL_TIM_Encoder_MspInit()
+ * Overrides the __weak function stub in stm32f7xx_hal_tim.h
+ *
+ * Edit the below for your preferred pin wiring & pullup/down
+ * I have encoder common at 3V3, using GPIO_PULLDOWN on inputs.
+ * Encoder A&B outputs connected directly to GPIOs.
+ *
+ * www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00102166.pdf
+ * www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00141306.pdf
+ *
+ * TIM1_CH1: AF1 @ PA_8, PE_9 
+ * TIM1_CH2: AF1 @ PA_9, PE_11 
+ * TIM1_CH3: AF1 @ PA_10, PE_13 
+ * TIM1_CH4: AF1 @ PA_11, PE_14 
+ *
+ * TIM2_CH1: AF1 @ PA_0, PA_5, PA_15
+ * TIM2_CH2: AF1 @ PA_1, PB_3
+ * TIM2_CH3: AF1 @ PA_2, PB_10
+ * TIM2_CH4: AF1 @ PA_3, PB_11
+ * 
+ * TIM3_CH1: AF2 @ PA_6, PB_4, PC_6
+ * TIM3_CH2: AF2 @ PB_5, PC_7
+ * TIM3_CH3: AF2 @ PC_8
+ * TIM3_CH4: AF2 @ PC_9
+ *
+ * TIM4_CH1: AF2 @ PB_6, PD_12
+ * TIM4_CH2: AF2 @ PB_7, PD_13
+ * TIM4_CH3: AF2 @ PB_8, PD_14
+ * TIM4_CH4: AF2 @ PB_9, PD_15
+ *
+ * TIM9_CH1: AF3 @ PE_5
+ * TIM9_CH2: AF3 @ PE_6
+ *
+ */
+
+#ifdef TARGET_STM32F7
+void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim) {
+    GPIO_InitTypeDef GPIO_InitStruct;
+    
+    if (htim->Instance == TIM2) { //PB10 P11 = Nucleo D36 D35
+        __TIM2_CLK_ENABLE();
+        //__GPIOB_CLK_ENABLE();
+        GPIO_InitStruct.Pin = GPIO_PIN_10 | GPIO_PIN_11;
+        GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+        GPIO_InitStruct.Pull = GPIO_NOPULL;
+        //GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
+        //GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
+        HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+        
+        HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
+        HAL_NVIC_EnableIRQ(TIM2_IRQn);
+    
+    } else if (htim->Instance == TIM4) { // PD12 PD13 = Nucleo D29 D28 
+        __HAL_RCC_TIM4_CLK_ENABLE();
+        __HAL_RCC_GPIOD_CLK_ENABLE();
+        GPIO_InitStruct.Pin = GPIO_PIN_12 | GPIO_PIN_13;
+        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+        GPIO_InitStruct.Pull = GPIO_NOPULL;
+        GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+        GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
+        HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+    }
+}
+
+#endif
\ No newline at end of file

--- a/HAL_TIM_Encoder_MspInit/EncoderMspInitL0.cpp	Sat Jun 25 05:40:31 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,28 +0,0 @@
-#include "mbed.h"
-/*
- * HAL_TIM_Encoder_MspInit()
- * Overrides the __weak function stub in stm32f4xx_hal_tim.h
- *
- * Edit the below for your preferred pin wiring & pullup/down
- * I have encoder common at 3V3, using GPIO_PULLDOWN on inputs.
- * Encoder A&B outputs connected directly to GPIOs.
- *
- */
-
-#ifdef TARGET_STM32L0
-void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
-{
-    GPIO_InitTypeDef GPIO_InitStruct;
-
-    if (htim->Instance == TIM2) { //PA0 PA1 = Nucleo A0 A1
-        __TIM2_CLK_ENABLE();
-        __GPIOA_CLK_ENABLE();
-        GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;
-        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
-        GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
-        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-    }
-}
-#endif
\ No newline at end of file

--- a/HAL_TIM_Encoder_MspInit/EncoderMspInitL1.cpp	Sat Jun 25 05:40:31 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,63 +0,0 @@
-#include "mbed.h"
-/*
- * HAL_TIM_Encoder_MspInit()
- * Overrides the __weak function stub in stm32l4xx_hal_tim.h
- *
- * Edit the below for your preferred pin wiring & pullup/down
- * I have encoder common at 3V3, using GPIO_PULLDOWN on inputs.
- * Encoder A&B outputs connected directly to GPIOs.
- *
- * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00098321.pdf
- * Table 9 has GPIO alternate function pinout mappings.
- *
- * TIM2_CH1: AF1 @ PA_0, PA_5, PA_15, PE_9
- * TIM2_CH2: AF1 @ PA_1, PB_3, PE_10
- *
- * TIM3_CH1: AF2 @ PA_6, PB_4, PC_6, PE_3
- * TIM3_CH2: AF2 @ PA_7, PB_5, PC_7, PE_4
- *
- * TIM4_CH1: AF2 @ PB_6, PD_12
- * TIM4_CH2: AF2 @ PB_7, PD_13
- *
- * TIM5_CH1: AF2 @ PA_0*    *TIM5 used by mbed system ticker so unavailable
- * TIM5_CH2: AF2 @ PA_1*
- *
- */
-
-#ifdef TARGET_STM32L1
-void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
-{
-    GPIO_InitTypeDef GPIO_InitStruct;
-
-    if (htim->Instance == TIM2) { //PA0 PA1 = Nucleo A0 A1
-        __TIM2_CLK_ENABLE();
-        __GPIOA_CLK_ENABLE();
-        GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;
-        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
-        GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
-        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-    }
-    else if (htim->Instance == TIM3) { //PB4 PB5 = Nucleo D5 D4
-        __TIM3_CLK_ENABLE();
-        __GPIOB_CLK_ENABLE();
-        GPIO_InitStruct.Pin = GPIO_PIN_4 | GPIO_PIN_5;
-        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
-        GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
-        HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-    }
-    else if (htim->Instance == TIM4) { // PB6 PB7 = Nucleo D10 MORPHO_PB7
-        __TIM4_CLK_ENABLE();
-        __GPIOB_CLK_ENABLE();
-        GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
-        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
-        GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
-        HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-    }
-}
-#endif
\ No newline at end of file

--- a/HAL_TIM_Encoder_MspInit/EncoderMspInitL4.cpp	Sat Jun 25 05:40:31 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,86 +0,0 @@
-#include "mbed.h"
-/*
- * HAL_TIM_Encoder_MspInit()
- * Overrides the __weak function stub in stm32f4xx_hal_tim.h
- *
- * Edit the below for your preferred pin wiring & pullup/down
- * I have encoder common at 3V3, using GPIO_PULLDOWN on inputs.
- * Encoder A&B outputs connected directly to GPIOs.
- *
- * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00108832.pdf
- * Table 15 has GPIOx AFx pinouts
- *
- * TIM1_CH1: AF1 @ PA8, PE9
- * TIM1_CH2: AF1 @ PA9, PE11
- *
- * TIM2_CH1: AF1 @ PA0, PA5, PA15
- * TIM2_CH2: AF1 @ PA1, PB3
- *
- * TIM3_CH1: AF2 @ PA6, PB4, PC6, PE3
- * TIM3_CH2: AF2 @ PA7, PB5, PC7, PE4
- *
- * TIM4_CH1: AF2 @ PB6, PD12
- * TIM4_CH2: AF2 @ PB7, PD13
- *
- * TIM5_CH1: AF2 @ PA0, PF6
- * TIM5_CH2: AF2 @ PA1, PF7
- *
- */
-
-#ifdef TARGET_STM32L4
-void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
-{
-    GPIO_InitTypeDef GPIO_InitStruct;
-
-    if (htim->Instance == TIM1) {       //PA8 PA9 = Nucleo D7 D8
-        __TIM1_CLK_ENABLE();
-        __GPIOA_CLK_ENABLE();
-        GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
-        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
-        GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
-        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-    }
-    else if (htim->Instance == TIM2) {  //PA0 PA1 = Nucleo A0 A1
-        __TIM2_CLK_ENABLE();
-        __GPIOA_CLK_ENABLE();
-        GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;
-        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
-        GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
-        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-    }
-    else if (htim->Instance == TIM3) {  //PB4 PB5 = Nucleo D5 D4
-        __TIM3_CLK_ENABLE();
-        __GPIOB_CLK_ENABLE();
-        GPIO_InitStruct.Pin = GPIO_PIN_4 | GPIO_PIN_5;
-        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
-        GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
-        HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-    }
-    else if (htim->Instance == TIM4) { // PB6 PB7 = Nucleo D10 MORPHO_PB7
-        __TIM4_CLK_ENABLE();
-        __GPIOB_CLK_ENABLE();
-        GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
-        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
-        GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
-        HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-    }
-    else if (htim->Instance == TIM5) { // here for completeness, mbed sytem timer uses this
-        __TIM5_CLK_ENABLE();
-        __GPIOA_CLK_ENABLE();
-        GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;
-        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
-        GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
-        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-    }
-}
-#endif
\ No newline at end of file

--- a/rotary_encoder_base/rotary_encoder_base_impl.cpp	Sat Jun 25 05:40:31 2016 +0000
+++ b/rotary_encoder_base/rotary_encoder_base_impl.cpp	Fri Aug 30 00:50:34 2019 +0000
@@ -2,31 +2,43 @@
 #include "rotary_encoder.hpp"
 #include "mbed.h"
 
+
+
 rotary_encoder_base_impl::rotary_encoder_base_impl(TIM_TypeDef* timer_type,
                                                    uint32_t encoder_mode,
                                                    size_t resolution) : rotary_encoder(resolution) {
-    timer_handler_.Instance              = timer_type;
-    timer_handler_.Init.Period           = max_counts_;
-    timer_handler_.Init.CounterMode      = TIM_COUNTERMODE_UP;
-    timer_handler_.Init.Prescaler        = 0;
-    timer_handler_.Init.ClockDivision    = TIM_CLOCKDIVISION_DIV1;
+    TIM_MasterConfigTypeDef sMasterConfig;
     
+    timer_handler_.Instance               = timer_type;
+    timer_handler_.Init.Period            = max_counts_;
+    timer_handler_.Init.CounterMode       = TIM_COUNTERMODE_UP;
+    timer_handler_.Init.Prescaler         = 0;
+    timer_handler_.Init.ClockDivision     = TIM_CLOCKDIVISION_DIV1;
+    timer_handler_.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
     TIM_Encoder_InitTypeDef encoder;
     encoder.EncoderMode = encoder_mode;
     
-    encoder.IC1Filter       = 0x0F;
-    encoder.IC1Polarity     = TIM_INPUTCHANNELPOLARITY_RISING;
+    encoder.IC1Filter       = 0;
+    encoder.IC1Polarity     = TIM_ICPOLARITY_RISING;
     encoder.IC1Prescaler    = TIM_ICPSC_DIV4;
     encoder.IC1Selection    = TIM_ICSELECTION_DIRECTTI;
 
-    encoder.IC2Filter       = 0x0F;
-    encoder.IC2Polarity     = TIM_INPUTCHANNELPOLARITY_FALLING;
+    encoder.IC2Filter       = 0;
+    encoder.IC2Polarity     = TIM_ICPOLARITY_RISING;
     encoder.IC2Prescaler    = TIM_ICPSC_DIV4;
     encoder.IC2Selection    = TIM_ICSELECTION_DIRECTTI;
     
     if (HAL_TIM_Encoder_Init(&timer_handler_, &encoder) != HAL_OK) {
         error("couldn't init encoder\n");
     }
+    
+    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+    if (HAL_TIMEx_MasterConfigSynchronization(&timer_handler_, &sMasterConfig) != HAL_OK)
+    {
+        error("couldn't init encoder\n");
+    }
+    
 }
 
 rotary_encoder_base_impl::~rotary_encoder_base_impl() {}