diff --git a/bsp/stm32/libraries/HAL_Drivers/SConscript b/bsp/stm32/libraries/HAL_Drivers/SConscript
index 0cb64a650e..cb675a16d3 100644
--- a/bsp/stm32/libraries/HAL_Drivers/SConscript
+++ b/bsp/stm32/libraries/HAL_Drivers/SConscript
@@ -85,6 +85,9 @@ if GetDepend(['BSP_USING_SDIO']):
if GetDepend(['BSP_USING_USBD_FS']):
src += ['drv_usbd_fs.c']
+if GetDepend(['BSP_USING_ENCODER']):
+ src += ['drv_encoder.c']
+
src += ['drv_common.c']
path = [cwd]
diff --git a/bsp/stm32/libraries/HAL_Drivers/drv_encoder.c b/bsp/stm32/libraries/HAL_Drivers/drv_encoder.c
index 692bc019ba..d896f23983 100644
--- a/bsp/stm32/libraries/HAL_Drivers/drv_encoder.c
+++ b/bsp/stm32/libraries/HAL_Drivers/drv_encoder.c
@@ -103,6 +103,7 @@ rt_err_t encoder_init(struct rt_encoder_device *encoder)
if (HAL_TIM_Encoder_Init(tim_handler, &sConfig) != HAL_OK)
{
+ LOG_E("encoder init failed");
return -RT_ERROR;
}
@@ -111,6 +112,7 @@ rt_err_t encoder_init(struct rt_encoder_device *encoder)
if (HAL_TIMEx_MasterConfigSynchronization(tim_handler, &sMasterConfig))
{
+ LOG_E("TIMx master config failed");
return -RT_ERROR;
}
diff --git a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/.mxproject b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/.mxproject
index 7e119922f0..031ff82f9a 100644
--- a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/.mxproject
+++ b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/.mxproject
@@ -1,7 +1,7 @@
[PreviousGenFiles]
-HeaderPath=E:/workspace/BspFramework/rt-thread/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Inc
+HeaderPath=E:/workspace/rt-thread/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Inc
HeaderFiles=stm32f4xx_it.h;stm32f4xx_hal_conf.h;main.h;
-SourcePath=E:/workspace/BspFramework/rt-thread/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src
+SourcePath=E:/workspace/rt-thread/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src
SourceFiles=stm32f4xx_it.c;stm32f4xx_hal_msp.c;main.c;
[PreviousLibFiles]
@@ -10,4 +10,5 @@ LibFiles=Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h;Drivers/STM32F4xx_
[PreviousUsedKeilFiles]
SourceFiles=..\Src\main.c;..\Src\stm32f4xx_it.c;..\Src\stm32f4xx_hal_msp.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_eth.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_iwdg.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sd.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../\Src/system_stm32f4xx.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_eth.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_iwdg.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sd.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../\Src/system_stm32f4xx.c;../Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;null;
HeaderPath=..\Drivers\STM32F4xx_HAL_Driver\Inc;..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F4xx\Include;..\Drivers\CMSIS\Include;..\Inc;
+CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;STM32F407xx;
diff --git a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/CubeMX_Config.ioc b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/CubeMX_Config.ioc
index 770acec332..fcc30e407e 100644
--- a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/CubeMX_Config.ioc
+++ b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/CubeMX_Config.ioc
@@ -13,11 +13,12 @@ Mcu.Family=STM32F4
Mcu.IP0=ADC1
Mcu.IP1=ETH
Mcu.IP10=TIM2
-Mcu.IP11=TIM11
-Mcu.IP12=TIM13
-Mcu.IP13=TIM14
-Mcu.IP14=USART1
-Mcu.IP15=USART3
+Mcu.IP11=TIM4
+Mcu.IP12=TIM11
+Mcu.IP13=TIM13
+Mcu.IP14=TIM14
+Mcu.IP15=USART1
+Mcu.IP16=USART3
Mcu.IP2=IWDG
Mcu.IP3=NVIC
Mcu.IP4=RCC
@@ -26,7 +27,7 @@ Mcu.IP6=SDIO
Mcu.IP7=SPI1
Mcu.IP8=SPI2
Mcu.IP9=SYS
-Mcu.IPNb=16
+Mcu.IPNb=17
Mcu.Name=STM32F407Z(E-G)Tx
Mcu.Package=LQFP144
Mcu.Pin0=PC14-OSC32_IN
@@ -56,37 +57,39 @@ Mcu.Pin3=PH1-OSC_OUT
Mcu.Pin30=PB3
Mcu.Pin31=PB4
Mcu.Pin32=PB5
-Mcu.Pin33=VP_IWDG_VS_IWDG
-Mcu.Pin34=VP_RTC_VS_RTC_Activate
-Mcu.Pin35=VP_SYS_VS_Systick
-Mcu.Pin36=VP_TIM2_VS_ClockSourceINT
-Mcu.Pin37=VP_TIM11_VS_ClockSourceINT
-Mcu.Pin38=VP_TIM13_VS_ClockSourceINT
-Mcu.Pin39=VP_TIM14_VS_ClockSourceINT
+Mcu.Pin33=PB6
+Mcu.Pin34=PB7
+Mcu.Pin35=VP_IWDG_VS_IWDG
+Mcu.Pin36=VP_RTC_VS_RTC_Activate
+Mcu.Pin37=VP_SYS_VS_Systick
+Mcu.Pin38=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin39=VP_TIM11_VS_ClockSourceINT
Mcu.Pin4=PC1
+Mcu.Pin40=VP_TIM13_VS_ClockSourceINT
+Mcu.Pin41=VP_TIM14_VS_ClockSourceINT
Mcu.Pin5=PC2
Mcu.Pin6=PC3
Mcu.Pin7=PA1
Mcu.Pin8=PA2
Mcu.Pin9=PA3
-Mcu.PinsNb=40
+Mcu.PinsNb=42
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F407ZGTx
MxCube.Version=5.0.0
MxDb.Version=DB.5.0.0
-NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false
-NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false
-NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false
-NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false
-NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false
-NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false
+NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
-NVIC.SPI1_IRQn=true\:0\:0\:false\:false\:true\:true
-NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false
-NVIC.SysTick_IRQn=true\:0\:0\:false\:false\:true\:false
-NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:true
-NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false
+NVIC.SPI1_IRQn=true\:0\:0\:false\:false\:true\:true\:true
+NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.SysTick_IRQn=true\:0\:0\:false\:false\:true\:false\:true
+NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:true\:true
+NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
PA1.Mode=RMII
PA1.Signal=ETH_REF_CLK
PA10.Mode=Asynchronous
@@ -119,6 +122,10 @@ PB4.Signal=SPI1_MISO
PB5.Locked=true
PB5.Mode=Full_Duplex_Master
PB5.Signal=SPI1_MOSI
+PB6.Locked=true
+PB6.Signal=S_TIM4_CH1
+PB7.Locked=true
+PB7.Signal=S_TIM4_CH2
PC1.Mode=RMII
PC1.Signal=ETH_MDC
PC10.Mode=SD_4_bits_Wide_bus
@@ -167,7 +174,7 @@ PH0-OSC_IN.Signal=RCC_OSC_IN
PH1-OSC_OUT.Mode=HSE-External-Oscillator
PH1-OSC_OUT.Signal=RCC_OSC_OUT
PinOutPanel.RotationAngle=0
-ProjectManager.AskForMigrate=true
+ProjectManager.AskForMigrate=false
ProjectManager.BackupPrevious=false
ProjectManager.CompilerOptimize=6
ProjectManager.ComputerToolchain=false
@@ -181,7 +188,7 @@ ProjectManager.FreePins=false
ProjectManager.HalAssertFull=false
ProjectManager.HeapSize=0x200
ProjectManager.KeepUserCode=true
-ProjectManager.LastFirmware=false
+ProjectManager.LastFirmware=true
ProjectManager.LibraryCopy=0
ProjectManager.MainLocation=Src
ProjectManager.NoMain=false
@@ -193,7 +200,7 @@ ProjectManager.StackSize=0x400
ProjectManager.TargetToolchain=MDK-ARM V5
ProjectManager.ToolChainLocation=
ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_USART1_UART_Init-USART1-false-HAL-true,4-MX_SPI1_Init-SPI1-false-HAL-true,5-MX_ETH_Init-ETH-false-HAL-true,6-MX_USART3_UART_Init-USART3-false-HAL-true,7-MX_ADC1_Init-ADC1-false-HAL-true,8-MX_RTC_Init-RTC-false-HAL-true,9-MX_IWDG_Init-IWDG-false-HAL-true,10-MX_TIM14_Init-TIM14-false-HAL-true,11-MX_TIM13_Init-TIM13-false-HAL-true,12-MX_TIM11_Init-TIM11-false-HAL-true,13-MX_SDIO_SD_Init-SDIO-false-HAL-true,14-MX_TIM2_Init-TIM2-false-HAL-true,15-MX_SPI2_Init-SPI2-false-HAL-true
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_USART1_UART_Init-USART1-false-HAL-true,4-MX_SPI1_Init-SPI1-false-HAL-true,5-MX_ETH_Init-ETH-false-HAL-true,6-MX_USART3_UART_Init-USART3-false-HAL-true,7-MX_ADC1_Init-ADC1-false-HAL-true,8-MX_RTC_Init-RTC-false-HAL-true,9-MX_IWDG_Init-IWDG-false-HAL-true,10-MX_TIM14_Init-TIM14-false-HAL-true,11-MX_TIM13_Init-TIM13-false-HAL-true,12-MX_TIM11_Init-TIM11-false-HAL-true,13-MX_SDIO_SD_Init-SDIO-false-HAL-true,14-MX_TIM2_Init-TIM2-false-HAL-true,15-MX_SPI2_Init-SPI2-false-HAL-true,16-MX_TIM4_Init-TIM4-false-HAL-true
RCC.48MHZClocksFreq_Value=48000000
RCC.AHBFreq_Value=168000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4
@@ -233,6 +240,10 @@ SH.ADCx_IN5.0=ADC1_IN5,IN5
SH.ADCx_IN5.ConfNb=1
SH.S_TIM2_CH4.0=TIM2_CH4,PWM Generation4 CH4
SH.S_TIM2_CH4.ConfNb=1
+SH.S_TIM4_CH1.0=TIM4_CH1,Encoder_Interface
+SH.S_TIM4_CH1.ConfNb=1
+SH.S_TIM4_CH2.0=TIM4_CH2,Encoder_Interface
+SH.S_TIM4_CH2.ConfNb=1
SPI1.CalculateBaudRate=42.0 MBits/s
SPI1.Direction=SPI_DIRECTION_2LINES
SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate
diff --git a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h
index 37853623c2..9b15113c2c 100644
--- a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h
+++ b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h
@@ -5,7 +5,7 @@
******************************************************************************
* @attention
*
- * © COPYRIGHT(c) 2018 STMicroelectronics
+ * © COPYRIGHT(c) 2019 STMicroelectronics
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
diff --git a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/main.c b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/main.c
index 2577da8b41..ef64d82dc1 100644
--- a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/main.c
+++ b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/main.c
@@ -76,6 +76,7 @@ SPI_HandleTypeDef hspi1;
SPI_HandleTypeDef hspi2;
TIM_HandleTypeDef htim2;
+TIM_HandleTypeDef htim4;
TIM_HandleTypeDef htim11;
TIM_HandleTypeDef htim13;
TIM_HandleTypeDef htim14;
@@ -104,6 +105,7 @@ static void MX_TIM11_Init(void);
static void MX_SDIO_SD_Init(void);
static void MX_TIM2_Init(void);
static void MX_SPI2_Init(void);
+static void MX_TIM4_Init(void);
/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/
@@ -155,6 +157,7 @@ int main(void)
MX_SDIO_SD_Init();
MX_TIM2_Init();
MX_SPI2_Init();
+ MX_TIM4_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
@@ -551,6 +554,54 @@ static void MX_TIM2_Init(void)
}
+/**
+ * @brief TIM4 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_TIM4_Init(void)
+{
+
+ /* USER CODE BEGIN TIM4_Init 0 */
+
+ /* USER CODE END TIM4_Init 0 */
+
+ TIM_Encoder_InitTypeDef sConfig = {0};
+ TIM_MasterConfigTypeDef sMasterConfig = {0};
+
+ /* USER CODE BEGIN TIM4_Init 1 */
+
+ /* USER CODE END TIM4_Init 1 */
+ htim4.Instance = TIM4;
+ htim4.Init.Prescaler = 0;
+ 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;
+ 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();
+ }
+ /* USER CODE BEGIN TIM4_Init 2 */
+
+ /* USER CODE END TIM4_Init 2 */
+
+}
+
/**
* @brief TIM11 Initialization Function
* @param None
diff --git a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
index 258ea04acc..90a333827e 100644
--- a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
+++ b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
@@ -585,6 +585,43 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
}
+/**
+* @brief TIM_Encoder MSP Initialization
+* This function configures the hardware resources used in this example
+* @param htim_encoder: TIM_Encoder handle pointer
+* @retval None
+*/
+void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* htim_encoder)
+{
+
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+ if(htim_encoder->Instance==TIM4)
+ {
+ /* USER CODE BEGIN TIM4_MspInit 0 */
+
+ /* USER CODE END TIM4_MspInit 0 */
+ /* Peripheral clock enable */
+ __HAL_RCC_TIM4_CLK_ENABLE();
+
+ __HAL_RCC_GPIOB_CLK_ENABLE();
+ /**TIM4 GPIO Configuration
+ PB6 ------> TIM4_CH1
+ PB7 ------> TIM4_CH2
+ */
+ GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
+ GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+ /* USER CODE BEGIN TIM4_MspInit 1 */
+
+ /* USER CODE END TIM4_MspInit 1 */
+ }
+
+}
+
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
{
@@ -669,6 +706,37 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
}
+/**
+* @brief TIM_Encoder MSP De-Initialization
+* This function freeze the hardware resources used in this example
+* @param htim_encoder: TIM_Encoder handle pointer
+* @retval None
+*/
+
+void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* htim_encoder)
+{
+
+ if(htim_encoder->Instance==TIM4)
+ {
+ /* USER CODE BEGIN TIM4_MspDeInit 0 */
+
+ /* USER CODE END TIM4_MspDeInit 0 */
+ /* Peripheral clock disable */
+ __HAL_RCC_TIM4_CLK_DISABLE();
+
+ /**TIM4 GPIO Configuration
+ PB6 ------> TIM4_CH1
+ PB7 ------> TIM4_CH2
+ */
+ HAL_GPIO_DeInit(GPIOB, GPIO_PIN_6|GPIO_PIN_7);
+
+ /* USER CODE BEGIN TIM4_MspDeInit 1 */
+
+ /* USER CODE END TIM4_MspDeInit 1 */
+ }
+
+}
+
/**
* @brief UART MSP Initialization
* This function configures the hardware resources used in this example
diff --git a/bsp/stm32/stm32f407-atk-explorer/board/Kconfig b/bsp/stm32/stm32f407-atk-explorer/board/Kconfig
index 4ee6fdd657..1f0de499ed 100644
--- a/bsp/stm32/stm32f407-atk-explorer/board/Kconfig
+++ b/bsp/stm32/stm32f407-atk-explorer/board/Kconfig
@@ -293,6 +293,18 @@ menu "On-chip Peripheral Drivers"
select RT_USING_SDIO
select RT_USING_DFS
default n
+
+ menuconfig BSP_USING_ENCODER
+ bool "Enable Encoder"
+ default n
+ select RT_USING_ENCODER
+ if BSP_USING_ENCODER
+ config BSP_USING_ENCODER4
+ bool "Enable Encoder4"
+ default n
+
+ endif
+
source "../libraries/HAL_Drivers/Kconfig"
endmenu