Rotatory Encoder + OutputCompare mit STM32F446RE

void CEncoder::initEnc()

{

  //activate clocks for Timer and GPIOs

  __HAL_RCC_TIM3_CLK_ENABLE();

  //Encoder Mode only possible with CH1+CH2 (== PA6/PA7)

  __HAL_RCC_GPIOA_CLK_ENABLE();

  __HAL_RCC_GPIOB_CLK_ENABLE();

  GPIO_InitTypeDef sGPIO;

  sGPIO.Pin = GPIO_PIN_6 | GPIO_PIN_7;

  sGPIO.Mode = GPIO_MODE_AF_PP;

  sGPIO.Alternate = GPIO_AF2_TIM3;

  sGPIO.Speed = GPIO_SPEED_FREQ_LOW;

  sGPIO.Pull = GPIO_NOPULL;

  HAL_GPIO_Init(GPIOA, &sGPIO);

  htim3.Instance = TIM3;

  htim3.Init.Prescaler = 0;

  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;

  htim3.Init.Period = 2048 * 4;

  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;

  TIM_Encoder_InitTypeDef sEncoderConfig;

  sEncoderConfig.EncoderMode = TIM_ENCODERMODE_TI12;

  sEncoderConfig.IC1Polarity = TIM_ICPOLARITY_RISING;

  sEncoderConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;

  sEncoderConfig.IC1Prescaler = TIM_ICPSC_DIV1;

  sEncoderConfig.IC1Filter = 0;

  sEncoderConfig.IC2Polarity = TIM_ICPOLARITY_RISING;

  sEncoderConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;

  sEncoderConfig.IC2Prescaler = TIM_ICPSC_DIV1;

  sEncoderConfig.IC2Filter = 0;

  //Set IRQ Prio

  HAL_NVIC_SetPriority(TIM3_IRQn, 5, 3);

  //Init Timer in Encoder Mode

  HAL_TIM_Encoder_Init(&htim3, &sEncoderConfig);

  TIM_MasterConfigTypeDef sMasterConfig;

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;

  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;

  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)

  {

     // _Error_Handler(__FILE__, __LINE__);

  }

  TIM_OC_InitTypeDef sConfigOC;

  sConfigOC.OCMode = TIM_OCMODE_TIMING;  //no external GPIO use

  sConfigOC.Pulse = 500; //first compare value

  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;

  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;

  HAL_TIM_OC_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3);

  //__HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_3, 357 );

}

void CEncoder::startHW_Encoder(void)

{

  __HAL_TIM_CLEAR_IT(&htim3, TIM_IT_CC3);

  HAL_TIM_OC_Start_IT(&htim3 , TIM_CHANNEL_3);

  HAL_TIM_Encoder_Start_IT(&htim3, (TIM_CHANNEL_1 | TIM_CHANNEL_2) );

}