添加编码器功能

Core/Inc/main.h

@@ -103,6 +103,10 @@ void Error_Handler(void);
 #define LED3_G_GPIO_Port GPIOB
 #define LED3_Y_Pin GPIO_PIN_7
 #define LED3_Y_GPIO_Port GPIOE
+#define EC11_A_Pin GPIO_PIN_9
+#define EC11_A_GPIO_Port GPIOE
+#define EC11_B_Pin GPIO_PIN_11
+#define EC11_B_GPIO_Port GPIOE
 #define LED2_R_Pin GPIO_PIN_12
 #define LED2_R_GPIO_Port GPIOE
 #define LED2_G_Pin GPIO_PIN_13

Core/Inc/stm32f4xx_it.h

@@ -61,8 +61,8 @@ void DMA1_Stream3_IRQHandler(void);
 void DMA1_Stream4_IRQHandler(void);
 void DMA1_Stream5_IRQHandler(void);
 void DMA1_Stream6_IRQHandler(void);
-void TIM1_UP_TIM10_IRQHandler(void);
 void TIM3_IRQHandler(void);
+void TIM4_IRQHandler(void);
 void USART2_IRQHandler(void);
 void USART3_IRQHandler(void);
 void DMA1_Stream7_IRQHandler(void);

Core/Inc/tim.h

@@ -32,6 +32,8 @@ extern "C" {
 
 /* USER CODE END Includes */
 
+extern TIM_HandleTypeDef htim1;
+
 extern TIM_HandleTypeDef htim2;
 
 extern TIM_HandleTypeDef htim3;
@@ -84,6 +86,7 @@ extern TIM_HandleTypeDef htim3;
     } while (__LINE__ == -1)
 /* USER CODE END Private defines */
 
+void MX_TIM1_Init(void);
 void MX_TIM2_Init(void);
 void MX_TIM3_Init(void);
 

Core/Src/freertos.c

@@ -29,6 +29,7 @@
 #include "ad7124.h"
 #include "usart.h"
 #include "communication_protocol.h"
+#include "tim.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -55,10 +56,13 @@ osThreadId led_taskHandle;
 osThreadId dac_taskHandle;
 osThreadId adc_taskHandle;
 osThreadId gpio_di_do_taskHandle;
+osThreadId ec11_taskHandle;
 
 /* Private function prototypes -----------------------------------------------*/
 /* USER CODE BEGIN FunctionPrototypes */
 extern float current_buff[2];
+int direction = 0;
+int encode_num = 0;
 /* USER CODE END FunctionPrototypes */
 
 void start_tcp_task(void const *argument);
@@ -66,6 +70,7 @@ void start_led_toggle_task(void const *argument);
 void start_dac_task(void const *argument);
 void start_adc_task(void const *argument);
 void start_gpio_di_do_task(void const *argument);
+void start_ec11_task(void const *argument);
 
 extern void MX_LWIP_Init(void);
 void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
@@ -134,6 +139,10 @@ void MX_FREERTOS_Init(void)
   osThreadDef(gpio_di_do_task, start_gpio_di_do_task, osPriorityNormal, 0, 128);
   gpio_di_do_taskHandle = osThreadCreate(osThread(gpio_di_do_task), NULL);
 
+  /* definition and creation of ec11_task */
+  osThreadDef(ec11_task, start_ec11_task, osPriorityNormal, 0, 128);
+  ec11_taskHandle = osThreadCreate(osThread(ec11_task), NULL);
+
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
   /* USER CODE END RTOS_THREADS */
@@ -263,11 +272,31 @@ void start_gpio_di_do_task(void const *argument)
   /* Infinite loop */
   for (;;)
   {
-    osDelay(1);
+    vTaskDelay(500);
   }
   /* USER CODE END start_gpio_di_do_task */
 }
 
+/* USER CODE BEGIN Header_start_ec11_task */
+/**
+ * @brief Function implementing the ec11_task thread.
+ * @param argument: Not used
+ * @retval None
+ */
+/* USER CODE END Header_start_ec11_task */
+void start_ec11_task(void const *argument)
+{
+  /* USER CODE BEGIN start_ec11_task */
+  /* Infinite loop */
+  for (;;)
+  {
+    direction = __HAL_TIM_IS_TIM_COUNTING_DOWN(&htim1);
+    encode_num = (short)__HAL_TIM_GET_COUNTER(&htim1);
+    osDelay(1);
+  }
+  /* USER CODE END start_ec11_task */
+}
+
 /* Private application code --------------------------------------------------*/
 /* USER CODE BEGIN Application */
 

Core/Src/main.c

@@ -98,7 +98,6 @@ int main(void)
 
   /* USER CODE END Init */
 
-	
   /* Configure the system clock */
   SystemClock_Config();
 
@@ -117,6 +116,7 @@ int main(void)
   MX_UART5_Init();
   MX_USART2_UART_Init();
   MX_USART3_UART_Init();
+  MX_TIM1_Init();
   /* USER CODE BEGIN 2 */
   // HAL_GPIO_WritePin(DO_EN_GPIO_Port, DO_EN_Pin, GPIO_PIN_SET); // DO输出使能
 
@@ -127,6 +127,7 @@ int main(void)
   HAL_UARTEx_ReceiveToIdle_DMA(&huart2, hart2_uart2.rx_data_temp, ARRAY_LEN(hart2_uart2.rx_data_temp));
   hart_ht1200m_reset();                     // 初始化HT1200M模块
   HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1); // PWM输出，用于驱动HT1200M模块
+  HAL_TIM_Encoder_Start(&htim1, TIM_CHANNEL_ALL);
   /* USER CODE END 2 */
 
   /* Call init function for freertos objects (in freertos.c) */
@@ -259,7 +260,7 @@ void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
 
 /**
   * @brief  Period elapsed callback in non blocking mode
-  * @note   This function is called  when TIM1 interrupt took place, inside
+  * @note   This function is called  when TIM4 interrupt took place, inside
   * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
   * a global variable "uwTick" used as application time base.
   * @param  htim : TIM handle
@@ -270,7 +271,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
   /* USER CODE BEGIN Callback 0 */
 
   /* USER CODE END Callback 0 */
-  if (htim->Instance == TIM1) {
+  if (htim->Instance == TIM4) {
     HAL_IncTick();
   }
   /* USER CODE BEGIN Callback 1 */

Core/Src/stm32f4xx_hal_timebase_tim.c

@@ -25,12 +25,12 @@
 /* Private define ------------------------------------------------------------*/
 /* Private macro -------------------------------------------------------------*/
 /* Private variables ---------------------------------------------------------*/
-TIM_HandleTypeDef        htim1;
+TIM_HandleTypeDef        htim4;
 /* Private function prototypes -----------------------------------------------*/
 /* Private functions ---------------------------------------------------------*/
 
 /**
-  * @brief  This function configures the TIM1 as a time base source.
+  * @brief  This function configures the TIM4 as a time base source.
   *         The time source is configured  to have 1ms time base with a dedicated
   *         Tick interrupt priority.
   * @note   This function is called  automatically at the beginning of program after
@@ -41,54 +41,63 @@ TIM_HandleTypeDef        htim1;
 HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
 {
   RCC_ClkInitTypeDef    clkconfig;
-  uint32_t              uwTimclock = 0U;
+  uint32_t              uwTimclock, uwAPB1Prescaler = 0U;
 
   uint32_t              uwPrescalerValue = 0U;
   uint32_t              pFLatency;
   HAL_StatusTypeDef     status;
 
-  /* Enable TIM1 clock */
+  /* Enable TIM4 clock */
-  __HAL_RCC_TIM1_CLK_ENABLE();
+  __HAL_RCC_TIM4_CLK_ENABLE();
 
   /* Get clock configuration */
   HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
 
-  /* Compute TIM1 clock */
+  /* Get APB1 prescaler */
-      uwTimclock = 2*HAL_RCC_GetPCLK2Freq();
+  uwAPB1Prescaler = clkconfig.APB1CLKDivider;
+  /* Compute TIM4 clock */
+  if (uwAPB1Prescaler == RCC_HCLK_DIV1)
+  {
+    uwTimclock = HAL_RCC_GetPCLK1Freq();
+  }
+  else
+  {
+    uwTimclock = 2UL * HAL_RCC_GetPCLK1Freq();
+  }
 
-  /* Compute the prescaler value to have TIM1 counter clock equal to 1MHz */
+  /* Compute the prescaler value to have TIM4 counter clock equal to 1MHz */
   uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U);
 
-  /* Initialize TIM1 */
+  /* Initialize TIM4 */
-  htim1.Instance = TIM1;
+  htim4.Instance = TIM4;
 
   /* Initialize TIMx peripheral as follow:
 
-  + Period = [(TIM1CLK/1000) - 1]. to have a (1/1000) s time base.
+  + Period = [(TIM4CLK/1000) - 1]. to have a (1/1000) s time base.
   + Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
   + ClockDivision = 0
   + Counter direction = Up
   */
-  htim1.Init.Period = (1000000U / 1000U) - 1U;
+  htim4.Init.Period = (1000000U / 1000U) - 1U;
-  htim1.Init.Prescaler = uwPrescalerValue;
+  htim4.Init.Prescaler = uwPrescalerValue;
-  htim1.Init.ClockDivision = 0;
+  htim4.Init.ClockDivision = 0;
-  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
 
-  status = HAL_TIM_Base_Init(&htim1);
+  status = HAL_TIM_Base_Init(&htim4);
   if (status == HAL_OK)
   {
     /* Start the TIM time Base generation in interrupt mode */
-    status = HAL_TIM_Base_Start_IT(&htim1);
+    status = HAL_TIM_Base_Start_IT(&htim4);
     if (status == HAL_OK)
     {
-    /* Enable the TIM1 global Interrupt */
+    /* Enable the TIM4 global Interrupt */
-        HAL_NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn);
+        HAL_NVIC_EnableIRQ(TIM4_IRQn);
       /* Configure the SysTick IRQ priority */
       if (TickPriority < (1UL << __NVIC_PRIO_BITS))
       {
         /* Configure the TIM IRQ priority */
-        HAL_NVIC_SetPriority(TIM1_UP_TIM10_IRQn, TickPriority, 0U);
+        HAL_NVIC_SetPriority(TIM4_IRQn, TickPriority, 0U);
         uwTickPrio = TickPriority;
       }
       else
@@ -104,25 +113,25 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
 
 /**
   * @brief  Suspend Tick increment.
-  * @note   Disable the tick increment by disabling TIM1 update interrupt.
+  * @note   Disable the tick increment by disabling TIM4 update interrupt.
   * @param  None
   * @retval None
   */
 void HAL_SuspendTick(void)
 {
-  /* Disable TIM1 update Interrupt */
+  /* Disable TIM4 update Interrupt */
-  __HAL_TIM_DISABLE_IT(&htim1, TIM_IT_UPDATE);
+  __HAL_TIM_DISABLE_IT(&htim4, TIM_IT_UPDATE);
 }
 
 /**
   * @brief  Resume Tick increment.
-  * @note   Enable the tick increment by Enabling TIM1 update interrupt.
+  * @note   Enable the tick increment by Enabling TIM4 update interrupt.
   * @param  None
   * @retval None
   */
 void HAL_ResumeTick(void)
 {
-  /* Enable TIM1 Update interrupt */
+  /* Enable TIM4 Update interrupt */
-  __HAL_TIM_ENABLE_IT(&htim1, TIM_IT_UPDATE);
+  __HAL_TIM_ENABLE_IT(&htim4, TIM_IT_UPDATE);
 }
 

Core/Src/stm32f4xx_it.c

@@ -78,7 +78,7 @@ extern UART_HandleTypeDef huart5;
 extern UART_HandleTypeDef huart2;
 extern UART_HandleTypeDef huart3;
 extern UART_HandleTypeDef huart6;
-extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim4;
 
 /* USER CODE BEGIN EV */
 
@@ -308,20 +308,6 @@ void DMA1_Stream6_IRQHandler(void)
   /* USER CODE END DMA1_Stream6_IRQn 1 */
 }
 
-/**
-  * @brief This function handles TIM1 update interrupt and TIM10 global interrupt.
-  */
-void TIM1_UP_TIM10_IRQHandler(void)
-{
-  /* USER CODE BEGIN TIM1_UP_TIM10_IRQn 0 */
-
-  /* USER CODE END TIM1_UP_TIM10_IRQn 0 */
-  HAL_TIM_IRQHandler(&htim1);
-  /* USER CODE BEGIN TIM1_UP_TIM10_IRQn 1 */
-
-  /* USER CODE END TIM1_UP_TIM10_IRQn 1 */
-}
-
 /**
   * @brief This function handles TIM3 global interrupt.
   */
@@ -336,6 +322,20 @@ void TIM3_IRQHandler(void)
   /* USER CODE END TIM3_IRQn 1 */
 }
 
+/**
+  * @brief This function handles TIM4 global interrupt.
+  */
+void TIM4_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM4_IRQn 0 */
+
+  /* USER CODE END TIM4_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim4);
+  /* USER CODE BEGIN TIM4_IRQn 1 */
+
+  /* USER CODE END TIM4_IRQn 1 */
+}
+
 /**
   * @brief This function handles USART2 global interrupt.
   */

Core/Src/tim.c

@@ -24,9 +24,55 @@
 
 /* USER CODE END 0 */
 
+TIM_HandleTypeDef htim1;
 TIM_HandleTypeDef htim2;
 TIM_HandleTypeDef htim3;
 
+/* TIM1 init function */
+void MX_TIM1_Init(void)
+{
+
+  /* USER CODE BEGIN TIM1_Init 0 */
+
+  /* USER CODE END TIM1_Init 0 */
+
+  TIM_Encoder_InitTypeDef sConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+
+  /* USER CODE BEGIN TIM1_Init 1 */
+
+  /* USER CODE END TIM1_Init 1 */
+  htim1.Instance = TIM1;
+  htim1.Init.Prescaler = 2;
+  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim1.Init.Period = 65535;
+  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim1.Init.RepetitionCounter = 0;
+  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
+  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(&htim1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM1_Init 2 */
+
+  /* USER CODE END TIM1_Init 2 */
+
+}
 /* TIM2 init function */
 void MX_TIM2_Init(void)
 {
@@ -122,6 +168,36 @@ void MX_TIM3_Init(void)
 
 }
 
+void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
+{
+
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(tim_encoderHandle->Instance==TIM1)
+  {
+  /* USER CODE BEGIN TIM1_MspInit 0 */
+
+  /* USER CODE END TIM1_MspInit 0 */
+    /* TIM1 clock enable */
+    __HAL_RCC_TIM1_CLK_ENABLE();
+
+    __HAL_RCC_GPIOE_CLK_ENABLE();
+    /**TIM1 GPIO Configuration
+    PE9     ------> TIM1_CH1
+    PE11     ------> TIM1_CH2
+    */
+    GPIO_InitStruct.Pin = EC11_A_Pin|EC11_B_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_PULLUP;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
+    HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM1_MspInit 1 */
+
+  /* USER CODE END TIM1_MspInit 1 */
+  }
+}
+
 void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
 {
 
@@ -180,6 +256,29 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
 
 }
 
+void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle)
+{
+
+  if(tim_encoderHandle->Instance==TIM1)
+  {
+  /* USER CODE BEGIN TIM1_MspDeInit 0 */
+
+  /* USER CODE END TIM1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM1_CLK_DISABLE();
+
+    /**TIM1 GPIO Configuration
+    PE9     ------> TIM1_CH1
+    PE11     ------> TIM1_CH2
+    */
+    HAL_GPIO_DeInit(GPIOE, EC11_A_Pin|EC11_B_Pin);
+
+  /* USER CODE BEGIN TIM1_MspDeInit 1 */
+
+  /* USER CODE END TIM1_MspDeInit 1 */
+  }
+}
+
 void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
 {
 

MDK-ARM/semi-finished_product_testing.uvoptx

@@ -165,6 +165,16 @@
           <WinNumber>1</WinNumber>
           <ItemText>xReturn</ItemText>
         </Ww>
+        <Ww>
+          <count>3</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>direction</ItemText>
+        </Ww>
+        <Ww>
+          <count>4</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>encode_num</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
@@ -248,7 +258,7 @@
       <GroupNumber>2</GroupNumber>
       <FileNumber>2</FileNumber>
       <FileType>1</FileType>
-      <tvExp>0</tvExp>
+      <tvExp>1</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>../Core/Src/main.c</PathWithFileName>
@@ -272,7 +282,7 @@
       <GroupNumber>2</GroupNumber>
       <FileNumber>4</FileNumber>
       <FileType>1</FileType>
-      <tvExp>0</tvExp>
+      <tvExp>1</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>../Core/Src/freertos.c</PathWithFileName>

semi-finished_product_testing.ioc

@@ -117,7 +117,7 @@ ETH.IPParameters=MediaInterface
 ETH.MediaInterface=HAL_ETH_RMII_MODE
 FREERTOS.FootprintOK=true
 FREERTOS.IPParameters=Tasks01,configMAX_TASK_NAME_LEN,configENABLE_FPU,configMAX_PRIORITIES,FootprintOK
-FREERTOS.Tasks01=lwip_task,2,512,start_tcp_task,Default,NULL,Dynamic,NULL,NULL;led_task,-2,128,start_led_toggle_task,Default,NULL,Dynamic,NULL,NULL;dac_task,0,512,start_dac_task,Default,NULL,Dynamic,NULL,NULL;adc_task,-1,128,start_adc_task,Default,NULL,Dynamic,NULL,NULL;gpio_di_do_task,0,128,start_gpio_di_do_task,Default,NULL,Dynamic,NULL,NULL
+FREERTOS.Tasks01=lwip_task,2,512,start_tcp_task,Default,NULL,Dynamic,NULL,NULL;led_task,-2,128,start_led_toggle_task,Default,NULL,Dynamic,NULL,NULL;dac_task,0,512,start_dac_task,Default,NULL,Dynamic,NULL,NULL;adc_task,-1,128,start_adc_task,Default,NULL,Dynamic,NULL,NULL;gpio_di_do_task,0,128,start_gpio_di_do_task,Default,NULL,Dynamic,NULL,NULL;ec11_task,0,128,start_ec11_task,Default,NULL,Dynamic,NULL,NULL
 FREERTOS.configENABLE_FPU=1
 FREERTOS.configMAX_PRIORITIES=32
 FREERTOS.configMAX_TASK_NAME_LEN=24
@@ -147,20 +147,21 @@ Mcu.CPN=STM32F407VGT6
 Mcu.Family=STM32F4
 Mcu.IP0=DMA
 Mcu.IP1=ETH
-Mcu.IP10=UART4
+Mcu.IP10=TIM3
-Mcu.IP11=UART5
+Mcu.IP11=UART4
-Mcu.IP12=USART2
+Mcu.IP12=UART5
-Mcu.IP13=USART3
+Mcu.IP13=USART2
-Mcu.IP14=USART6
+Mcu.IP14=USART3
+Mcu.IP15=USART6
 Mcu.IP2=FREERTOS
 Mcu.IP3=LWIP
 Mcu.IP4=NVIC
 Mcu.IP5=RCC
 Mcu.IP6=SPI1
 Mcu.IP7=SYS
-Mcu.IP8=TIM2
+Mcu.IP8=TIM1
-Mcu.IP9=TIM3
+Mcu.IP9=TIM2
-Mcu.IPNb=15
+Mcu.IPNb=16
 Mcu.Name=STM32F407V(E-G)Tx
 Mcu.Package=LQFP100
 Mcu.Pin0=PE2
@@ -169,61 +170,63 @@ Mcu.Pin10=PC5
 Mcu.Pin11=PB1
 Mcu.Pin12=PB2
 Mcu.Pin13=PE7
-Mcu.Pin14=PE12
+Mcu.Pin14=PE9
-Mcu.Pin15=PE13
+Mcu.Pin15=PE11
-Mcu.Pin16=PE14
+Mcu.Pin16=PE12
-Mcu.Pin17=PB11
+Mcu.Pin17=PE13
-Mcu.Pin18=PB12
+Mcu.Pin18=PE14
-Mcu.Pin19=PB13
+Mcu.Pin19=PB11
 Mcu.Pin2=PH0-OSC_IN
-Mcu.Pin20=PD8
+Mcu.Pin20=PB12
-Mcu.Pin21=PD9
+Mcu.Pin21=PB13
-Mcu.Pin22=PD11
+Mcu.Pin22=PD8
-Mcu.Pin23=PD12
+Mcu.Pin23=PD9
-Mcu.Pin24=PD13
+Mcu.Pin24=PD11
-Mcu.Pin25=PD14
+Mcu.Pin25=PD12
-Mcu.Pin26=PD15
+Mcu.Pin26=PD13
-Mcu.Pin27=PC6
+Mcu.Pin27=PD14
-Mcu.Pin28=PC7
+Mcu.Pin28=PD15
-Mcu.Pin29=PC8
+Mcu.Pin29=PC6
 Mcu.Pin3=PH1-OSC_OUT
-Mcu.Pin30=PC9
+Mcu.Pin30=PC7
-Mcu.Pin31=PA8
+Mcu.Pin31=PC8
-Mcu.Pin32=PA11
+Mcu.Pin32=PC9
-Mcu.Pin33=PA12
+Mcu.Pin33=PA8
-Mcu.Pin34=PA13
+Mcu.Pin34=PA11
-Mcu.Pin35=PA14
+Mcu.Pin35=PA12
-Mcu.Pin36=PA15
+Mcu.Pin36=PA13
-Mcu.Pin37=PC10
+Mcu.Pin37=PA14
-Mcu.Pin38=PC11
+Mcu.Pin38=PA15
-Mcu.Pin39=PC12
+Mcu.Pin39=PC10
 Mcu.Pin4=PC0
-Mcu.Pin40=PD0
+Mcu.Pin40=PC11
-Mcu.Pin41=PD1
+Mcu.Pin41=PC12
-Mcu.Pin42=PD2
+Mcu.Pin42=PD0
-Mcu.Pin43=PD3
+Mcu.Pin43=PD1
-Mcu.Pin44=PD4
+Mcu.Pin44=PD2
-Mcu.Pin45=PD5
+Mcu.Pin45=PD3
-Mcu.Pin46=PD6
+Mcu.Pin46=PD4
-Mcu.Pin47=PD7
+Mcu.Pin47=PD5
-Mcu.Pin48=PB3
+Mcu.Pin48=PD6
-Mcu.Pin49=PB4
+Mcu.Pin49=PD7
 Mcu.Pin5=PC1
-Mcu.Pin50=PB5
+Mcu.Pin50=PB3
-Mcu.Pin51=PB6
+Mcu.Pin51=PB4
-Mcu.Pin52=PB7
+Mcu.Pin52=PB5
-Mcu.Pin53=PE0
+Mcu.Pin53=PB6
-Mcu.Pin54=PE1
+Mcu.Pin54=PB7
-Mcu.Pin55=VP_FREERTOS_VS_CMSIS_V1
+Mcu.Pin55=PE0
-Mcu.Pin56=VP_LWIP_VS_Enabled
+Mcu.Pin56=PE1
-Mcu.Pin57=VP_SYS_VS_tim1
+Mcu.Pin57=VP_FREERTOS_VS_CMSIS_V1
-Mcu.Pin58=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin58=VP_LWIP_VS_Enabled
-Mcu.Pin59=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin59=VP_SYS_VS_tim4
 Mcu.Pin6=PA1
+Mcu.Pin60=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin61=VP_TIM3_VS_ClockSourceINT
 Mcu.Pin7=PA2
 Mcu.Pin8=PA7
 Mcu.Pin9=PC4
-Mcu.PinsNb=60
+Mcu.PinsNb=62
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407VGTx
@@ -255,10 +258,10 @@ NVIC.SavedPendsvIrqHandlerGenerated=true
 NVIC.SavedSvcallIrqHandlerGenerated=true
 NVIC.SavedSystickIrqHandlerGenerated=true
 NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
-NVIC.TIM1_UP_TIM10_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
 NVIC.TIM3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.TimeBase=TIM1_UP_TIM10_IRQn
+NVIC.TIM4_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
-NVIC.TimeBaseIP=TIM1
+NVIC.TimeBase=TIM4_IRQn
+NVIC.TimeBaseIP=TIM4
 NVIC.UART4_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.UART5_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.USART2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
@@ -487,6 +490,11 @@ PE1.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
 PE1.Locked=true
 PE1.PinState=GPIO_PIN_SET
 PE1.Signal=GPIO_Output
+PE11.GPIOParameters=GPIO_PuPd,GPIO_Label
+PE11.GPIO_Label=EC11_B
+PE11.GPIO_PuPd=GPIO_PULLUP
+PE11.Locked=true
+PE11.Signal=S_TIM1_CH2
 PE12.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultOutputPP
 PE12.GPIO_Label=LED2_R
 PE12.GPIO_ModeDefaultOutputPP=GPIO_MODE_OUTPUT_PP
@@ -527,6 +535,11 @@ PE7.GPIO_Speed=GPIO_SPEED_FREQ_MEDIUM
 PE7.Locked=true
 PE7.PinState=GPIO_PIN_SET
 PE7.Signal=GPIO_Output
+PE9.GPIOParameters=GPIO_PuPd,GPIO_Label
+PE9.GPIO_Label=EC11_A
+PE9.GPIO_PuPd=GPIO_PULLUP
+PE9.Locked=true
+PE9.Signal=S_TIM1_CH1
 PH0-OSC_IN.Mode=HSE-External-Oscillator
 PH0-OSC_IN.Signal=RCC_OSC_IN
 PH1-OSC_OUT.Mode=HSE-External-Oscillator
@@ -598,6 +611,10 @@ SH.GPXTI1.0=GPIO_EXTI1
 SH.GPXTI1.ConfNb=1
 SH.GPXTI3.0=GPIO_EXTI3
 SH.GPXTI3.ConfNb=1
+SH.S_TIM1_CH1.0=TIM1_CH1,Encoder_Interface
+SH.S_TIM1_CH1.ConfNb=1
+SH.S_TIM1_CH2.0=TIM1_CH2,Encoder_Interface
+SH.S_TIM1_CH2.ConfNb=1
 SH.S_TIM2_CH1_ETR.0=TIM2_CH1,PWM Generation1 CH1
 SH.S_TIM2_CH1_ETR.ConfNb=1
 SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_256
@@ -608,6 +625,9 @@ SPI1.Direction=SPI_DIRECTION_2LINES
 SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler,CLKPolarity,CLKPhase
 SPI1.Mode=SPI_MODE_MASTER
 SPI1.VirtualType=VM_MASTER
+TIM1.EncoderMode=TIM_ENCODERMODE_TI12
+TIM1.IPParameters=EncoderMode,Prescaler
+TIM1.Prescaler=2
 TIM2.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
 TIM2.IPParameters=Channel-PWM Generation1 CH1,Period,Pulse-PWM Generation1 CH1
 TIM2.Period=119
@@ -636,8 +656,8 @@ VP_FREERTOS_VS_CMSIS_V1.Mode=CMSIS_V1
 VP_FREERTOS_VS_CMSIS_V1.Signal=FREERTOS_VS_CMSIS_V1
 VP_LWIP_VS_Enabled.Mode=Enabled
 VP_LWIP_VS_Enabled.Signal=LWIP_VS_Enabled
-VP_SYS_VS_tim1.Mode=TIM1
+VP_SYS_VS_tim4.Mode=TIM4
-VP_SYS_VS_tim1.Signal=SYS_VS_tim1
+VP_SYS_VS_tim4.Signal=SYS_VS_tim4
 VP_TIM2_VS_ClockSourceINT.Mode=Internal
 VP_TIM2_VS_ClockSourceINT.Signal=TIM2_VS_ClockSourceINT
 VP_TIM3_VS_ClockSourceINT.Mode=Internal