feat: quadrature encoder

2026-03-18 21:50:40 +01:00 · 2025-03-21 18:45:46 +01:00
parent c24e628c62
commit 4a5bef1347
11 changed files with 191 additions and 215 deletions
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1185679149476359369" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1547658766405034993" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1185679149476359369" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1547658766405034993" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
--- a/ControleMoteur2.ioc
+++ b/ControleMoteur2.ioc
@@ -12,35 +12,37 @@ Mcu.IP1=RCC
 Mcu.IP2=SYS
 Mcu.IP3=TIM2
 Mcu.IP4=TIM3
-Mcu.IP5=USART2
-Mcu.IPNb=6
+Mcu.IP5=TIM21
+Mcu.IP6=USART2
+Mcu.IPNb=7
 Mcu.Name=STM32L073R(B-Z)Tx
 Mcu.Package=LQFP64
 Mcu.Pin0=PC13
 Mcu.Pin1=PC14-OSC32_IN
-Mcu.Pin10=PC6
-Mcu.Pin11=PC7
-Mcu.Pin12=PC8
-Mcu.Pin13=PC9
-Mcu.Pin14=PA13
-Mcu.Pin15=PA14
-Mcu.Pin16=PC10
-Mcu.Pin17=VP_SYS_VS_Systick
-Mcu.Pin18=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin10=PB14
+Mcu.Pin11=PC6
+Mcu.Pin12=PC7
+Mcu.Pin13=PC8
+Mcu.Pin14=PC9
+Mcu.Pin15=PA13
+Mcu.Pin16=PA14
+Mcu.Pin17=PC10
+Mcu.Pin18=VP_SYS_VS_Systick
+Mcu.Pin19=VP_TIM3_VS_ClockSourceINT
 Mcu.Pin2=PC15-OSC32_OUT
 Mcu.Pin3=PH0-OSC_IN
-Mcu.Pin4=PH1-OSC_OUT
-Mcu.Pin5=PA0
-Mcu.Pin6=PA1
-Mcu.Pin7=PA2
-Mcu.Pin8=PA3
-Mcu.Pin9=PA5
-Mcu.PinsNb=19
+Mcu.Pin4=PA0
+Mcu.Pin5=PA1
+Mcu.Pin6=PA2
+Mcu.Pin7=PA3
+Mcu.Pin8=PA5
+Mcu.Pin9=PB13
+Mcu.PinsNb=20
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32L073RZTx
-MxCube.Version=6.13.0
-MxDb.Version=DB.6.0.130
+MxCube.Version=6.14.0
+MxDb.Version=DB.6.0.140
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
@@ -80,6 +82,12 @@ PA5.GPIOParameters=GPIO_Label
 PA5.GPIO_Label=LD2 [Green Led]
 PA5.Locked=true
 PA5.Signal=GPIO_Output
+PB13.GPIOParameters=GPIO_PuPd
+PB13.GPIO_PuPd=GPIO_PULLUP
+PB13.Signal=S_TIM21_CH1
+PB14.GPIOParameters=GPIO_PuPd
+PB14.GPIO_PuPd=GPIO_PULLUP
+PB14.Signal=S_TIM21_CH2
 PC10.Locked=true
 PC10.Signal=GPIO_Output
 PC13.GPIOParameters=GPIO_Label,GPIO_ModeDefaultEXTI
@@ -104,13 +112,12 @@ PC9.Signal=S_TIM3_CH4
 PH0-OSC_IN.GPIOParameters=GPIO_Label
 PH0-OSC_IN.GPIO_Label=MCO
 PH0-OSC_IN.Locked=true
-PH0-OSC_IN.Mode=HSE-External-Oscillator
+PH0-OSC_IN.Mode=HSE-External-Clock-Source
 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.BackupPrevious=false
+ProjectManager.CompilerLinker=GCC
 ProjectManager.CompilerOptimize=6
 ProjectManager.ComputerToolchain=false
 ProjectManager.CoupleFile=true
@@ -176,6 +183,10 @@ RCC.VCOOutputFreq_Value=48000000
 RCC.WatchDogFreq_Value=37000
 SH.GPXTI13.0=GPIO_EXTI13
 SH.GPXTI13.ConfNb=1
+SH.S_TIM21_CH1.0=TIM21_CH1,Encoder_Interface
+SH.S_TIM21_CH1.ConfNb=1
+SH.S_TIM21_CH2.0=TIM21_CH2,Encoder_Interface
+SH.S_TIM21_CH2.ConfNb=1
 SH.S_TIM2_CH1.0=TIM2_CH1,Encoder_Interface
 SH.S_TIM2_CH1.ConfNb=1
 SH.S_TIM2_CH2.0=TIM2_CH2,Encoder_Interface
@@ -194,6 +205,8 @@ TIM2.IC1Polarity=TIM_ICPOLARITY_RISING
 TIM2.IC2Filter=0
 TIM2.IC2Polarity=TIM_ICPOLARITY_RISING
 TIM2.IPParameters=EncoderMode,IC1Polarity,IC2Polarity,IC2Filter,IC1Filter
+TIM21.EncoderMode=TIM_ENCODERMODE_TI12
+TIM21.IPParameters=EncoderMode
 TIM3.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
 TIM3.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
 TIM3.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
--- a/Core/Inc/encoder.h
+++ b/Core/Inc/encoder.h
@@ -1,48 +0,0 @@
-/*
- * encoder.h
- *
- *  Created on: Mar 8, 2025
- *      Author: allan
- */
-
-
-#ifndef INC_ENCODER_H_
-#define INC_ENCODER_H_
-
-#include "stm32l0xx_hal.h"
-
-typedef enum {
-	EncoderInputUndefined,
-	EncoderInputHigh,
-	EncoderInputLow,
-} EncoderInputState;
-
-typedef enum {
-	EncoderDirectionUndefined,
-	EncoderDirectionForward,
-	EncoderDirectionBackward,
-} EncoderDirection;
-
-class Encoder {
-private:
-    int32_t totalDistance;
-    int32_t latestHandledDistance;
-    uint16_t tickDistance;
-    volatile uint32_t* inputAgpioIDRaddr;
-    uint32_t inputAgpioIDRMask;
-    volatile uint32_t* inputBgpioIDRaddr;
-    uint32_t inputBgpioIDRMask;
-    EncoderInputState previousAstate;
-    EncoderInputState previousBstate;
-    void (*handler)(uint16_t totalDistance, uint16_t newDistance, bool direction); // direction = (1 : forward, 0 : backward)
-
-public:
-    Encoder(uint16_t wheelDiameter, uint16_t encoderResolution, volatile uint32_t* inputAgpioIDRaddr, volatile uint32_t* inputBgpioIDRaddr, uint32_t inputAgpioIDRMask, uint32_t inputBgpioIDRMask, void (*handler)(uint16_t, uint16_t, bool));
-    void trigger();
-    uint32_t getTotalDistance();
-    uint32_t getDistanceSinceLastCall();
-    void resetToZero();
-    virtual ~Encoder();
-};
-
-#endif /* INC_ENCODER_H_ */
--- a/Core/Inc/stm32l0xx_it.h
+++ b/Core/Inc/stm32l0xx_it.h
@@ -22,7 +22,7 @@
 #define __STM32L0xx_IT_H

 #ifdef __cplusplus
- extern "C" {
+extern "C" {
 #endif

 /* Private includes ----------------------------------------------------------*/
--- a/Core/Inc/tim.h
+++ b/Core/Inc/tim.h
@@ -36,12 +36,15 @@ extern TIM_HandleTypeDef htim2;

 extern TIM_HandleTypeDef htim3;

+extern TIM_HandleTypeDef htim21;
+
 /* USER CODE BEGIN Private defines */

 /* USER CODE END Private defines */

 void MX_TIM2_Init(void);
 void MX_TIM3_Init(void);
+void MX_TIM21_Init(void);

 void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);

--- a/Core/Src/encoder.cpp
+++ b/Core/Src/encoder.cpp
@@ -1,128 +0,0 @@
-/*
- * encoder.cpp
- *
- *  Created on: Mar 8, 2025
- *      Author: allan
- */
-
-#include "encoder.h"
-
-Encoder::Encoder(uint16_t wheelDiameter, uint16_t encoderResolution, volatile uint32_t* inputAgpioIDRaddr, volatile uint32_t* inputBgpioIDRaddr, uint32_t inputAgpioIDRMask, uint32_t inputBgpioIDRMask, void(*handler)(uint16_t, uint16_t, bool)) :
-					totalDistance(0),
-					latestHandledDistance(0),
-					inputAgpioIDRaddr(inputAgpioIDRaddr),
-					inputAgpioIDRMask(inputAgpioIDRMask),
-					inputBgpioIDRaddr(inputBgpioIDRaddr),
-					inputBgpioIDRMask(inputBgpioIDRMask),
-					previousAstate(EncoderInputUndefined),
-					previousBstate(EncoderInputUndefined),
-					handler(handler)
-{
-	this->tickDistance = (uint16_t)(wheelDiameter * 3.14 / encoderResolution);
-	if((*(this->inputAgpioIDRaddr) & inputAgpioIDRMask) == inputAgpioIDRMask){
-		this->previousAstate = EncoderInputHigh;
-	}
-	if((*(this->inputAgpioIDRaddr) & inputAgpioIDRMask) == 0){
-		this->previousAstate = EncoderInputLow;
-	}
-	if((*(this->inputBgpioIDRaddr) & inputBgpioIDRMask) == inputBgpioIDRMask){
-		this->previousBstate = EncoderInputHigh;
-	}
-	if((*(this->inputBgpioIDRaddr) & inputBgpioIDRMask) == 0){
-		this->previousBstate = EncoderInputLow;
-	}
-}
-
-void Encoder::trigger()
-{
-	//On sait qu'on avance d'un tick : on cherche d'abord a determiner quel pin a change de valeur puis on on cherchera a determiner la direction de deplacement
-	EncoderDirection direction = EncoderDirectionUndefined;
-	EncoderInputState pinAstate = EncoderInputUndefined;
-	EncoderInputState pinBstate = EncoderInputUndefined;
-	// Est ce que le IDR et le mask sont bien transmis ? Est ce qu'on arrive à lire dans le registre IDR ?
-	if((*(this->inputAgpioIDRaddr) & inputAgpioIDRMask) == inputAgpioIDRMask){
-		pinAstate = EncoderInputHigh;
-	}
-	if((*(this->inputAgpioIDRaddr) & inputAgpioIDRMask) == 0){
-		pinAstate = EncoderInputLow;
-	}
-	if((*(this->inputBgpioIDRaddr) & inputBgpioIDRMask) == inputBgpioIDRMask){
-		pinBstate = EncoderInputHigh;
-	}
-	if((*(this->inputBgpioIDRaddr) & inputBgpioIDRMask) == 0){
-		pinBstate = EncoderInputLow;
-	}
-	if(pinAstate == EncoderInputUndefined || pinBstate == EncoderInputUndefined){
-		return; // error : on a pas reussi a lire la valeur des pins !
-	}
-	// on considere que les previousXstate sont initialises par le constructeur
-	if(pinAstate != previousAstate){ // Interrupt venant du fil A => quelle direction ?
-		if(pinAstate == EncoderInputHigh){
-			if(pinBstate == EncoderInputHigh){
-				direction = EncoderDirectionBackward;
-			} else if(pinBstate == EncoderInputLow){
-				direction = EncoderDirectionForward;
-			}
-		} else if(pinAstate == EncoderInputLow) {
-			if(pinBstate == EncoderInputHigh){
-				direction = EncoderDirectionForward;
-			} else if(pinBstate == EncoderInputLow) {
-				direction = EncoderDirectionBackward;
-			}
-		}
-		previousAstate = pinAstate;
-	} else if(pinBstate != previousBstate){ //Interrupt venant du fil B => quelle direction ?
-		if(pinAstate == EncoderInputHigh){
-			if(pinBstate == EncoderInputHigh){
-				direction = EncoderDirectionForward;
-			} else if(pinBstate == EncoderInputLow){
-				direction = EncoderDirectionBackward;
-			}
-		} else if(pinAstate == EncoderInputLow) {
-			if(pinBstate == EncoderInputHigh){
-				direction = EncoderDirectionBackward;
-			} else if(pinBstate == EncoderInputLow) {
-				direction = EncoderDirectionForward;
-			}
-		}
-		previousBstate = pinBstate;
-	} else {
-		return; // error : A et B n'ont pas change de valeur => pas de mouvement alors !
-	}
-	if(direction == EncoderDirectionForward){
-		// On ajoute la distance parcourue et on appelle le handler
-		this->totalDistance += (int32_t)this->tickDistance;
-		this->handler(this->totalDistance, this->tickDistance, 1);
-	} else if(direction == EncoderDirectionBackward){
-		// On retire la distance parcourue et on appelle le handler
-		this->totalDistance -= (int32_t)this->tickDistance;
-		this->handler(this->totalDistance, this->tickDistance, 0);
-	} else {
-		return; //error : on a pas l'information de direction (ne devrait jamais arriver)
-	}
-
-}
-
-uint32_t Encoder::getTotalDistance()
-{
-	return this->totalDistance;
-}
-
-uint32_t Encoder::getDistanceSinceLastCall()
-{
-	uint32_t result = this->totalDistance - this->latestHandledDistance;
-	this->latestHandledDistance = this->totalDistance;
-	return result;
-}
-
-void Encoder::resetToZero()
-{
-	this->totalDistance = 0;
-	this->latestHandledDistance = 0;
-}
-
-Encoder::~Encoder()
-{
-	// TODO Auto-generated destructor stub
-}
-
--- a/Core/Src/functions.cpp
+++ b/Core/Src/functions.cpp
@@ -3,11 +3,9 @@

 #include "functions.h"
 #include "motors.h"
-#include "encoder.h"
 #include <cstdio>
 #include <cstring>

-extern Encoder encoder1;
 extern UART_HandleTypeDef huart2;

 uint32_t lastTick = 0; // Variable pour mémoriser l'heure de la dernière action
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@@ -48,6 +48,7 @@ void MX_GPIO_Init(void)
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOH_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
+  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_RESET);
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -47,10 +47,6 @@ void ModelecOdometryLoop();
 /* Private variables ---------------------------------------------------------*/

 /* USER CODE BEGIN PV */
-uint32_t rawCounter = 0;
-uint32_t counter = 0;
-uint32_t last_counter = 0;
-uint32_t blink_delay = 200;
 /* USER CODE END PV */

 /* Private function prototypes -----------------------------------------------*/
@@ -96,12 +92,14 @@ int main(void)
  MX_USART2_UART_Init();
  MX_TIM3_Init();
  MX_TIM2_Init();
+  MX_TIM21_Init();
  /* USER CODE BEGIN 2 */
  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4);
  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3);
  HAL_TIM_Encoder_Start(&htim2, TIM_CHANNEL_ALL);
+  HAL_TIM_Encoder_Start(&htim21, TIM_CHANNEL_ALL);
  //HAL_TIM_Encoder_Start_IT(&htim2, TIM_CHANNEL_ALL);
  ModelecOdometrySetup();
  /* USER CODE END 2 */
@@ -115,7 +113,6 @@ int main(void)
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
-	rawCounter = __HAL_TIM_GET_COUNTER(&htim2);
  }
  /* USER CODE END 3 */
 }
--- a/Core/Src/modelec.cpp
+++ b/Core/Src/modelec.cpp
@@ -6,21 +6,35 @@
 */


-#include "encoder.h"
 #include "motors.h"
 #include "functions.h"
 #include "main.h"
 #include "stm32l0xx_hal.h"
 #include <cstdio>
 #include <cstring>
+#include <math.h>
+

 extern "C" {
+
+	// Paramètres des roues codeuses
+	#define N 600     // Impulsions par tour (PPR) du codeur
+	#define WHEEL_DIAMETER 0.06  // Diamètre de la roue en mètres (ex: 5 cm)
+	#define WHEEL_BASE 0.15      // Entraxe entre les roues en mètres (ex: 15 cm)
+	#define MAX_COUNT 65535      // Max compteur (16 bits)
+
+	// Position du robot
+	volatile float X = 0.0, Y = 0.0, theta = 0.0;
+
+	// Dernières valeurs des encodeurs
+	volatile int32_t last_pos_right = 0, last_pos_left = 0;
+
 	// Variables globales
 	Motor motor(TIM3);
-	Encoder encoder1(60000, 600, &GPIOC->IDR, &GPIOC->IDR, (1<<0), (1<<1), &handleEncoderProgression);
-	Encoder encoder2(60000, 600, &GPIOC->IDR, &GPIOC->IDR, (1<<2), (1<<3), &handleEncoderProgression);

 	extern TIM_HandleTypeDef htim3;
+	extern TIM_HandleTypeDef htim2;
+	extern TIM_HandleTypeDef htim21;
 	extern UART_HandleTypeDef huart2;

 	// Fonction de setup appelee au debut du main.c
@@ -36,13 +50,52 @@ extern "C" {
 		//On actualise toute les 10ms et on effectue tous les controles périodiques
 		if(isDelayPassed(10)) {

-			if(encoder1.getTotalDistance() > 10) {
-				motor.stop();
-			}
 			//On met à jour le statut des moteurs
 			motor.update();
 		}
 	}
+
+	// Fonction de mise à jour de l'odométrie
+	void ModelecOdometryUpdate() {
+	    // Lire les compteurs des encodeurs
+	    int32_t pos_right = __HAL_TIM_GET_COUNTER(&htim2);
+	    int32_t pos_left  = __HAL_TIM_GET_COUNTER(&htim21);
+
+	    // Debug
+		char msg[128];
+		sprintf(msg, "Encodeur droit %d.\r\n", pos_right);
+		sprintf(msg, "Encodeur gauche %d.\r\n", pos_left);
+	    HAL_UART_Transmit(&huart2, (uint8_t *)msg, strlen(msg), HAL_MAX_DELAY);
+
+	    // Calcul des variations d’impulsions
+	    int32_t deltaP_right = pos_right - last_pos_right;
+	    int32_t deltaP_left  = pos_left - last_pos_left;
+
+	    // Gestion du débordement du compteur
+	    if (deltaP_right > MAX_COUNT / 2) deltaP_right -= MAX_COUNT;
+	    if (deltaP_right < -MAX_COUNT / 2) deltaP_right += MAX_COUNT;
+	    if (deltaP_left > MAX_COUNT / 2) deltaP_left -= MAX_COUNT;
+	    if (deltaP_left < -MAX_COUNT / 2) deltaP_left += MAX_COUNT;
+
+	    // Convertir en distances parcourues
+	    float deltaS_right = (deltaP_right / (float)(N * 4)) * M_PI * WHEEL_DIAMETER;
+	    float deltaS_left  = (deltaP_left / (float)(N * 4)) * M_PI * WHEEL_DIAMETER;
+
+	    // Calcul de la distance totale et du changement d’angle
+	    float deltaS = (deltaS_right + deltaS_left) / 2.0;
+	    float deltaTheta = (deltaS_right - deltaS_left) / WHEEL_BASE;
+
+	    // Mise à jour de la position
+	    X += deltaS * cos(theta + deltaTheta / 2.0);
+	    Y += deltaS * sin(theta + deltaTheta / 2.0);
+	    theta += deltaTheta;
+
+	    // Conserver les valeurs actuelles pour la prochaine itération
+	    last_pos_right = pos_right;
+	    last_pos_left = pos_left;
+
+
+	}
 }


--- a/Core/Src/tim.c
+++ b/Core/Src/tim.c
@@ -26,6 +26,7 @@

 TIM_HandleTypeDef htim2;
 TIM_HandleTypeDef htim3;
+TIM_HandleTypeDef htim21;

 /* TIM2 init function */
 void MX_TIM2_Init(void)
@@ -140,6 +141,50 @@ void MX_TIM3_Init(void)
  /* USER CODE END TIM3_Init 2 */
  HAL_TIM_MspPostInit(&htim3);

+}
+/* TIM21 init function */
+void MX_TIM21_Init(void)
+{
+
+  /* USER CODE BEGIN TIM21_Init 0 */
+
+  /* USER CODE END TIM21_Init 0 */
+
+  TIM_Encoder_InitTypeDef sConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+
+  /* USER CODE BEGIN TIM21_Init 1 */
+
+  /* USER CODE END TIM21_Init 1 */
+  htim21.Instance = TIM21;
+  htim21.Init.Prescaler = 0;
+  htim21.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim21.Init.Period = 65535;
+  htim21.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim21.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(&htim21, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim21, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM21_Init 2 */
+
+  /* USER CODE END TIM21_Init 2 */
+
 }

 void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
@@ -173,6 +218,30 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)

  /* USER CODE END TIM2_MspInit 1 */
  }
+  else if(tim_encoderHandle->Instance==TIM21)
+  {
+  /* USER CODE BEGIN TIM21_MspInit 0 */
+
+  /* USER CODE END TIM21_MspInit 0 */
+    /* TIM21 clock enable */
+    __HAL_RCC_TIM21_CLK_ENABLE();
+
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    /**TIM21 GPIO Configuration
+    PB13     ------> TIM21_CH1
+    PB14     ------> TIM21_CH2
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_PULLUP;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF6_TIM21;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM21_MspInit 1 */
+
+  /* USER CODE END TIM21_MspInit 1 */
+  }
 }

 void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
@@ -244,6 +313,24 @@ void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle)

  /* USER CODE END TIM2_MspDeInit 1 */
  }
+  else if(tim_encoderHandle->Instance==TIM21)
+  {
+  /* USER CODE BEGIN TIM21_MspDeInit 0 */
+
+  /* USER CODE END TIM21_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM21_CLK_DISABLE();
+
+    /**TIM21 GPIO Configuration
+    PB13     ------> TIM21_CH1
+    PB14     ------> TIM21_CH2
+    */
+    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_13|GPIO_PIN_14);
+
+  /* USER CODE BEGIN TIM21_MspDeInit 1 */
+
+  /* USER CODE END TIM21_MspDeInit 1 */
+  }
 }

 void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)