/** ****************************************************************************** * @file tim.c * @brief This file provides code for the configuration * of the TIM instances. ****************************************************************************** * @attention * *

© Copyright (c) 2021 STMicroelectronics. * All rights reserved.

* * This software component is licensed by ST under Ultimate Liberty license * SLA0044, the "License"; You may not use this file except in compliance with * the License. You may obtain a copy of the License at: * www.st.com/SLA0044 * ****************************************************************************** */ /* Includes ------------------------------------------------------------------*/ #include "tim.h" /* USER CODE BEGIN 0 */ volatile int64_t encCntLoop[2]; /* USER CODE END 0 */ TIM_HandleTypeDef htim2; TIM_HandleTypeDef htim3; TIM_HandleTypeDef htim7; TIM_HandleTypeDef htim9; TIM_HandleTypeDef htim10; TIM_HandleTypeDef htim11; TIM_HandleTypeDef htim12; TIM_HandleTypeDef htim13; TIM_HandleTypeDef htim14; /* TIM2 init function */ void MX_TIM2_Init(void) { /* USER CODE BEGIN TIM2_Init 0 */ /* USER CODE END TIM2_Init 0 */ TIM_Encoder_InitTypeDef sConfig = {0}; TIM_MasterConfigTypeDef sMasterConfig = {0}; /* USER CODE BEGIN TIM2_Init 1 */ /* USER CODE END TIM2_Init 1 */ htim2.Instance = TIM2; htim2.Init.Prescaler = 0; htim2.Init.CounterMode = TIM_COUNTERMODE_UP; htim2.Init.Period = 65535; htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim2.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 = 4; sConfig.IC2Polarity = TIM_ICPOLARITY_RISING; sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI; sConfig.IC2Prescaler = TIM_ICPSC_DIV1; sConfig.IC2Filter = 4; if (HAL_TIM_Encoder_Init(&htim2, &sConfig) != HAL_OK) { Error_Handler(); } sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN TIM2_Init 2 */ TIM2->CNT = 0; TIM2->SR = TIM2->SR & 0xFE; // clear flag /* USER CODE END TIM2_Init 2 */ } /* TIM3 init function */ void MX_TIM3_Init(void) { /* USER CODE BEGIN TIM3_Init 0 */ /* USER CODE END TIM3_Init 0 */ TIM_Encoder_InitTypeDef sConfig = {0}; TIM_MasterConfigTypeDef sMasterConfig = {0}; /* USER CODE BEGIN TIM3_Init 1 */ /* USER CODE END TIM3_Init 1 */ htim3.Instance = TIM3; htim3.Init.Prescaler = 0; htim3.Init.CounterMode = TIM_COUNTERMODE_UP; htim3.Init.Period = 65535; htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim3.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 = 4; sConfig.IC2Polarity = TIM_ICPOLARITY_RISING; sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI; sConfig.IC2Prescaler = TIM_ICPSC_DIV1; sConfig.IC2Filter = 4; if (HAL_TIM_Encoder_Init(&htim3, &sConfig) != HAL_OK) { Error_Handler(); } sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN TIM3_Init 2 */ TIM3->CNT = 0; TIM3->SR = TIM3->SR & 0xFE; // clear flag /* USER CODE END TIM3_Init 2 */ } /* TIM7 init function */ void MX_TIM7_Init(void) { /* USER CODE BEGIN TIM7_Init 0 */ /* USER CODE END TIM7_Init 0 */ TIM_MasterConfigTypeDef sMasterConfig = {0}; /* USER CODE BEGIN TIM7_Init 1 */ /* USER CODE END TIM7_Init 1 */ htim7.Instance = TIM7; htim7.Init.Prescaler = 83; htim7.Init.CounterMode = TIM_COUNTERMODE_UP; htim7.Init.Period = 9999; htim7.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE; if (HAL_TIM_Base_Init(&htim7) != HAL_OK) { Error_Handler(); } sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; if (HAL_TIMEx_MasterConfigSynchronization(&htim7, &sMasterConfig) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN TIM7_Init 2 */ /* USER CODE END TIM7_Init 2 */ } /* TIM9 init function */ void MX_TIM9_Init(void) { /* USER CODE BEGIN TIM9_Init 0 */ /* USER CODE END TIM9_Init 0 */ TIM_OC_InitTypeDef sConfigOC = {0}; /* USER CODE BEGIN TIM9_Init 1 */ /* USER CODE END TIM9_Init 1 */ htim9.Instance = TIM9; htim9.Init.Prescaler = 7; htim9.Init.CounterMode = TIM_COUNTERMODE_UP; htim9.Init.Period = 999; htim9.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim9.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_PWM_Init(&htim9) != HAL_OK) { Error_Handler(); } sConfigOC.OCMode = TIM_OCMODE_PWM1; sConfigOC.Pulse = 0; sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; if (HAL_TIM_PWM_ConfigChannel(&htim9, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) { Error_Handler(); } if (HAL_TIM_PWM_ConfigChannel(&htim9, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN TIM9_Init 2 */ /* USER CODE END TIM9_Init 2 */ HAL_TIM_MspPostInit(&htim9); } /* TIM10 init function */ void MX_TIM10_Init(void) { /* USER CODE BEGIN TIM10_Init 0 */ /* USER CODE END TIM10_Init 0 */ /* USER CODE BEGIN TIM10_Init 1 */ /* USER CODE END TIM10_Init 1 */ htim10.Instance = TIM10; htim10.Init.Prescaler = 167; htim10.Init.CounterMode = TIM_COUNTERMODE_UP; htim10.Init.Period = 9999; htim10.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim10.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE; if (HAL_TIM_Base_Init(&htim10) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN TIM10_Init 2 */ /* USER CODE END TIM10_Init 2 */ } /* TIM11 init function */ void MX_TIM11_Init(void) { /* USER CODE BEGIN TIM11_Init 0 */ /* USER CODE END TIM11_Init 0 */ /* USER CODE BEGIN TIM11_Init 1 */ /* USER CODE END TIM11_Init 1 */ htim11.Instance = TIM11; htim11.Init.Prescaler = 167; htim11.Init.CounterMode = TIM_COUNTERMODE_UP; htim11.Init.Period = 9999; htim11.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim11.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_Base_Init(&htim11) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN TIM11_Init 2 */ /* USER CODE END TIM11_Init 2 */ } /* TIM12 init function */ void MX_TIM12_Init(void) { /* USER CODE BEGIN TIM12_Init 0 */ /* USER CODE END TIM12_Init 0 */ TIM_OC_InitTypeDef sConfigOC = {0}; /* USER CODE BEGIN TIM12_Init 1 */ /* USER CODE END TIM12_Init 1 */ htim12.Instance = TIM12; htim12.Init.Prescaler = 3; htim12.Init.CounterMode = TIM_COUNTERMODE_UP; htim12.Init.Period = 999; htim12.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim12.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_PWM_Init(&htim12) != HAL_OK) { Error_Handler(); } sConfigOC.OCMode = TIM_OCMODE_PWM1; sConfigOC.Pulse = 0; sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; if (HAL_TIM_PWM_ConfigChannel(&htim12, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) { Error_Handler(); } if (HAL_TIM_PWM_ConfigChannel(&htim12, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN TIM12_Init 2 */ /* USER CODE END TIM12_Init 2 */ HAL_TIM_MspPostInit(&htim12); } /* TIM13 init function */ void MX_TIM13_Init(void) { /* USER CODE BEGIN TIM13_Init 0 */ /* USER CODE END TIM13_Init 0 */ /* USER CODE BEGIN TIM13_Init 1 */ /* USER CODE END TIM13_Init 1 */ htim13.Instance = TIM13; htim13.Init.Prescaler = 83; htim13.Init.CounterMode = TIM_COUNTERMODE_UP; htim13.Init.Period = 9999; htim13.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim13.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_Base_Init(&htim13) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN TIM13_Init 2 */ /* USER CODE END TIM13_Init 2 */ } /* TIM14 init function */ void MX_TIM14_Init(void) { /* USER CODE BEGIN TIM14_Init 0 */ /* USER CODE END TIM14_Init 0 */ /* USER CODE BEGIN TIM14_Init 1 */ /* USER CODE END TIM14_Init 1 */ htim14.Instance = TIM14; htim14.Init.Prescaler = 83; htim14.Init.CounterMode = TIM_COUNTERMODE_UP; htim14.Init.Period = 9999; htim14.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim14.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_Base_Init(&htim14) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN TIM14_Init 2 */ /* USER CODE END TIM14_Init 2 */ } void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle) { GPIO_InitTypeDef GPIO_InitStruct = {0}; if(tim_encoderHandle->Instance==TIM2) { /* USER CODE BEGIN TIM2_MspInit 0 */ /* USER CODE END TIM2_MspInit 0 */ /* TIM2 clock enable */ __HAL_RCC_TIM2_CLK_ENABLE(); __HAL_RCC_GPIOA_CLK_ENABLE(); __HAL_RCC_GPIOB_CLK_ENABLE(); /**TIM2 GPIO Configuration PA15 ------> TIM2_CH1 PB3 ------> TIM2_CH2 */ GPIO_InitStruct.Pin = GPIO_PIN_15; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; GPIO_InitStruct.Alternate = GPIO_AF1_TIM2; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); GPIO_InitStruct.Pin = GPIO_PIN_3; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; GPIO_InitStruct.Alternate = GPIO_AF1_TIM2; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); /* TIM2 interrupt Init */ HAL_NVIC_SetPriority(TIM2_IRQn, 5, 0); HAL_NVIC_EnableIRQ(TIM2_IRQn); /* USER CODE BEGIN TIM2_MspInit 1 */ /* USER CODE END TIM2_MspInit 1 */ } else if(tim_encoderHandle->Instance==TIM3) { /* USER CODE BEGIN TIM3_MspInit 0 */ /* USER CODE END TIM3_MspInit 0 */ /* TIM3 clock enable */ __HAL_RCC_TIM3_CLK_ENABLE(); __HAL_RCC_GPIOC_CLK_ENABLE(); /**TIM3 GPIO Configuration PC6 ------> TIM3_CH1 PC7 ------> TIM3_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_TIM3; HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); /* TIM3 interrupt Init */ HAL_NVIC_SetPriority(TIM3_IRQn, 5, 0); HAL_NVIC_EnableIRQ(TIM3_IRQn); /* USER CODE BEGIN TIM3_MspInit 1 */ /* USER CODE END TIM3_MspInit 1 */ } } void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle) { if(tim_baseHandle->Instance==TIM7) { /* USER CODE BEGIN TIM7_MspInit 0 */ /* USER CODE END TIM7_MspInit 0 */ /* TIM7 clock enable */ __HAL_RCC_TIM7_CLK_ENABLE(); /* TIM7 interrupt Init */ HAL_NVIC_SetPriority(TIM7_IRQn, 5, 0); HAL_NVIC_EnableIRQ(TIM7_IRQn); /* USER CODE BEGIN TIM7_MspInit 1 */ /* USER CODE END TIM7_MspInit 1 */ } else if(tim_baseHandle->Instance==TIM10) { /* USER CODE BEGIN TIM10_MspInit 0 */ /* USER CODE END TIM10_MspInit 0 */ /* TIM10 clock enable */ __HAL_RCC_TIM10_CLK_ENABLE(); /* TIM10 interrupt Init */ HAL_NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 5, 0); HAL_NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn); /* USER CODE BEGIN TIM10_MspInit 1 */ /* USER CODE END TIM10_MspInit 1 */ } else if(tim_baseHandle->Instance==TIM11) { /* USER CODE BEGIN TIM11_MspInit 0 */ /* USER CODE END TIM11_MspInit 0 */ /* TIM11 clock enable */ __HAL_RCC_TIM11_CLK_ENABLE(); /* TIM11 interrupt Init */ HAL_NVIC_SetPriority(TIM1_TRG_COM_TIM11_IRQn, 5, 0); HAL_NVIC_EnableIRQ(TIM1_TRG_COM_TIM11_IRQn); /* USER CODE BEGIN TIM11_MspInit 1 */ /* USER CODE END TIM11_MspInit 1 */ } else if(tim_baseHandle->Instance==TIM13) { /* USER CODE BEGIN TIM13_MspInit 0 */ /* USER CODE END TIM13_MspInit 0 */ /* TIM13 clock enable */ __HAL_RCC_TIM13_CLK_ENABLE(); /* TIM13 interrupt Init */ HAL_NVIC_SetPriority(TIM8_UP_TIM13_IRQn, 5, 0); HAL_NVIC_EnableIRQ(TIM8_UP_TIM13_IRQn); /* USER CODE BEGIN TIM13_MspInit 1 */ /* USER CODE END TIM13_MspInit 1 */ } else if(tim_baseHandle->Instance==TIM14) { /* USER CODE BEGIN TIM14_MspInit 0 */ /* USER CODE END TIM14_MspInit 0 */ /* TIM14 clock enable */ __HAL_RCC_TIM14_CLK_ENABLE(); /* TIM14 interrupt Init */ HAL_NVIC_SetPriority(TIM8_TRG_COM_TIM14_IRQn, 5, 0); HAL_NVIC_EnableIRQ(TIM8_TRG_COM_TIM14_IRQn); /* USER CODE BEGIN TIM14_MspInit 1 */ /* USER CODE END TIM14_MspInit 1 */ } } void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle) { if(tim_pwmHandle->Instance==TIM9) { /* USER CODE BEGIN TIM9_MspInit 0 */ /* USER CODE END TIM9_MspInit 0 */ /* TIM9 clock enable */ __HAL_RCC_TIM9_CLK_ENABLE(); /* USER CODE BEGIN TIM9_MspInit 1 */ /* USER CODE END TIM9_MspInit 1 */ } else if(tim_pwmHandle->Instance==TIM12) { /* USER CODE BEGIN TIM12_MspInit 0 */ /* USER CODE END TIM12_MspInit 0 */ /* TIM12 clock enable */ __HAL_RCC_TIM12_CLK_ENABLE(); /* USER CODE BEGIN TIM12_MspInit 1 */ /* USER CODE END TIM12_MspInit 1 */ } } void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle) { GPIO_InitTypeDef GPIO_InitStruct = {0}; if(timHandle->Instance==TIM9) { /* USER CODE BEGIN TIM9_MspPostInit 0 */ /* USER CODE END TIM9_MspPostInit 0 */ __HAL_RCC_GPIOA_CLK_ENABLE(); /**TIM9 GPIO Configuration PA2 ------> TIM9_CH1 PA3 ------> TIM9_CH2 */ GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_3; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; GPIO_InitStruct.Alternate = GPIO_AF3_TIM9; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); /* USER CODE BEGIN TIM9_MspPostInit 1 */ /* USER CODE END TIM9_MspPostInit 1 */ } else if(timHandle->Instance==TIM12) { /* USER CODE BEGIN TIM12_MspPostInit 0 */ /* USER CODE END TIM12_MspPostInit 0 */ __HAL_RCC_GPIOB_CLK_ENABLE(); /**TIM12 GPIO Configuration PB14 ------> TIM12_CH1 PB15 ------> TIM12_CH2 */ GPIO_InitStruct.Pin = GPIO_PIN_14|GPIO_PIN_15; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; GPIO_InitStruct.Alternate = GPIO_AF9_TIM12; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); /* USER CODE BEGIN TIM12_MspPostInit 1 */ /* USER CODE END TIM12_MspPostInit 1 */ } } void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle) { if(tim_encoderHandle->Instance==TIM2) { /* USER CODE BEGIN TIM2_MspDeInit 0 */ /* USER CODE END TIM2_MspDeInit 0 */ /* Peripheral clock disable */ __HAL_RCC_TIM2_CLK_DISABLE(); /**TIM2 GPIO Configuration PA15 ------> TIM2_CH1 PB3 ------> TIM2_CH2 */ HAL_GPIO_DeInit(GPIOA, GPIO_PIN_15); HAL_GPIO_DeInit(GPIOB, GPIO_PIN_3); /* TIM2 interrupt Deinit */ HAL_NVIC_DisableIRQ(TIM2_IRQn); /* USER CODE BEGIN TIM2_MspDeInit 1 */ /* USER CODE END TIM2_MspDeInit 1 */ } else if(tim_encoderHandle->Instance==TIM3) { /* USER CODE BEGIN TIM3_MspDeInit 0 */ /* USER CODE END TIM3_MspDeInit 0 */ /* Peripheral clock disable */ __HAL_RCC_TIM3_CLK_DISABLE(); /**TIM3 GPIO Configuration PC6 ------> TIM3_CH1 PC7 ------> TIM3_CH2 */ HAL_GPIO_DeInit(GPIOC, GPIO_PIN_6|GPIO_PIN_7); /* TIM3 interrupt Deinit */ HAL_NVIC_DisableIRQ(TIM3_IRQn); /* USER CODE BEGIN TIM3_MspDeInit 1 */ /* USER CODE END TIM3_MspDeInit 1 */ } } void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle) { if(tim_baseHandle->Instance==TIM7) { /* USER CODE BEGIN TIM7_MspDeInit 0 */ /* USER CODE END TIM7_MspDeInit 0 */ /* Peripheral clock disable */ __HAL_RCC_TIM7_CLK_DISABLE(); /* TIM7 interrupt Deinit */ HAL_NVIC_DisableIRQ(TIM7_IRQn); /* USER CODE BEGIN TIM7_MspDeInit 1 */ /* USER CODE END TIM7_MspDeInit 1 */ } else if(tim_baseHandle->Instance==TIM10) { /* USER CODE BEGIN TIM10_MspDeInit 0 */ /* USER CODE END TIM10_MspDeInit 0 */ /* Peripheral clock disable */ __HAL_RCC_TIM10_CLK_DISABLE(); /* TIM10 interrupt Deinit */ HAL_NVIC_DisableIRQ(TIM1_UP_TIM10_IRQn); /* USER CODE BEGIN TIM10_MspDeInit 1 */ /* USER CODE END TIM10_MspDeInit 1 */ } else if(tim_baseHandle->Instance==TIM11) { /* USER CODE BEGIN TIM11_MspDeInit 0 */ /* USER CODE END TIM11_MspDeInit 0 */ /* Peripheral clock disable */ __HAL_RCC_TIM11_CLK_DISABLE(); /* TIM11 interrupt Deinit */ HAL_NVIC_DisableIRQ(TIM1_TRG_COM_TIM11_IRQn); /* USER CODE BEGIN TIM11_MspDeInit 1 */ /* USER CODE END TIM11_MspDeInit 1 */ } else if(tim_baseHandle->Instance==TIM13) { /* USER CODE BEGIN TIM13_MspDeInit 0 */ /* USER CODE END TIM13_MspDeInit 0 */ /* Peripheral clock disable */ __HAL_RCC_TIM13_CLK_DISABLE(); /* TIM13 interrupt Deinit */ HAL_NVIC_DisableIRQ(TIM8_UP_TIM13_IRQn); /* USER CODE BEGIN TIM13_MspDeInit 1 */ /* USER CODE END TIM13_MspDeInit 1 */ } else if(tim_baseHandle->Instance==TIM14) { /* USER CODE BEGIN TIM14_MspDeInit 0 */ /* USER CODE END TIM14_MspDeInit 0 */ /* Peripheral clock disable */ __HAL_RCC_TIM14_CLK_DISABLE(); /* TIM14 interrupt Deinit */ HAL_NVIC_DisableIRQ(TIM8_TRG_COM_TIM14_IRQn); /* USER CODE BEGIN TIM14_MspDeInit 1 */ /* USER CODE END TIM14_MspDeInit 1 */ } } void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle) { if(tim_pwmHandle->Instance==TIM9) { /* USER CODE BEGIN TIM9_MspDeInit 0 */ /* USER CODE END TIM9_MspDeInit 0 */ /* Peripheral clock disable */ __HAL_RCC_TIM9_CLK_DISABLE(); /* USER CODE BEGIN TIM9_MspDeInit 1 */ /* USER CODE END TIM9_MspDeInit 1 */ } else if(tim_pwmHandle->Instance==TIM12) { /* USER CODE BEGIN TIM12_MspDeInit 0 */ /* USER CODE END TIM12_MspDeInit 0 */ /* Peripheral clock disable */ __HAL_RCC_TIM12_CLK_DISABLE(); /* USER CODE BEGIN TIM12_MspDeInit 1 */ /* USER CODE END TIM12_MspDeInit 1 */ } } /* USER CODE BEGIN 1 */ void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) { if (htim->Instance->SR & 0x01) // count overflow { if (htim->Instance->CR1 & 0x10) // count up { if (htim->Instance == TIM2) encCntLoop[0]--; else if (htim->Instance == TIM3) encCntLoop[1]--; } else // count down { if (htim->Instance == TIM2) encCntLoop[0]++; else if (htim->Instance == TIM3) encCntLoop[1]++; } htim->Instance->SR = htim->Instance->SR & 0xFE; // clear flag } } int64_t GetCntLoop(TIM_TypeDef *tim) { if (tim == TIM2) { return encCntLoop[0]; } else if (tim == TIM3) { return encCntLoop[1]; } } void ClearCntLoop(TIM_TypeDef *tim) { if (tim == TIM2) { encCntLoop[0] = 0; } else if (tim == TIM3) { encCntLoop[1] = 0; } } int64_t GetEncoderCount(TIM_TypeDef *tim) { if (tim == TIM2) { return encCntLoop[0] * 65536 + TIM2->CNT; } else if (tim == TIM3) { return encCntLoop[1] * 65536 + TIM3->CNT; } } /* USER CODE END 1 */ /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/