mirror of
https://gitee.com/peng_zhihui/Dummy-Robot
synced 2025-11-04 20:49:40 +08:00
397 lines
10 KiB
C
397 lines
10 KiB
C
/**
|
|
******************************************************************************
|
|
* @file tim.c
|
|
* @brief This file provides code for the configuration
|
|
* of the TIM instances.
|
|
******************************************************************************
|
|
* @attention
|
|
*
|
|
* <h2><center>© Copyright (c) 2021 STMicroelectronics.
|
|
* All rights reserved.</center></h2>
|
|
*
|
|
* This software component is licensed by ST under BSD 3-Clause license,
|
|
* the "License"; You may not use this file except in compliance with the
|
|
* License. You may obtain a copy of the License at:
|
|
* opensource.org/licenses/BSD-3-Clause
|
|
*
|
|
******************************************************************************
|
|
*/
|
|
|
|
/* Includes ------------------------------------------------------------------*/
|
|
#include "tim.h"
|
|
|
|
/* USER CODE BEGIN 0 */
|
|
#include "common_inc.h"
|
|
|
|
/* USER CODE END 0 */
|
|
|
|
TIM_HandleTypeDef htim1;
|
|
TIM_HandleTypeDef htim2;
|
|
TIM_HandleTypeDef htim3;
|
|
TIM_HandleTypeDef htim4;
|
|
|
|
/* TIM1 init function */
|
|
void MX_TIM1_Init(void)
|
|
{
|
|
|
|
/* USER CODE BEGIN TIM1_Init 0 */
|
|
|
|
/* USER CODE END TIM1_Init 0 */
|
|
|
|
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
|
|
TIM_MasterConfigTypeDef sMasterConfig = {0};
|
|
|
|
/* USER CODE BEGIN TIM1_Init 1 */
|
|
|
|
/* USER CODE END TIM1_Init 1 */
|
|
htim1.Instance = TIM1;
|
|
htim1.Init.Prescaler = 71;
|
|
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
|
|
htim1.Init.Period = 9999;
|
|
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
|
|
htim1.Init.RepetitionCounter = 0;
|
|
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
|
|
if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
|
|
if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != 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)
|
|
{
|
|
|
|
/* USER CODE BEGIN TIM2_Init 0 */
|
|
|
|
/* USER CODE END TIM2_Init 0 */
|
|
|
|
TIM_MasterConfigTypeDef sMasterConfig = {0};
|
|
TIM_OC_InitTypeDef sConfigOC = {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 = 1023;
|
|
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
|
|
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
|
|
if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
|
|
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
|
|
if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != 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(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
/* USER CODE BEGIN TIM2_Init 2 */
|
|
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
|
|
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
|
|
|
|
/* USER CODE END TIM2_Init 2 */
|
|
HAL_TIM_MspPostInit(&htim2);
|
|
|
|
}
|
|
/* TIM3 init function */
|
|
void MX_TIM3_Init(void)
|
|
{
|
|
|
|
/* USER CODE BEGIN TIM3_Init 0 */
|
|
|
|
/* USER CODE END TIM3_Init 0 */
|
|
|
|
TIM_SlaveConfigTypeDef sSlaveConfig = {0};
|
|
TIM_MasterConfigTypeDef sMasterConfig = {0};
|
|
TIM_IC_InitTypeDef sConfigIC = {0};
|
|
|
|
/* USER CODE BEGIN TIM3_Init 1 */
|
|
|
|
/* USER CODE END TIM3_Init 1 */
|
|
htim3.Instance = TIM3;
|
|
htim3.Init.Prescaler = 71;
|
|
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
|
|
htim3.Init.Period = 65535;
|
|
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
|
|
htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
|
|
if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
if (HAL_TIM_IC_Init(&htim3) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_RESET;
|
|
sSlaveConfig.InputTrigger = TIM_TS_TI1FP1;
|
|
sSlaveConfig.TriggerPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
|
|
sSlaveConfig.TriggerFilter = 0;
|
|
if (HAL_TIM_SlaveConfigSynchro(&htim3, &sSlaveConfig) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
|
|
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
|
|
if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
|
|
sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
|
|
sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
|
|
sConfigIC.ICFilter = 0;
|
|
if (HAL_TIM_IC_ConfigChannel(&htim3, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
/* USER CODE BEGIN TIM3_Init 2 */
|
|
|
|
/* USER CODE END TIM3_Init 2 */
|
|
|
|
}
|
|
/* TIM4 init function */
|
|
void MX_TIM4_Init(void)
|
|
{
|
|
|
|
/* USER CODE BEGIN TIM4_Init 0 */
|
|
|
|
/* USER CODE END TIM4_Init 0 */
|
|
|
|
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
|
|
TIM_MasterConfigTypeDef sMasterConfig = {0};
|
|
|
|
/* USER CODE BEGIN TIM4_Init 1 */
|
|
|
|
/* USER CODE END TIM4_Init 1 */
|
|
htim4.Instance = TIM4;
|
|
htim4.Init.Prescaler = 71;
|
|
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
|
|
htim4.Init.Period = 49;
|
|
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
|
|
htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
|
|
if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
|
|
if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != 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 */
|
|
|
|
}
|
|
|
|
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
|
|
{
|
|
|
|
GPIO_InitTypeDef GPIO_InitStruct = {0};
|
|
if(tim_baseHandle->Instance==TIM1)
|
|
{
|
|
/* USER CODE BEGIN TIM1_MspInit 0 */
|
|
|
|
/* USER CODE END TIM1_MspInit 0 */
|
|
/* TIM1 clock enable */
|
|
__HAL_RCC_TIM1_CLK_ENABLE();
|
|
|
|
/* TIM1 interrupt Init */
|
|
HAL_NVIC_SetPriority(TIM1_UP_IRQn, 5, 0);
|
|
HAL_NVIC_EnableIRQ(TIM1_UP_IRQn);
|
|
/* USER CODE BEGIN TIM1_MspInit 1 */
|
|
|
|
/* USER CODE END TIM1_MspInit 1 */
|
|
}
|
|
else if(tim_baseHandle->Instance==TIM3)
|
|
{
|
|
/* USER CODE BEGIN TIM3_MspInit 0 */
|
|
|
|
/* USER CODE END TIM3_MspInit 0 */
|
|
/* TIM3 clock enable */
|
|
__HAL_RCC_TIM3_CLK_ENABLE();
|
|
|
|
__HAL_RCC_GPIOA_CLK_ENABLE();
|
|
/**TIM3 GPIO Configuration
|
|
PA6 ------> TIM3_CH1
|
|
*/
|
|
GPIO_InitStruct.Pin = GPIO_PIN_6;
|
|
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
|
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
|
|
|
/* TIM3 interrupt Init */
|
|
HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
|
|
HAL_NVIC_EnableIRQ(TIM3_IRQn);
|
|
/* USER CODE BEGIN TIM3_MspInit 1 */
|
|
|
|
/* USER CODE END TIM3_MspInit 1 */
|
|
}
|
|
else if(tim_baseHandle->Instance==TIM4)
|
|
{
|
|
/* USER CODE BEGIN TIM4_MspInit 0 */
|
|
|
|
/* USER CODE END TIM4_MspInit 0 */
|
|
/* TIM4 clock enable */
|
|
__HAL_RCC_TIM4_CLK_ENABLE();
|
|
|
|
/* TIM4 interrupt Init */
|
|
HAL_NVIC_SetPriority(TIM4_IRQn, 0, 0);
|
|
HAL_NVIC_EnableIRQ(TIM4_IRQn);
|
|
/* USER CODE BEGIN TIM4_MspInit 1 */
|
|
|
|
/* USER CODE END TIM4_MspInit 1 */
|
|
}
|
|
}
|
|
|
|
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
|
|
{
|
|
|
|
if(tim_pwmHandle->Instance==TIM2)
|
|
{
|
|
/* USER CODE BEGIN TIM2_MspInit 0 */
|
|
|
|
/* USER CODE END TIM2_MspInit 0 */
|
|
/* TIM2 clock enable */
|
|
__HAL_RCC_TIM2_CLK_ENABLE();
|
|
/* USER CODE BEGIN TIM2_MspInit 1 */
|
|
|
|
/* USER CODE END TIM2_MspInit 1 */
|
|
}
|
|
}
|
|
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
|
|
{
|
|
|
|
GPIO_InitTypeDef GPIO_InitStruct = {0};
|
|
if(timHandle->Instance==TIM2)
|
|
{
|
|
/* USER CODE BEGIN TIM2_MspPostInit 0 */
|
|
|
|
/* USER CODE END TIM2_MspPostInit 0 */
|
|
|
|
__HAL_RCC_GPIOB_CLK_ENABLE();
|
|
/**TIM2 GPIO Configuration
|
|
PB10 ------> TIM2_CH3
|
|
PB11 ------> TIM2_CH4
|
|
*/
|
|
GPIO_InitStruct.Pin = HW_ELEC_BPWM_Pin|HW_ELEC_APWM_Pin;
|
|
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
|
|
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
|
|
|
__HAL_AFIO_REMAP_TIM2_PARTIAL_2();
|
|
|
|
/* USER CODE BEGIN TIM2_MspPostInit 1 */
|
|
|
|
/* USER CODE END TIM2_MspPostInit 1 */
|
|
}
|
|
|
|
}
|
|
|
|
void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
|
|
{
|
|
|
|
if(tim_baseHandle->Instance==TIM1)
|
|
{
|
|
/* USER CODE BEGIN TIM1_MspDeInit 0 */
|
|
|
|
/* USER CODE END TIM1_MspDeInit 0 */
|
|
/* Peripheral clock disable */
|
|
__HAL_RCC_TIM1_CLK_DISABLE();
|
|
|
|
/* TIM1 interrupt Deinit */
|
|
HAL_NVIC_DisableIRQ(TIM1_UP_IRQn);
|
|
/* USER CODE BEGIN TIM1_MspDeInit 1 */
|
|
|
|
/* USER CODE END TIM1_MspDeInit 1 */
|
|
}
|
|
else if(tim_baseHandle->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
|
|
PA6 ------> TIM3_CH1
|
|
*/
|
|
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_6);
|
|
|
|
/* TIM3 interrupt Deinit */
|
|
HAL_NVIC_DisableIRQ(TIM3_IRQn);
|
|
/* USER CODE BEGIN TIM3_MspDeInit 1 */
|
|
|
|
/* USER CODE END TIM3_MspDeInit 1 */
|
|
}
|
|
else if(tim_baseHandle->Instance==TIM4)
|
|
{
|
|
/* USER CODE BEGIN TIM4_MspDeInit 0 */
|
|
|
|
/* USER CODE END TIM4_MspDeInit 0 */
|
|
/* Peripheral clock disable */
|
|
__HAL_RCC_TIM4_CLK_DISABLE();
|
|
|
|
/* TIM4 interrupt Deinit */
|
|
HAL_NVIC_DisableIRQ(TIM4_IRQn);
|
|
/* USER CODE BEGIN TIM4_MspDeInit 1 */
|
|
|
|
/* USER CODE END TIM4_MspDeInit 1 */
|
|
}
|
|
}
|
|
|
|
void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle)
|
|
{
|
|
|
|
if(tim_pwmHandle->Instance==TIM2)
|
|
{
|
|
/* USER CODE BEGIN TIM2_MspDeInit 0 */
|
|
|
|
/* USER CODE END TIM2_MspDeInit 0 */
|
|
/* Peripheral clock disable */
|
|
__HAL_RCC_TIM2_CLK_DISABLE();
|
|
/* USER CODE BEGIN TIM2_MspDeInit 1 */
|
|
|
|
/* USER CODE END TIM2_MspDeInit 1 */
|
|
}
|
|
}
|
|
|
|
/* USER CODE BEGIN 1 */
|
|
/* USER CODE END 1 */
|
|
|
|
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|