mirror of
https://gitee.com/peng_zhihui/Dummy-Robot
synced 2025-11-04 20:49:40 +08:00
781 lines
20 KiB
C
781 lines
20 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 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****/
|