360 lines
9.8 KiB
C
360 lines
9.8 KiB
C
/* USER CODE BEGIN Header */
|
|
/**
|
|
******************************************************************************
|
|
* @file tim.c
|
|
* @brief This file provides code for the configuration
|
|
* of the TIM instances.
|
|
******************************************************************************
|
|
* @attention
|
|
*
|
|
* Copyright (c) 2024 STMicroelectronics.
|
|
* All rights reserved.
|
|
*
|
|
* This software is licensed under terms that can be found in the LICENSE file
|
|
* in the root directory of this software component.
|
|
* If no LICENSE file comes with this software, it is provided AS-IS.
|
|
*
|
|
******************************************************************************
|
|
*/
|
|
/* USER CODE END Header */
|
|
/* Includes ------------------------------------------------------------------*/
|
|
#include "tim.h"
|
|
|
|
/* USER CODE BEGIN 0 */
|
|
|
|
/* USER CODE END 0 */
|
|
|
|
TIM_HandleTypeDef htim1;
|
|
TIM_HandleTypeDef htim7;
|
|
TIM_HandleTypeDef htim15;
|
|
|
|
/* TIM1 init function */
|
|
void MX_TIM1_Init(void)
|
|
{
|
|
|
|
/* USER CODE BEGIN TIM1_Init 0 */
|
|
|
|
/* USER CODE END TIM1_Init 0 */
|
|
|
|
TIM_MasterConfigTypeDef sMasterConfig = {0};
|
|
TIM_OC_InitTypeDef sConfigOC = {0};
|
|
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
|
|
|
|
/* USER CODE BEGIN TIM1_Init 1 */
|
|
|
|
/* USER CODE END TIM1_Init 1 */
|
|
htim1.Instance = TIM1;
|
|
htim1.Init.Prescaler = 720-1;
|
|
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
|
|
htim1.Init.Period = 100-1;
|
|
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
|
|
htim1.Init.RepetitionCounter = 0;
|
|
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
|
|
if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
|
|
sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
|
|
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
|
|
if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
sConfigOC.OCMode = TIM_OCMODE_PWM1;
|
|
sConfigOC.Pulse = 100;
|
|
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
|
|
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
|
|
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
|
|
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
|
|
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
|
|
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
|
|
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
|
|
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
|
|
sBreakDeadTimeConfig.DeadTime = 0;
|
|
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
|
|
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
|
|
sBreakDeadTimeConfig.BreakFilter = 0;
|
|
sBreakDeadTimeConfig.Break2State = TIM_BREAK2_DISABLE;
|
|
sBreakDeadTimeConfig.Break2Polarity = TIM_BREAK2POLARITY_HIGH;
|
|
sBreakDeadTimeConfig.Break2Filter = 0;
|
|
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
|
|
if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
/* USER CODE BEGIN TIM1_Init 2 */
|
|
|
|
/* USER CODE END TIM1_Init 2 */
|
|
HAL_TIM_MspPostInit(&htim1);
|
|
|
|
}
|
|
/* 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 = 0;
|
|
htim7.Init.CounterMode = TIM_COUNTERMODE_UP;
|
|
htim7.Init.Period = 65535;
|
|
htim7.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
|
|
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 */
|
|
|
|
}
|
|
/* TIM15 init function */
|
|
void MX_TIM15_Init(void)
|
|
{
|
|
|
|
/* USER CODE BEGIN TIM15_Init 0 */
|
|
|
|
/* USER CODE END TIM15_Init 0 */
|
|
|
|
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
|
|
TIM_MasterConfigTypeDef sMasterConfig = {0};
|
|
TIM_OC_InitTypeDef sConfigOC = {0};
|
|
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
|
|
|
|
/* USER CODE BEGIN TIM15_Init 1 */
|
|
|
|
/* USER CODE END TIM15_Init 1 */
|
|
htim15.Instance = TIM15;
|
|
htim15.Init.Prescaler = 72-1;
|
|
htim15.Init.CounterMode = TIM_COUNTERMODE_UP;
|
|
htim15.Init.Period = 20000-1;
|
|
htim15.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
|
|
htim15.Init.RepetitionCounter = 0;
|
|
htim15.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
|
|
if (HAL_TIM_Base_Init(&htim15) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
|
|
if (HAL_TIM_ConfigClockSource(&htim15, &sClockSourceConfig) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
if (HAL_TIM_PWM_Init(&htim15) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
|
|
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
|
|
if (HAL_TIMEx_MasterConfigSynchronization(&htim15, &sMasterConfig) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
sConfigOC.OCMode = TIM_OCMODE_PWM1;
|
|
sConfigOC.Pulse = 0;
|
|
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
|
|
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
|
|
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
|
|
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
|
|
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
|
|
if (HAL_TIM_PWM_ConfigChannel(&htim15, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
sConfigOC.Pulse = 500;
|
|
if (HAL_TIM_PWM_ConfigChannel(&htim15, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
|
|
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
|
|
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
|
|
sBreakDeadTimeConfig.DeadTime = 0;
|
|
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
|
|
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
|
|
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
|
|
if (HAL_TIMEx_ConfigBreakDeadTime(&htim15, &sBreakDeadTimeConfig) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
/* USER CODE BEGIN TIM15_Init 2 */
|
|
|
|
/* USER CODE END TIM15_Init 2 */
|
|
HAL_TIM_MspPostInit(&htim15);
|
|
|
|
}
|
|
|
|
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
|
|
{
|
|
|
|
if(tim_pwmHandle->Instance==TIM1)
|
|
{
|
|
/* USER CODE BEGIN TIM1_MspInit 0 */
|
|
|
|
/* USER CODE END TIM1_MspInit 0 */
|
|
/* TIM1 clock enable */
|
|
__HAL_RCC_TIM1_CLK_ENABLE();
|
|
/* USER CODE BEGIN TIM1_MspInit 1 */
|
|
|
|
/* USER CODE END TIM1_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, 0, 0);
|
|
HAL_NVIC_EnableIRQ(TIM7_IRQn);
|
|
/* USER CODE BEGIN TIM7_MspInit 1 */
|
|
|
|
/* USER CODE END TIM7_MspInit 1 */
|
|
}
|
|
else if(tim_baseHandle->Instance==TIM15)
|
|
{
|
|
/* USER CODE BEGIN TIM15_MspInit 0 */
|
|
|
|
/* USER CODE END TIM15_MspInit 0 */
|
|
/* TIM15 clock enable */
|
|
__HAL_RCC_TIM15_CLK_ENABLE();
|
|
/* USER CODE BEGIN TIM15_MspInit 1 */
|
|
|
|
/* USER CODE END TIM15_MspInit 1 */
|
|
}
|
|
}
|
|
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
|
|
{
|
|
|
|
GPIO_InitTypeDef GPIO_InitStruct = {0};
|
|
if(timHandle->Instance==TIM1)
|
|
{
|
|
/* USER CODE BEGIN TIM1_MspPostInit 0 */
|
|
|
|
/* USER CODE END TIM1_MspPostInit 0 */
|
|
__HAL_RCC_GPIOE_CLK_ENABLE();
|
|
/**TIM1 GPIO Configuration
|
|
PE9 ------> TIM1_CH1
|
|
*/
|
|
GPIO_InitStruct.Pin = LED_B_Pin;
|
|
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
|
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
|
|
HAL_GPIO_Init(LED_B_GPIO_Port, &GPIO_InitStruct);
|
|
|
|
/* USER CODE BEGIN TIM1_MspPostInit 1 */
|
|
|
|
/* USER CODE END TIM1_MspPostInit 1 */
|
|
}
|
|
else if(timHandle->Instance==TIM15)
|
|
{
|
|
/* USER CODE BEGIN TIM15_MspPostInit 0 */
|
|
|
|
/* USER CODE END TIM15_MspPostInit 0 */
|
|
|
|
__HAL_RCC_GPIOB_CLK_ENABLE();
|
|
/**TIM15 GPIO Configuration
|
|
PB13 ------> TIM15_CH1N
|
|
PB15 ------> TIM15_CH2
|
|
*/
|
|
GPIO_InitStruct.Pin = PWMB_Pin|SERVO_Pin;
|
|
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
|
GPIO_InitStruct.Alternate = GPIO_AF14_TIM15;
|
|
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
|
|
|
/* USER CODE BEGIN TIM15_MspPostInit 1 */
|
|
|
|
/* USER CODE END TIM15_MspPostInit 1 */
|
|
}
|
|
|
|
}
|
|
|
|
void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle)
|
|
{
|
|
|
|
if(tim_pwmHandle->Instance==TIM1)
|
|
{
|
|
/* USER CODE BEGIN TIM1_MspDeInit 0 */
|
|
|
|
/* USER CODE END TIM1_MspDeInit 0 */
|
|
/* Peripheral clock disable */
|
|
__HAL_RCC_TIM1_CLK_DISABLE();
|
|
/* USER CODE BEGIN TIM1_MspDeInit 1 */
|
|
|
|
/* USER CODE END TIM1_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==TIM15)
|
|
{
|
|
/* USER CODE BEGIN TIM15_MspDeInit 0 */
|
|
|
|
/* USER CODE END TIM15_MspDeInit 0 */
|
|
/* Peripheral clock disable */
|
|
__HAL_RCC_TIM15_CLK_DISABLE();
|
|
/* USER CODE BEGIN TIM15_MspDeInit 1 */
|
|
|
|
/* USER CODE END TIM15_MspDeInit 1 */
|
|
}
|
|
}
|
|
|
|
/* USER CODE BEGIN 1 */
|
|
int NewCCRValue(int now_ccr,int plus,int maxvalue)
|
|
{
|
|
if(now_ccr+plus>maxvalue&&plus>0)
|
|
{
|
|
return now_ccr;
|
|
}
|
|
if(now_ccr+plus<0&&plus<0)
|
|
{
|
|
return now_ccr;
|
|
}
|
|
return now_ccr+plus;
|
|
}
|
|
/* USER CODE END 1 */
|