void pwmout_period_us(pwmout_t* obj, int us)
{
TimHandle.Instance = (TIM_TypeDef *)(obj->pwm);
float dc = pwmout_read(obj);
__HAL_TIM_DISABLE(&TimHandle);
TimHandle.Init.Period = us - 1;
TimHandle.Init.Prescaler = (uint16_t)(SystemCoreClock / 1000000) - 1; // 1 us tick
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
if (HAL_TIM_PWM_Init(&TimHandle) != HAL_OK) {
error("Cannot initialize PWM");
}
// Set duty cycle again
pwmout_write(obj, dc);
// Save for future use
obj->period = us;
__HAL_TIM_ENABLE(&TimHandle);
}
void pwmout_period_us(pwmout_t* obj, int us)
{
TimHandle.Instance = (TIM_TypeDef *)(obj->pwm);
float dc = pwmout_read(obj);
__HAL_TIM_DISABLE(&TimHandle);
// Update the SystemCoreClock variable
SystemCoreClockUpdate();
TimHandle.Init.Period = us - 1;
TimHandle.Init.Prescaler = (uint16_t)(SystemCoreClock / 1000000) - 1; // 1 µs tick
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_PWM_Init(&TimHandle);
// Set duty cycle again
pwmout_write(obj, dc);
// Save for future use
obj->period = us;
__HAL_TIM_ENABLE(&TimHandle);
}
// Clear timer counter to 0, and then start the timer
int timer_reset_n_go(hacs_timer_t tim)
{
TIM_HandleTypeDef *htim = &tim_handles[tim];
__HAL_TIM_DISABLE(htim);
__HAL_TIM_SetCounter(htim, 0);
__HAL_TIM_ENABLE(htim);
return HACS_NO_ERROR;
}
void
vMBPortTimersEnable( )
{
/* Enable the timer with the timeout passed to xMBPortTimersInit( ) */
/* Enable the timer with the timeout passed to xMBPortTimersInit( ) */
__HAL_TIM_CLEAR_IT(&htim6,TIM_IT_UPDATE);
__HAL_TIM_ENABLE_IT(&htim6,TIM_IT_UPDATE);
__HAL_TIM_SetCounter(&htim6,0);
__HAL_TIM_ENABLE(&htim6);
}
void
vMBPortTimersEnable( )
{
// HAL_UART_Transmit(&huart1, "t" , 1, 0xFFFF);
#if MB_TIMER_DEBUG == 1
PIO_Set( &xTimerDebugPins[0] );
#endif
TIM1->CNT = 0;
__HAL_TIM_ENABLE_IT(&htim1, TIM_IT_UPDATE);
__HAL_TIM_ENABLE(&htim1);
}
void pwmout_period_us(pwmout_t* obj, int us)
{
TimHandle.Instance = (TIM_TypeDef *)(obj->pwm);
float dc = pwmout_read(obj);
__HAL_TIM_DISABLE(&TimHandle);
SystemCoreClockUpdate();
/* To make it simple, we use to possible prescaler values which lead to:
* pwm unit = 1us, period/pulse can be from 1us to 65535us
* or
* pwm unit = 500us, period/pulse can be from 500us to ~32.76sec
* Be careful that all the channels of a PWM shares the same prescaler
*/
if (us > 0xFFFF) {
obj->prescaler = 500;
} else {
obj->prescaler = 1;
}
TimHandle.Init.Prescaler = ((SystemCoreClock / 1000000) * obj->prescaler) - 1;
if (TimHandle.Init.Prescaler > 0xFFFF)
error("PWM: out of range prescaler");
TimHandle.Init.Period = (us - 1) / obj->prescaler;
if (TimHandle.Init.Period > 0xFFFF)
error("PWM: out of range period");
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
if (HAL_TIM_PWM_Init(&TimHandle) != HAL_OK) {
error("Cannot initialize PWM\n");
}
// Save for future use
obj->period = us;
// Set duty cycle again
pwmout_write(obj, dc);
__HAL_TIM_ENABLE(&TimHandle);
}
void pwmout_period_ns (pwmout_t* obj, int pres)
{
TimHandle.Instance = (TIM_TypeDef *)(obj->pwm);
int ns = 2;
float dc = 0.5; // pwmout_read(obj);
__HAL_TIM_DISABLE(&TimHandle);
TimHandle.Init.Period = ns - 1;
TimHandle.Init.Prescaler = (uint16_t)(pres - 1); // (SystemCoreClock / 1000000) - 1; // 1 ns tick
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_PWM_Init(&TimHandle);
// Save for future use
obj->period = ns;
// Set duty cycle again
pwmout_write_ex (obj, dc);
__HAL_TIM_ENABLE(&TimHandle);
}
void pwmout_period_us(pwmout_t* obj, int us)
{
TimHandle.Instance = (TIM_TypeDef *)(obj->pwm);
RCC_ClkInitTypeDef RCC_ClkInitStruct;
uint32_t PclkFreq;
uint32_t APBxCLKDivider;
float dc = pwmout_read(obj);
__HAL_TIM_DISABLE(&TimHandle);
// Get clock configuration
// Note: PclkFreq contains here the Latency (not used after)
HAL_RCC_GetClockConfig(&RCC_ClkInitStruct, &PclkFreq);
// Get the PCLK and APBCLK divider related to the timer
switch (obj->pwm) {
// APB1 clock
case PWM_2:
case PWM_3:
case PWM_4:
case PWM_5:
case PWM_12:
case PWM_13:
case PWM_14:
PclkFreq = HAL_RCC_GetPCLK1Freq();
APBxCLKDivider = RCC_ClkInitStruct.APB1CLKDivider;
break;
// APB2 clock
case PWM_1:
case PWM_8:
case PWM_9:
case PWM_10:
case PWM_11:
PclkFreq = HAL_RCC_GetPCLK2Freq();
APBxCLKDivider = RCC_ClkInitStruct.APB2CLKDivider;
break;
default:
return;
}
/* To make it simple, we use to possible prescaler values which lead to:
* pwm unit = 1us, period/pulse can be from 1us to 65535us
* or
* pwm unit = 500us, period/pulse can be from 500us to ~32.76sec
* Be careful that all the channels of a PWM shares the same prescaler
*/
if (us > 0xFFFF) {
obj->prescaler = 500;
} else {
obj->prescaler = 1;
}
// TIMxCLK = PCLKx when the APB prescaler = 1 else TIMxCLK = 2 * PCLKx
if (APBxCLKDivider == RCC_HCLK_DIV1)
TimHandle.Init.Prescaler = (uint16_t)(((PclkFreq) / 1000000) * obj->prescaler) - 1; // 1 us tick
else
TimHandle.Init.Prescaler = (uint16_t)(((PclkFreq * 2) / 1000000) * obj->prescaler) - 1; // 1 us tick
if (TimHandle.Init.Prescaler > 0xFFFF)
error("PWM: out of range prescaler");
TimHandle.Init.Period = (us - 1) / obj->prescaler;
if (TimHandle.Init.Period > 0xFFFF)
error("PWM: out of range period");
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
if (HAL_TIM_PWM_Init(&TimHandle) != HAL_OK) {
error("Cannot initialize PWM\n");
}
// Save for future use
obj->period = us;
// Set duty cycle again
pwmout_write(obj, dc);
__HAL_TIM_ENABLE(&TimHandle);
}
void IMU::startTimerUpdate(void) {
__HAL_TIM_ENABLE(&TimHandle);
}
void MX_TIM_Init(void) {
__HAL_RCC_TIM1_CLK_ENABLE();
__HAL_RCC_TIM8_CLK_ENABLE();
TIM_MasterConfigTypeDef sMasterConfig;
TIM_OC_InitTypeDef sConfigOC;
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;
TIM_SlaveConfigTypeDef sTimConfig;
htim_right.Instance = RIGHT_TIM;
htim_right.Init.Prescaler = 0;
htim_right.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1;
htim_right.Init.Period = 64000000 / 2 / PWM_FREQ;
htim_right.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim_right.Init.RepetitionCounter = 0;
htim_right.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
HAL_TIM_PWM_Init(&htim_right);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_ENABLE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim_right, &sMasterConfig);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_LOW;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_SET;
HAL_TIM_PWM_ConfigChannel(&htim_right, &sConfigOC, TIM_CHANNEL_1);
HAL_TIM_PWM_ConfigChannel(&htim_right, &sConfigOC, TIM_CHANNEL_2);
HAL_TIM_PWM_ConfigChannel(&htim_right, &sConfigOC, TIM_CHANNEL_3);
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE;
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
sBreakDeadTimeConfig.DeadTime = DEAD_TIME;
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_LOW;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
HAL_TIMEx_ConfigBreakDeadTime(&htim_right, &sBreakDeadTimeConfig);
htim_left.Instance = LEFT_TIM;
htim_left.Init.Prescaler = 0;
htim_left.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1;
htim_left.Init.Period = 64000000 / 2 / PWM_FREQ;
htim_left.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim_left.Init.RepetitionCounter = 0;
htim_left.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
HAL_TIM_PWM_Init(&htim_left);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim_left, &sMasterConfig);
sTimConfig.InputTrigger = TIM_TS_ITR0;
sTimConfig.SlaveMode = TIM_SLAVEMODE_GATED;
HAL_TIM_SlaveConfigSynchronization(&htim_left, &sTimConfig);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_LOW;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_SET;
HAL_TIM_PWM_ConfigChannel(&htim_left, &sConfigOC, TIM_CHANNEL_1);
HAL_TIM_PWM_ConfigChannel(&htim_left, &sConfigOC, TIM_CHANNEL_2);
HAL_TIM_PWM_ConfigChannel(&htim_left, &sConfigOC, TIM_CHANNEL_3);
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE;
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
sBreakDeadTimeConfig.DeadTime = DEAD_TIME;
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_LOW;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
HAL_TIMEx_ConfigBreakDeadTime(&htim_left, &sBreakDeadTimeConfig);
LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;
RIGHT_TIM->BDTR &= ~TIM_BDTR_MOE;
HAL_TIM_PWM_Start(&htim_left, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim_left, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim_left, TIM_CHANNEL_3);
HAL_TIMEx_PWMN_Start(&htim_left, TIM_CHANNEL_1);
HAL_TIMEx_PWMN_Start(&htim_left, TIM_CHANNEL_2);
HAL_TIMEx_PWMN_Start(&htim_left, TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&htim_right, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim_right, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim_right, TIM_CHANNEL_3);
HAL_TIMEx_PWMN_Start(&htim_right, TIM_CHANNEL_1);
HAL_TIMEx_PWMN_Start(&htim_right, TIM_CHANNEL_2);
HAL_TIMEx_PWMN_Start(&htim_right, TIM_CHANNEL_3);
htim_left.Instance->RCR = 1;
__HAL_TIM_ENABLE(&htim_right);
}
void pwmout_period_us(pwmout_t* obj, int us)
{
TimHandle.Instance = (TIM_TypeDef *)(obj->pwm);
RCC_ClkInitTypeDef RCC_ClkInitStruct;
uint32_t PclkFreq;
uint32_t APBxCLKDivider;
float dc = pwmout_read(obj);
__HAL_TIM_DISABLE(&TimHandle);
// Get clock configuration
// Note: PclkFreq contains here the Latency (not used after)
HAL_RCC_GetClockConfig(&RCC_ClkInitStruct, &PclkFreq);
// Get the PCLK and APBCLK divider related to the timer
switch (obj->pwm) {
// APB1 clock
#if defined(TIM2_BASE)
case PWM_2:
#endif
#if defined(TIM3_BASE)
case PWM_3:
#endif
#if defined(TIM4_BASE)
case PWM_4:
#endif
#if defined(TIM5_BASE)
case PWM_5:
#endif
#if defined(TIM12_BASE)
case PWM_12:
#endif
#if defined(TIM13_BASE)
case PWM_13:
#endif
#if defined(TIM14_BASE)
case PWM_14:
#endif
PclkFreq = HAL_RCC_GetPCLK1Freq();
APBxCLKDivider = RCC_ClkInitStruct.APB1CLKDivider;
break;
// APB2 clock
#if defined(TIM1_BASE)
case PWM_1:
#endif
#if defined(TIM8_BASE)
case PWM_8:
#endif
#if defined(TIM9_BASE)
case PWM_9:
#endif
#if defined(TIM10_BASE)
case PWM_10:
#endif
#if defined(TIM11_BASE)
case PWM_11:
#endif
PclkFreq = HAL_RCC_GetPCLK2Freq();
APBxCLKDivider = RCC_ClkInitStruct.APB2CLKDivider;
break;
default:
return;
}
TimHandle.Init.Period = us - 1;
// TIMxCLK = PCLKx when the APB prescaler = 1 else TIMxCLK = 2 * PCLKx
if (APBxCLKDivider == RCC_HCLK_DIV1)
TimHandle.Init.Prescaler = (uint16_t)((PclkFreq) / 1000000) - 1; // 1 us tick
else
TimHandle.Init.Prescaler = (uint16_t)((PclkFreq * 2) / 1000000) - 1; // 1 us tick
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
if (HAL_TIM_PWM_Init(&TimHandle) != HAL_OK) {
error("Cannot initialize PWM\n");
}
// Set duty cycle again
pwmout_write(obj, dc);
// Save for future use
obj->period = us;
__HAL_TIM_ENABLE(&TimHandle);
}
/**
* @brief Timer Capture Callback function for Frequency Calculations
*/
void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
{
__HAL_TIM_DISABLE(htim);
if(htim->Instance == TIM9 || htim->Instance == TIM12)
{
/* Get the Input Capture value */
// if(tim9_12_flag == ENABLE)
uwIC2Value = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_1);
// else
// uwIC2Value = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_2);
if (uwIC2Value != 0)
{
/* Duty cycle computation */
// if(tim9_12_flag == ENABLE)
uwDutyCycle = ((HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_2)) * 100) / uwIC2Value;
// else
// uwDutyCycle = ((HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_1)) * 100) / uwIC2Value;
/* uwFrequency computation
TIM4 counter clock = (RCC_Clocks.HCLK_Frequency)/2 */
if(htim->Instance == TIM9)
uwFrequency1 = (168000000UL)/(TimCapPsc+1) / uwIC2Value;
else if(htim->Instance == TIM12)
uwFrequency1 = (168000000UL)/(2*(TimCapPsc+1)) / uwIC2Value;
}
else
{
uwDutyCycle = 0;
uwFrequency1 = 0;
}
}
else if(htim->Instance == TIM10 || htim->Instance == TIM11 || htim->Instance == TIM14 || htim->Instance == TIM13)
{
if(uhCaptureIndex == 0)
{
/* Get the 1st Input Capture value */
uwIC2Value1 = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_1);
uhCaptureIndex = 1;
}
else if(uhCaptureIndex == 1)
{
/* Get the 2nd Input Capture value */
uwIC2Value2 = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_1);
/* Capture computation */
if (uwIC2Value2 > uwIC2Value1)
{
uwDiffCapture = (uwIC2Value2 - uwIC2Value1);
}
else /* (uwIC2Value2 <= uwIC2Value1) */
{
uwDiffCapture = ((TimCapPeriod - uwIC2Value1) + uwIC2Value2);
}
/* Frequency computation: for this example TIMx (TIM1) is clocked by
2xAPB2Clk */
uwFrequency = (2*HAL_RCC_GetPCLK2Freq()) / uwDiffCapture;
if(htim->Instance == TIM10 || htim->Instance == TIM11)
uwFrequency = uwFrequency/(TimCapPsc+1);
else
uwFrequency = uwFrequency/(2*(TimCapPsc+1));
uhCaptureIndex = 0;
}
}
__HAL_TIM_ENABLE(htim);
}
