/**
* @brief Configure the TIMER peripheral.
* @param None
* @retval None
*/
void TIMER_Configuration(void)
{
/* ---------------------------------------------------------------------------
TIMER2 Configuration: Output Compare Toggle Mode:
TIMER2CLK = SystemCoreClock / 36000=2K,
CH2 update rate = TIMER2 counter clock / CHCC2 = 2000/4000 = 0.5 Hz
----------------------------------------------------------------------------*/
TIMER_BaseInitPara TIMER_TimeBaseStructure;
TIMER_OCInitPara TIMER_OCInitStructure;
/* TIMERS clock enable */
RCC_APB2PeriphClock_Enable(RCC_APB2PERIPH_TIMER1|RCC_APB2PERIPH_TIMER15|RCC_APB2PERIPH_TIMER16|RCC_APB2PERIPH_TIMER17,ENABLE);
RCC_APB1PeriphClock_Enable(RCC_APB1PERIPH_TIMER2|RCC_APB1PERIPH_TIMER3|RCC_APB1PERIPH_TIMER6|RCC_APB1PERIPH_TIMER14,ENABLE);
/* TIMER2 configuration */
TIMER_DeInit(TIMER2);
TIMER_TimeBaseStructure.TIMER_Prescaler = 35999;
TIMER_TimeBaseStructure.TIMER_CounterMode = TIMER_COUNTER_UP;
TIMER_TimeBaseStructure.TIMER_Period = 3999;
TIMER_TimeBaseStructure.TIMER_ClockDivision = TIMER_CDIV_DIV1;
TIMER_BaseInit(TIMER2,&TIMER_TimeBaseStructure);
/* CH2 Configuration in OC_TOGGLE mode */
TIMER_OCInitStructure.TIMER_OCMode = TIMER_OC_MODE_TOGGLE;
TIMER_OCInitStructure.TIMER_OCPolarity = TIMER_OC_POLARITY_HIGH;
TIMER_OCInitStructure.TIMER_OutputState = TIMER_OUTPUT_STATE_ENABLE;
TIMER_OCInitStructure.TIMER_Pulse = 3999;
TIMER_OC2_Init(TIMER2, &TIMER_OCInitStructure);
TIMER_OC2_Preload(TIMER2,TIMER_OC_PRELOAD_DISABLE);
/* Auto-reload preload enable */
TIMER_CARLPreloadConfig(TIMER2,ENABLE);
/* TIMER enable counter*/
TIMER_Enable( TIMER2, ENABLE );
}
/**
* @brief Configure the TIMER peripheral.
* @param None
* @retval None
*/
void TIM_Configuration(void)
{
/* -----------------------------------------------------------------------
TIMER2 Configuration: Single Pulse Mode
The external signal is connected to TIMER2 CH1 pin (PA0) and the Rising
edge is used as active edge.
The Single Pulse signal is output on TIMER2 CH2 pin (PA1).
The TIMER2CLK frequency is set to SystemCoreClock (Hz),the Prescaler is
4,so the TIMER2 counter clock is 27MHz.
Single Pulse value = (TIMER2_Period - TIMER2_Pulse) / TIMER2 counter clock
= (65535 - 11535) / 27M = 2.0 ms.
----------------------------------------------------------------------- */
TIMER_BaseInitPara TIMER_TimeBaseStructure;
TIMER_OCInitPara TIMER_OCInitStructure;
TIMER_ICInitPara TIM_ICInitStructure;
/* TIMER2 clock enable */
RCC_APB1PeriphClock_Enable(RCC_APB1PERIPH_TIMER2,ENABLE);
/* TIMER2 configuration */
TIMER_DeInit(TIMER2);
TIMER_TimeBaseStructure.TIMER_Prescaler = 3;
TIMER_TimeBaseStructure.TIMER_CounterMode = TIMER_COUNTER_UP;
TIMER_TimeBaseStructure.TIMER_Period = 65535;
TIMER_TimeBaseStructure.TIMER_ClockDivision = TIMER_CDIV_DIV1;
TIMER_BaseInit(TIMER2,&TIMER_TimeBaseStructure);
/* TIMER2 CH2 Configuration in PWM2 mode */
TIMER_OCInitStructure.TIMER_OCMode = TIMER_OC_MODE_PWM2;
TIMER_OCInitStructure.TIMER_OCPolarity = TIMER_OC_POLARITY_HIGH;
TIMER_OCInitStructure.TIMER_OutputState = TIMER_OUTPUT_STATE_ENABLE;
TIMER_OCInitStructure.TIMER_OCIdleState = TIMER_OC_IDLE_STATE_RESET;
TIMER_OCInitStructure.TIMER_Pulse = 11535;
TIMER_OC2_Init(TIMER2, &TIMER_OCInitStructure);
TIMER_OC2_Preload(TIMER2,TIMER_OC_PRELOAD_DISABLE);
/* TIMER2 CH1 Input Capture Configuration */
TIM_ICInitStructure.TIMER_CH = TIMER_CH_1;
TIM_ICInitStructure.TIMER_ICPolarity = TIMER_IC_POLARITY_FALLING;
TIM_ICInitStructure.TIMER_ICSelection = TIMER_IC_SELECTION_DIRECTTI;
TIM_ICInitStructure.TIMER_ICPrescaler = TIMER_IC_PSC_DIV1;
TIM_ICInitStructure.TIMER_ICFilter = 0x00;
TIMER_ICInit( TIMER2, &TIM_ICInitStructure);
/* Single Pulse Mode selection */
TIMER_SinglePulseMode(TIMER2,TIMER_SP_MODE_SINGLE);
/* Slave Mode selection : TIMER4 */
/* TIMER2 Input trigger : External Trigger connected to TI1 */
TIMER_SelectInputTrigger( TIMER2, TIMER_TS_TI1FP1);
TIMER_SelectSlaveMode( TIMER2, TIMER_SLAVE_MODE_TRIGGER);
}
/**
* @brief Configure the TIMER peripheral.
* @param None
* @retval None
*/
void TIMER_Configuration(void)
{
/* ---------------------------------------------------------------
TIMER2 Configuration:
TIMER2CLK = SystemCoreClock / 36000 = 2K,
And generate 3 signals with 3 different delays:
TIMER2_CH1 delay = 4000/2000 = 2s
TIMER2_CH2 delay = 8000/2000 = 4s
TIMER2_CH3 delay = 12000/2000 = 6s
--------------------------------------------------------------- */
TIMER_BaseInitPara TIMER_TimeBaseStructure;
TIMER_OCInitPara TIMER_OCInitStructure;
/* TIMERS clock enable */
RCC_APB2PeriphClock_Enable(RCC_APB2PERIPH_TIMER1|RCC_APB2PERIPH_TIMER15|RCC_APB2PERIPH_TIMER16|RCC_APB2PERIPH_TIMER17,ENABLE);
RCC_APB1PeriphClock_Enable(RCC_APB1PERIPH_TIMER2|RCC_APB1PERIPH_TIMER3|RCC_APB1PERIPH_TIMER6|RCC_APB1PERIPH_TIMER14,ENABLE);
/* TIMER2 configuration */
TIMER_DeInit(TIMER2);
TIMER_TimeBaseStructure.TIMER_Prescaler = 35999;
TIMER_TimeBaseStructure.TIMER_CounterMode = TIMER_COUNTER_UP;
TIMER_TimeBaseStructure.TIMER_Period = 19999;
TIMER_TimeBaseStructure.TIMER_ClockDivision = TIMER_CDIV_DIV1;
TIMER_BaseInit(TIMER2,&TIMER_TimeBaseStructure);
/* CH1,CH2 and CH3 Configuration in OC_ACTIVE mode */
TIMER_OCInitStructure.TIMER_OCMode = TIMER_OC_MODE_ACTIVE;
TIMER_OCInitStructure.TIMER_OCPolarity = TIMER_OC_POLARITY_HIGH;
TIMER_OCInitStructure.TIMER_OutputState = TIMER_OUTPUT_STATE_ENABLE;
TIMER_OCInitStructure.TIMER_Pulse = 3999;
TIMER_OC1_Init(TIMER2, &TIMER_OCInitStructure);
TIMER_OC1_Preload(TIMER2,TIMER_OC_PRELOAD_DISABLE);
TIMER_OCInitStructure.TIMER_Pulse = 7999;
TIMER_OC2_Init(TIMER2, &TIMER_OCInitStructure);
TIMER_OC2_Preload(TIMER2,TIMER_OC_PRELOAD_DISABLE);
TIMER_OCInitStructure.TIMER_Pulse = 11999;
TIMER_OC3_Init(TIMER2, &TIMER_OCInitStructure);
TIMER_OC3_Preload(TIMER2,TIMER_OC_PRELOAD_DISABLE);
/* Auto-reload preload enable */
TIMER_CARLPreloadConfig(TIMER2,ENABLE);
/* TIMER enable counter*/
TIMER_Enable( TIMER2, ENABLE );
}
/**
* @brief Configure the TIMER peripheral.
* @param None
* @retval None
*/
void TIMER_Configuration(void)
{
/* -----------------------------------------------------------------------
TIMER2 Configuration: generate 3 PWM signals with 3 different duty cycles:
TIMER2CLK = SystemCoreClock / 72 = 1MHz
TIMER2 Channel2 duty cycle = (4000/ 16000)* 100 = 25%
TIMER2 Channel3 duty cycle = (8000/ 16000)* 100 = 50%
TIMER2 Channel4 duty cycle = (12000/ 16000)* 100 = 75%
----------------------------------------------------------------------- */
TIMER_BaseInitPara TIMER_TimeBaseStructure;
TIMER_OCInitPara TIMER_OCInitStructure;
/* TIMERS clock enable */
RCC_APB2PeriphClock_Enable(RCC_APB2PERIPH_TIMER1|RCC_APB2PERIPH_TIMER15|RCC_APB2PERIPH_TIMER16|RCC_APB2PERIPH_TIMER17,ENABLE);
RCC_APB1PeriphClock_Enable(RCC_APB1PERIPH_TIMER2|RCC_APB1PERIPH_TIMER3|RCC_APB1PERIPH_TIMER6|RCC_APB1PERIPH_TIMER14,ENABLE);
/* TIMER2 configuration */
TIMER_DeInit(TIMER2);
TIMER_TimeBaseStructure.TIMER_Prescaler = 71;
TIMER_TimeBaseStructure.TIMER_CounterMode = TIMER_COUNTER_UP;
TIMER_TimeBaseStructure.TIMER_Period = 15999;
TIMER_TimeBaseStructure.TIMER_ClockDivision = TIMER_CDIV_DIV1;
TIMER_BaseInit(TIMER2,&TIMER_TimeBaseStructure);
/* CH2,CH3 and CH4 Configuration in PWM mode */
TIMER_OCInitStructure.TIMER_OCMode = TIMER_OC_MODE_PWM1;
TIMER_OCInitStructure.TIMER_OCPolarity = TIMER_OC_POLARITY_HIGH;
TIMER_OCInitStructure.TIMER_OutputState = TIMER_OUTPUT_STATE_ENABLE;
TIMER_OCInitStructure.TIMER_Pulse = 3999;
TIMER_OC2_Init(TIMER2, &TIMER_OCInitStructure);
TIMER_OC2_Preload(TIMER2,TIMER_OC_PRELOAD_DISABLE);
TIMER_OCInitStructure.TIMER_Pulse = 7999;
TIMER_OC3_Init(TIMER2, &TIMER_OCInitStructure);
TIMER_OC3_Preload(TIMER2,TIMER_OC_PRELOAD_DISABLE);
TIMER_OCInitStructure.TIMER_Pulse = 11999;
TIMER_OC4_Init(TIMER2, &TIMER_OCInitStructure);
TIMER_OC4_Preload(TIMER2,TIMER_OC_PRELOAD_DISABLE);
/* Auto-reload preload enable */
TIMER_CARLPreloadConfig(TIMER2,ENABLE);
/* TIMER enable counter*/
TIMER_Enable( TIMER2, ENABLE );
}
void pwm_init(void)
{
GPIO_InitPara GPIO_InitStructure;
// timer 3 pin PB1 config ( ch4 )
GPIO_InitStructure.GPIO_Pin = GPIO_PIN_1;
GPIO_InitStructure.GPIO_Mode = GPIO_MODE_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_SPEED_50MHZ;
GPIO_InitStructure.GPIO_OType = GPIO_OTYPE_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PUPD_PULLDOWN;
GPIO_Init(GPIOB,&GPIO_InitStructure);
GPIO_PinAFConfig(GPIOB,GPIO_PINSOURCE1,GPIO_AF_1);
// GPIO pins PA8 , 9 ,10 setup ( Timer1 ch 1 , 2 , 3)
GPIO_InitStructure.GPIO_Pin = GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_10;
GPIO_Init(GPIOA,&GPIO_InitStructure);
GPIO_PinAFConfig(GPIOA,GPIO_PINSOURCE8,GPIO_AF_2);
GPIO_PinAFConfig(GPIOA,GPIO_PINSOURCE9,GPIO_AF_2);
GPIO_PinAFConfig(GPIOA,GPIO_PINSOURCE10,GPIO_AF_2);
TIMER_BaseInitPara TIM_TimeBaseStructure;
RCC_APB2PeriphClock_Enable(RCC_APB2PERIPH_TIMER1,ENABLE);
RCC_APB1PeriphClock_Enable(RCC_APB1PERIPH_TIMER3,ENABLE);
// TIMER3 for pins A8 A9 A10
TIM_TimeBaseStructure.TIMER_Prescaler = TIMER_PRESCALER - 1; //
TIM_TimeBaseStructure.TIMER_CounterMode = TIMER_COUNTER_UP;
TIM_TimeBaseStructure.TIMER_Period = PWMTOP;
TIM_TimeBaseStructure.TIMER_ClockDivision = TIMER_CDIV_DIV1;
TIMER_BaseInit(TIMER3,&TIM_TimeBaseStructure);
//Ch1 , 2 , 3
TIM_OCInitStructure.TIMER_OCMode = TIMER_OC_MODE_PWM1;
TIM_OCInitStructure.TIMER_OCPolarity = OUT_POLARITY;
TIM_OCInitStructure.TIMER_OutputState = TIMER_OUTPUT_STATE_ENABLE;
TIM_OCInitStructure.TIMER_OCIdleState = TIMER_OC_IDLE_STATE_RESET;
TIM_OCInitStructure.TIMER_Pulse = 0;
TIMER_OC4_Init(TIMER3, &TIM_OCInitStructure);
TIMER_CtrlPWMOutputs(TIMER3,ENABLE);
TIMER_CARLPreloadConfig(TIMER3,ENABLE);
TIMER_Enable( TIMER3, ENABLE );
TIMER_BaseInit(TIMER1,&TIM_TimeBaseStructure);
TIMER_OC1_Init(TIMER1, &TIM_OCInitStructure);
TIMER_OC2_Init(TIMER1, &TIM_OCInitStructure);
TIMER_OC3_Init(TIMER1, &TIM_OCInitStructure);
TIMER_CtrlPWMOutputs(TIMER1,ENABLE);
TIMER_CARLPreloadConfig(TIMER1,ENABLE);
TIMER_OC1_Preload(TIMER1,ESC_PRELOAD);
TIMER_OC2_Preload(TIMER1,ESC_PRELOAD);
TIMER_OC3_Preload(TIMER1,ESC_PRELOAD);
TIMER_OC4_Preload(TIMER3,ESC_PRELOAD);
TIMER_Enable( TIMER1, ENABLE );
}
void pwm_init(void)
{
GPIO_InitPara GPIO_InitStructure;
//pin A0 TM2_ch1
GPIO_InitStructure.GPIO_Pin = GPIO_PIN_1;
GPIO_InitStructure.GPIO_Mode = GPIO_MODE_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_SPEED_50MHZ;
GPIO_InitStructure.GPIO_OType = GPIO_OTYPE_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PUPD_PULLDOWN;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOA, GPIO_PINSOURCE1, GPIO_AF_2);
TIMER_BaseInitPara TIM_TimeBaseStructure;
RCC_APB1PeriphClock_Enable(RCC_APB1PERIPH_TIMER2 |
RCC_APB1PERIPH_TIMER14 |
RCC_APB1PERIPH_TIMER3, ENABLE);
RCC_APB2PeriphClock_Enable(RCC_APB2PERIPH_TIMER1, ENABLE);
// timer 2
TIM_TimeBaseStructure.TIMER_Prescaler = TIMER_PRESCALER - 1; //
TIM_TimeBaseStructure.TIMER_CounterMode = TIMER_COUNTER_CENTER_ALIGNED2;
TIM_TimeBaseStructure.TIMER_Period = PWMTOP;
TIM_TimeBaseStructure.TIMER_ClockDivision = TIMER_CDIV_DIV1;
// init timer 2
TIMER_BaseInit(TIMER2, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIMER_OCMode = TIMER_OC_MODE_PWM1;
TIM_OCInitStructure.TIMER_OCPolarity = TIMER_OC_POLARITY_HIGH;
TIM_OCInitStructure.TIMER_OutputState = TIMER_OUTPUT_STATE_ENABLE;
TIM_OCInitStructure.TIMER_OCIdleState = TIMER_OC_IDLE_STATE_RESET;
TIM_OCInitStructure.TIMER_Pulse = 0;
TIMER_OC2_Init(TIMER2, &TIM_OCInitStructure);
TIMER_CtrlPWMOutputs(TIMER2, ENABLE);
TIMER_CARLPreloadConfig(TIMER2, ENABLE);
TIMER_OC2_Preload(TIMER2, TIMER_OC_PRELOAD_DISABLE);
// pin A3
GPIO_InitStructure.GPIO_Pin = GPIO_PIN_3;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOA, GPIO_PINSOURCE3, GPIO_AF_2);
TIMER_OC4_Init(TIMER2, &TIM_OCInitStructure);
TIMER_OC4_Preload(TIMER2, TIMER_OC_PRELOAD_DISABLE);
// TIMER_Enable( TIMER2, ENABLE );
// timer 1 ch3 , ch1
// pins A10 , A8
GPIO_InitStructure.GPIO_Pin = GPIO_PIN_10 | GPIO_PIN_8;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOA, GPIO_PINSOURCE10, GPIO_AF_2);
GPIO_PinAFConfig(GPIOA, GPIO_PINSOURCE8, GPIO_AF_2);
// timer 1
// init timer 1
TIMER_BaseInit(TIMER1, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIMER_Pulse = 0;
TIMER_OC3_Init(TIMER1, &TIM_OCInitStructure);
TIMER_OC1_Init(TIMER1, &TIM_OCInitStructure);
TIMER_CtrlPWMOutputs(TIMER1, ENABLE);
TIMER_CARLPreloadConfig(TIMER1, ENABLE);
TIMER_OC3_Preload(TIMER1, TIMER_OC_PRELOAD_DISABLE);
TIMER_OC1_Preload(TIMER1, TIMER_OC_PRELOAD_DISABLE);
// bridge dir 2
///////////////
//pin A9 TM1_ch2
GPIO_InitStructure.GPIO_Pin = GPIO_PIN_9;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOA, GPIO_PINSOURCE9, GPIO_AF_2);
// timer 1
// init timer 1
TIMER_BaseInit(TIMER1, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIMER_Pulse = 0;
TIMER_OC2_Init(TIMER2, &TIM_OCInitStructure);
TIMER_CtrlPWMOutputs(TIMER1, ENABLE);
TIMER_CARLPreloadConfig(TIMER1, ENABLE);
TIMER_OC2_Preload(TIMER1, TIMER_OC_PRELOAD_DISABLE);
// timer 3 PB1 af1 ch4
GPIO_InitStructure.GPIO_Pin = GPIO_PIN_1;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOB, GPIO_PINSOURCE1, GPIO_AF_1);
// timer 3
// init timer 3
TIMER_BaseInit(TIMER3, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIMER_Pulse = 0;
TIMER_OC4_Init(TIMER3, &TIM_OCInitStructure);
TIMER_CtrlPWMOutputs(TIMER3, ENABLE);
TIMER_CARLPreloadConfig(TIMER3, ENABLE);
TIMER_OC4_Preload(TIMER3, TIMER_OC_PRELOAD_DISABLE);
// A0
// Timer2 ch1
GPIO_InitStructure.GPIO_Pin = GPIO_PIN_0;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOA, GPIO_PINSOURCE0, GPIO_AF_2);
// timer 2
// init timer 2
TIMER_BaseInit(TIMER2, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIMER_Pulse = 0;
TIMER_OC1_Init(TIMER2, &TIM_OCInitStructure);
TIMER_CtrlPWMOutputs(TIMER2, ENABLE);
TIMER_CARLPreloadConfig(TIMER2, ENABLE);
TIMER_OC1_Preload(TIMER2, TIMER_OC_PRELOAD_DISABLE);
// PA2 tm2 ch3
GPIO_InitStructure.GPIO_Pin = GPIO_PIN_2;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOA, GPIO_PINSOURCE2, GPIO_AF_2);
TIMER_OC3_Init(TIMER2, &TIM_OCInitStructure);
TIMER_OC3_Preload(TIMER2, TIMER_OC_PRELOAD_DISABLE);
TIMER_Enable(TIMER3, ENABLE);
TIMER_Enable(TIMER1, ENABLE);
TIMER_Enable(TIMER2, ENABLE);
}