void ENC1_Init(void)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 ;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOA,GPIO_PinSource0,GPIO_AF_TIM2);
/*NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);*/
/* Timer configuration in Encoder mode */
TIM_DeInit(TIM2);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // No prescaling
TIM_TimeBaseStructure.TIM_Period = 40000-1;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI1,TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 0xe;
TIM_ICInit(TIM2, &TIM_ICInitStructure);
// Clear all pending interrupts
TIM_ClearFlag(TIM2, TIM_FLAG_Update);
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
TIM_SetCounter(TIM2,0);
TIM2->CNT = 0;
TIM_Cmd(TIM2, ENABLE);
}
static void DacInitDmaAndTimer()
{
uint32_t prescaler;
uint32_t period;
prescaler = 1;
period = (3500)/2;
DMA_InitTypeDef DMA_InitStructure;
DMA_InitStructure.DMA_Channel = DMA_Channel_7;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&DAC->DHR12R1;
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&g_sinusBuffer;
DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
DMA_InitStructure.DMA_BufferSize = SinusBufferSize;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(DMA1_Stream5, &DMA_InitStructure);
DMA_Cmd(DMA1_Stream5, ENABLE);
DAC_Cmd(DAC_Channel_1, ENABLE);
DAC_DMACmd(DAC_Channel_1, ENABLE);
//168 MHz / TIM_Prescaler / TIM_Period
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = period-1;
TIM_TimeBaseStructure.TIM_Prescaler = prescaler-1;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
//TIM_SetCounter(TIM2, 0);
TIM_SelectOutputTrigger(TIM2, TIM_TRGOSource_Update);
g_dac_period = period * prescaler * SinusBufferSize;
}
void TIM2_Config(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = 60000000/8000;
TIM_TimeBaseStructure.TIM_Prescaler = 7;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
TIM_SelectOutputTrigger(TIM2, TIM_TRGOSource_Update);
TIM_ITConfig(TIM2,TIM2_IRQn, ENABLE);
NVIC_EnableIRQ(TIM2_IRQn);
TIM_Cmd(TIM2, ENABLE);
}
// Set sample Time via recieve Command
// Set ADC Channel numbers via recieve Command
void TIM2_Configuration(void)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
/* Time base configuration */
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure); //500000
TIM_TimeBaseStructure.TIM_Period = (84000000 / 200000) - 1; // 200 KHz, from 84 MHz TIM2CLK (ie APB1 = HCLK/4, TIM2CLK = HCLK/2)
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
/* TIM2 TRGO selection */
TIM_SelectOutputTrigger(TIM2, TIM_TRGOSource_Update); // ADC_ExternalTrigConv_T2_TRGO
/* TIM2 enable counter */
TIM_Cmd(TIM2, ENABLE);
}
int32_t PIOS_DELAY_Init(void)
{
/* Enable timer clock */
PIOS_DELAY_TIMER_RCC_FUNC;
/* Time base configuration */
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = 65535; // maximum value
TIM_TimeBaseStructure.TIM_Prescaler = 72-1; // for 1 uS accuracy fixed to 72Mhz
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(PIOS_DELAY_TIMER, &TIM_TimeBaseStructure);
/* Enable counter */
TIM_Cmd(PIOS_DELAY_TIMER, ENABLE);
/* No error */
return 0;
}
/**
* @brief TIM6 Configuration
* @note TIM6 configuration is based on CPU @168MHz and APB1 @42MHz
* @note TIM6 Update event occurs each 37.5MHz/256 = 16.406 KHz
* @param None
* @retval None
*/
void TIM6_Config(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
/* TIM6 Periph clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
/* Time base configuration */
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = 0xFF;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM6, &TIM_TimeBaseStructure);
/* TIM6 TRGO selection */
TIM_SelectOutputTrigger(TIM6, TIM_TRGOSource_Update);
/* TIM6 enable counter */
TIM_Cmd(TIM6, ENABLE);
}
/* Configure and enable RCC for peripherals (ADC1, ADC2, Timer) */
static inline void adc_init_rcc( void )
{ // {{{
#if defined (USE_AD1) || defined (USE_AD2)
TIM_TypeDef * timer;
uint32_t rcc_apb;
#if defined(USE_AD_TIM4)
timer = TIM4;
rcc_apb = RCC_APB1Periph_TIM4;
#elif defined(USE_AD_TIM1)
timer = TIM1;
rcc_apb = RCC_APB2Periph_TIM1;
#else
timer = TIM2;
rcc_apb = RCC_APB1Periph_TIM2;
#endif
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
RCC_ADCCLKConfig(RCC_PCLK2_Div2);
RCC_APB1PeriphClockCmd(rcc_apb, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB |
RCC_APB2Periph_GPIOC, ENABLE);
#ifdef USE_AD1
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);
#endif
#ifdef USE_AD2
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC2, ENABLE);
#endif
/* Time Base configuration */
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = 0xFF;
TIM_TimeBaseStructure.TIM_Prescaler = 0x8;
TIM_TimeBaseStructure.TIM_ClockDivision = 0x0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(timer, &TIM_TimeBaseStructure);
TIM_SelectOutputTrigger(timer, TIM_TRGOSource_Update);
TIM_Cmd(timer, ENABLE);
#endif // defined (USE_AD1) || defined (USE_AD2)
} // }}}
/*
*********************************************************************************************************
* 函 数 名: TIM6_Config
* 功能说明: 配置定时器6，用于触发DAC。
* 形 参: 无
* 返 回 值: 无
*********************************************************************************************************
*/
void TIM6_Config(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
/* 使能TIM6时钟 */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
/* --------------------------------------------------------
system_stm32f4xx.c 文件中 void SetSysClock(void) 函数对时钟的配置如下：
HCLK = SYSCLK / 1 (AHB1Periph)
PCLK2 = HCLK / 2 (APB2Periph)
PCLK1 = HCLK / 4 (APB1Periph)
因为APB1 prescaler != 1, 所以 APB1上的TIMxCLK = PCLK1 x 2 = SystemCoreClock / 2;
因为APB2 prescaler != 1, 所以 APB2上的TIMxCLK = PCLK2 x 2 = SystemCoreClock;
APB1 定时器有 TIM2, TIM3 ,TIM4, TIM5, TIM6, TIM7, TIM12, TIM13, TIM14
APB2 定时器有 TIM1, TIM8 ,TIM9, TIM10, TIM11
TIM6 更新周期是 = TIM6CLK / （TIM_Period + 1）/（TIM_Prescaler + 1）
根据如下的配置，更新周期是：
TIM6CLK / （TIM_Period + 1）/（TIM_Prescaler + 1）
= 84MHz /（55+1）/（0+1）
= 1.5MHz
----------------------------------------------------------- */
/* 配置TIM6 */
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = 83;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM6, &TIM_TimeBaseStructure);
/* TIM6 TRGO 选择 */
TIM_SelectOutputTrigger(TIM6, TIM_TRGOSource_Update);
/* 使能TIM6 */
TIM_Cmd(TIM6, ENABLE);
}
void BSP_Timer_Init()
{
NVIC_InitTypeDef NVICInit;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
NVICInit.NVIC_IRQChannel = TIM5_IRQn;
NVICInit.NVIC_IRQChannelPreemptionPriority = 2;
NVICInit.NVIC_IRQChannelSubPriority = 0;
NVICInit.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVICInit);
TIM_TimeBaseStructInit(&TIMInit);
TIMInit.TIM_Prescaler = 0;
TIMInit.TIM_CounterMode = TIM_CounterMode_Up;
TIMInit.TIM_Period = 0;
TIMInit.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInit(TIM5, &TIMInit);
TIM_InternalClockConfig(TIM5);
}
//------------------------------------------------------------------------------
void tim_init(void)
{
TIM_TimeBaseInitTypeDef timInit;
NVIC_InitTypeDef nvicInit;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
TIM_TimeBaseStructInit(&timInit);
timInit.TIM_Period = 10000; // ms = 10 sec
timInit.TIM_Prescaler = (uint16_t) (SystemCoreClock / 1000) - 1;
TIM_TimeBaseInit(TIM2, &timInit);
nvicInit.NVIC_IRQChannel = TIM2_IRQn;
nvicInit.NVIC_IRQChannelPriority = 3;
nvicInit.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&nvicInit);
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
TIM_Cmd(TIM2, ENABLE);
}
void TS_Init()
{
TS_SPIx = TS_HAL_Init();
spi_init(TS_SPIx, 32);
// timer for request touch coords time by time
RCC_ClocksTypeDef clocks;
RCC_GetClocksFreq(&clocks);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
TIM_TimeBaseInitTypeDef timer_struct;
TIM_TimeBaseStructInit(&timer_struct);
timer_struct.TIM_Period = 999;
timer_struct.TIM_Prescaler = (clocks.SYSCLK_Frequency/TOUCH_UPDATE_FREQUENCY/(timer_struct.TIM_Period+1)) - 1; // 10 Hz
TIM_TimeBaseInit(TIM5, &timer_struct);
TIM_ITConfig(TIM5, TIM_IT_Update, ENABLE);
TIM_Cmd(TIM5, DISABLE);
NVIC_EnableIRQ(TIM5_IRQn);
NVIC_SetPriority(TIM5_IRQn, TS_IRQ_PRIORITY);
}
/**
* @brief Configures the TIM2
* @param None
* @retval None
*/
void TIM_Config(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
/* TIM2 Periph clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
/* Time base configuration */
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = 0x19;
TIM_TimeBaseStructure.TIM_Prescaler = 0x0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0x0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
/* TIM2 TRGO selection: update event is selected as trigger for DAC */
TIM_SelectOutputTrigger(TIM2, TIM_TRGOSource_Update);
/* TIM2 enable counter */
TIM_Cmd(TIM2, ENABLE);
}
/*
*********************************************************************************************************
* 函 数 名: SetSampRate
* 功能说明: 修改采样频率
* 形 参：freq : 采样频率 单位Hz
* 返 回 值: 无
*********************************************************************************************************
*/
static void Set_SampRate(T_DSO *g_DsoA)
{
/* 第4步： 配置定时器2第2通道CC2, CC2作为ADC1的触发源 */
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
// uint16_t Period;
TIM_Cmd(TIM2, DISABLE);
/*
采样频率计算公式 ：
period = 72000000 / freq ;
1200 == 60KHz 采样频率
*/
// Period = 72000 / freq -1;
/* 使能 TIM1 时钟 */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = g_DsoA->SimplePeriod;
TIM_TimeBaseStructure.TIM_Prescaler = g_DsoA->SimplePrescal; /* 计数频率 = 72000 000 / 18 = 4000 000 */
TIM_TimeBaseStructure.TIM_ClockDivision = 0x0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
/* TIM1 通道1配置为PWM模式 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = TIM_TimeBaseStructure.TIM_Period / 2;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OC2Init(TIM2, &TIM_OCInitStructure);
/* TIM1 计数器使能 */
TIM_Cmd(TIM2, DISABLE);
/* TIM1 输出使能 */
TIM_CtrlPWMOutputs(TIM2, ENABLE);
}
void DAC_Init_StartUp(void)
{
DAC_InitStructure.DAC_Trigger = DAC_Trigger_T2_TRGO;
DAC_InitStructure.DAC_OutputBuffer = DAC_OutputBuffer_Enable;
DAC_Init(DAC_Channel_1, &DAC_InitStructure);
DAC_Cmd(DAC_Channel_1, ENABLE);
/* TIM2 外设时钟使能*/
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
/* 定时器基础配置 */
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = 0xffff;
TIM_TimeBaseStructure.TIM_Prescaler = 0x1a;
TIM_TimeBaseStructure.TIM_ClockDivision = 0x0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
/* TIM2触发输出模式选择 */
TIM_SelectOutputTrigger(TIM2, TIM_TRGOSource_Update);
/* TIM2使能 */
TIM_Cmd(TIM2, ENABLE);
DMA_DeInit(DMA1_Channel3);
DMA_InitStructure.DMA_PeripheralBaseAddr = DAC_DHR12R1_ADDRESS;
DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)&ctrlSoftStart;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST;
DMA_InitStructure.DMA_BufferSize = 136;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
DMA_Init(DMA1_Channel3, &DMA_InitStructure);
DMA_Cmd(DMA1_Channel3, ENABLE);
}
void cppmInit(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_AHB1PeriphClockCmd(CPPM_GPIO_RCC, ENABLE);
RCC_APB1PeriphClockCmd(CPPM_TIMER_RCC, ENABLE);
// Configure the GPIO for the timer input
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Pin = CPPM_GPIO_PIN;
GPIO_Init(CPPM_GPIO_PORT, &GPIO_InitStructure);
GPIO_PinAFConfig(CPPM_GPIO_PORT, CPPM_GPIO_SOURCE, CPPM_GPIO_AF);
// Time base configuration. 1us tick.
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = CPPM_TIM_PRESCALER;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(CPPM_TIMER, &TIM_TimeBaseStructure);
// Setup input capture using default config.
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInit(CPPM_TIMER, &TIM_ICInitStructure);
NVIC_InitStructure.NVIC_IRQChannel = TIM8_TRG_COM_TIM14_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_CPPM_PRI;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
captureQueue = xQueueCreate(64, sizeof(uint16_t));
TIM_ITConfig(CPPM_TIMER, TIM_IT_Update | TIM_IT_CC1, ENABLE);
TIM_Cmd(CPPM_TIMER, ENABLE);
}
/**
* @brief Configures the TIM3 channel3 in PWM mode
* @param None
* @retval None
*/
static void TIM3_Config(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
/* Enable GPIOB clock */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE);
/* GPIOB Configuration: PB0(TIM3 CH3) as alternate function push-pull */
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_UP;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource0, GPIO_AF_2);
/* Enable TIM3 clock */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
/* Time Base configuration */
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = 0xFF0;
TIM_TimeBaseStructure.TIM_Prescaler = 0x0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0x0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
/* Channel3 Configuration in PWM mode */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0xF0;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC3Init(TIM3, &TIM_OCInitStructure);
/* Enable TIM3 */
TIM_Cmd(TIM3, ENABLE);
}
/* Sets up tim7 to run at a high sample rate */
void tim7_config(void)
{
/* Set up tim7 */
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
/* TIM7 Periph clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE);
/* --------------------------------------------------------
TIM7 input clock (TIM7CLK) is set to 2 * APB1 clock (PCLK1), since
APB1 prescaler is different from 1 (see system_stm32f4xx.c and Fig
13 clock tree figure in DM0031020.pdf).
Sample rate Fs = 2*PCLK1/TIM_ClockDivision
= (HCLK/2)/TIM_ClockDivision
----------------------------------------------------------- */
/* Time base configuration */
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = 41;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM7, &TIM_TimeBaseStructure);
/* TIM7 TRGO selection */
TIM_SelectOutputTrigger(TIM7, TIM_TRGOSource_Update);
/* TIM7 enable counter */
TIM_Cmd(TIM7, ENABLE);
}
inline void Tim8Config1() {
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOC, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource6, GPIO_AF_TIM8);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
uint16_t uhPrescalerValue = (uint16_t)((SystemCoreClock) / 1000000) - 1;
TIM_TimeBaseStructure.TIM_Period = 1000;
TIM_TimeBaseStructure.TIM_Prescaler = uhPrescalerValue;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure);
TIM_ARRPreloadConfig(TIM8, ENABLE);
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM8, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM8, TIM_OCPreload_Disable);
TIM_CtrlPWMOutputs(TIM8, ENABLE);
TIM_Cmd(TIM8, ENABLE);
}
void EncoderL_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStruct;
/* ENCODER clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
/* Enable the ENCODER Clock */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7; //ENCODER_CHA, ENCODER_CHB端口配置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* Timer configuration in Encoder mode */
TIM_DeInit(TIM3);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0;//预分频器
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseStructure.TIM_Period = 0xffff;//设定计数器自动重装值
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
// TIM_ARRPreloadConfig(ENCODER_TIM, ENABLE);//使能ARR自动重装入缓冲器
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_ICStructInit(&TIM_ICInitStruct);
TIM_ICInitStruct.TIM_ICFilter = 6;//ICx_FILTER; // TIM_ICFilter选择输入比较滤波器。该参数取值在0x0和0xF之间
TIM_ICInit(TIM3, &TIM_ICInitStruct);
TIM3->CNT = ENCODER_INIT_VALUE;
//使能定时器
TIM_Cmd(TIM3,ENABLE); //使能定时器
}
void TIMER6_init(void)
{
TIM_TimeBaseInitTypeDef timer;
NVIC_InitTypeDef interrupt;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
TIM_TimeBaseStructInit(&timer);
timer.TIM_Period = 1909;
timer.TIM_Prescaler = 0;
timer.TIM_ClockDivision = 0;
timer.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM6, &timer);
interrupt.NVIC_IRQChannel = TIM6_DAC_IRQn;
interrupt.NVIC_IRQChannelPreemptionPriority = 0;
interrupt.NVIC_IRQChannelSubPriority = 0;
interrupt.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&interrupt);
TIM_Cmd(TIM6, ENABLE);
TIM_ITConfig(TIM6, TIM_IT_Update, ENABLE);
}
void TIM4_init(void){
TIM_TimeBaseInitTypeDef timer;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
TIM_TimeBaseStructInit(&timer);
timer.TIM_Prescaler = TIMER_PRESCALER - 1;
timer.TIM_Period = TIMER_TIMPERIOD - 1;
timer.TIM_ClockDivision = 0;
TIM_TimeBaseInit(TIM4, &timer);
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);
TIM_Cmd(TIM4, ENABLE);
NVIC_EnableIRQ(TIM4_IRQn);
}
void us_ticker_init(void) {
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
if (us_ticker_inited) return;
us_ticker_inited = 1;
// Enable timer clock
TIM_MST_RCC;
// Configure time base
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = 0xFFFFFFFF;
TIM_TimeBaseStructure.TIM_Prescaler = (uint16_t)(SystemCoreClock / 1000000) - 1; // 1 �s tick
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM_MST, &TIM_TimeBaseStructure);
NVIC_SetVector(TIM_MST_IRQ, (uint32_t)us_ticker_irq_handler);
NVIC_EnableIRQ(TIM_MST_IRQ);
// Enable timer
TIM_Cmd(TIM_MST, ENABLE);
}
void init_pwm() {
TIM_TimeBaseInitTypeDef timebase_init_struct;
TIM_OCInitTypeDef oc_init_struct;
TIM_TimeBaseStructInit(&timebase_init_struct);
timebase_init_struct.TIM_ClockDivision = 0;
timebase_init_struct.TIM_Period = 2500 - 1;
timebase_init_struct.TIM_Prescaler = 72 - 1; // 72MHz/400Hz/2500=72
TIM_TimeBaseInit(TIM3, &timebase_init_struct);
TIM_TimeBaseInit(TIM4, &timebase_init_struct);
TIM_TimeBaseInit(TIM2, &timebase_init_struct);
TIM_OCStructInit(&oc_init_struct);
oc_init_struct.TIM_OCMode = TIM_OCMode_PWM1;
oc_init_struct.TIM_OutputState = TIM_OutputState_Enable;
oc_init_struct.TIM_Pulse = 0;
// PWM1: TIM3_CH1
TIM_OC1Init(TIM3, &oc_init_struct);
// PWM2: TIM3_CH2
TIM_OC2Init(TIM3, &oc_init_struct);
// PWM3: TIM3_CH3
TIM_OC3Init(TIM3, &oc_init_struct);
// PWM4: TIM3_CH4
TIM_OC4Init(TIM3, &oc_init_struct);
// PWM5: TIM4_CH3
TIM_OC3Init(TIM4, &oc_init_struct);
// PWM6: TIM4_CH4
TIM_OC4Init(TIM4, &oc_init_struct);
// PWM1: TIM2_CH1
TIM_OC1Init(TIM2, &oc_init_struct);
// PWM2: TIM2_CH2
TIM_OC2Init(TIM2, &oc_init_struct);
TIM_Cmd(TIM3, ENABLE);
TIM_Cmd(TIM4, ENABLE);
TIM_Cmd(TIM2, ENABLE);
}
void config_tim2( void )
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
/* TIM4 Peripheral Configuration ----------------------------------------*/
/* TIM4 Slave Configuration: PWM1 Mode */
TIM_TimeBaseStructInit( &TIM_TimeBaseStructure );
TIM_TimeBaseStructure.TIM_Period = 65535;
// 42 MHz, half of APB1.
TIM_TimeBaseStructure.TIM_Prescaler = PRESCALER;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
TIM_OCStructInit( &TIM_OCInitStructure );
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
/* Slave Mode selection: TIM2 */
TIM_SelectSlaveMode(TIM2, TIM_SlaveMode_Reset);
TIM_SelectInputTrigger(TIM2, TIM_TS_ITR0);
#ifdef GTDEBUG
NVIC_InitTypeDef NVIC_InitStructure;
/* Enable the TIM3 global Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
#endif
TIM_Cmd(TIM2, ENABLE);
}
/**
* @brief Configures the Timer.
* @param None
* @retval None
*/
void TIMER_Configuration(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; // Timer base configuration
TIM_OCInitTypeDef TIM_OCInitStructure; // Timer for PWM mode
// Time Base configuration
TIM_TimeBaseStructInit( &TIM_TimeBaseStructure );
TIM_TimeBaseStructure.TIM_Period = 0x231;
TIM_TimeBaseStructure.TIM_Prescaler = 0x0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0x0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Down;
TIM_TimeBaseInit( TIM1, &TIM_TimeBaseStructure );
// TIM1 channel1 configuration in PWM mode
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init( TIM1, &TIM_OCInitStructure );
// TIM1 counter enable
TIM_Cmd( TIM1, ENABLE );
// TIM1 main Output Enable
TIM_CtrlPWMOutputs( TIM1, ENABLE );
}
void init_encoder(void) {
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA, ENABLE);
GPIO_InitTypeDef encoder;
encoder.GPIO_Mode = GPIO_Mode_IPU;
encoder.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_Init(GPIOA, &encoder);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
TIM_TimeBaseInitTypeDef timer;
TIM_TimeBaseStructInit(&timer);
timer.TIM_Prescaler = 0;
timer.TIM_Period = 256;
timer.TIM_CounterMode = TIM_CounterMode_Down | TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &timer);
TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI1, TIM_ICPolarity_Rising,
TIM_ICPolarity_Rising);
// TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
// NVIC_EnableIRQ(TIM2_IRQn);
TIM_Cmd(TIM2, ENABLE);
}
void pwmEscInit(uint16_t escPwmRate)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
GPIO_StructInit(&GPIO_InitStructure);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_OCStructInit(&TIM_OCInitStructure);
// Outputs
// ESC PWM1 TIM8_CH4 PC9
// ESC PWM2 TIM8_CH3 PC8
// ESC PWM3 TIM8_CH2 PC7
// ESC PWM4 TIM8_CH1 PC6
// ESC PWM5 TIM2_CH2 PB3
// ESC PWM6 TIM3_CH1 PB4
// ESC PWM7 TIM3_CH2 PB5
// ESC PWM8 TIM2_CH1 PA15
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15;
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_NOPULL;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3 | GPIO_Pin_4 | GPIO_Pin_5;
//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_NOPULL;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9;
//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_NOPULL;
GPIO_Init(GPIOC, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource15, GPIO_AF_TIM2);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource3, GPIO_AF_TIM2);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource4, GPIO_AF_TIM3);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource5, GPIO_AF_TIM3);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource6, GPIO_AF_TIM8);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource7, GPIO_AF_TIM8);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource8, GPIO_AF_TIM8);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource9, GPIO_AF_TIM8);
// Output timers
TIM_TimeBaseStructure.TIM_Period = (uint16_t)(2000000 / escPwmRate) - 1;
TIM_TimeBaseStructure.TIM_Prescaler = 42 - 1;
//TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
//TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
//TIM_TimeBaseStructure.TIM_RepititionCounter = 0x0000;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
//TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_Pulse = ESC_PULSE_1MS;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
//TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
//TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
TIM_OC1Init(TIM2, &TIM_OCInitStructure);
TIM_OC2Init(TIM2, &TIM_OCInitStructure);
TIM_OC1Init(TIM3, &TIM_OCInitStructure);
TIM_OC2Init(TIM3, &TIM_OCInitStructure);
TIM_OC1Init(TIM8, &TIM_OCInitStructure);
TIM_OC2Init(TIM8, &TIM_OCInitStructure);
TIM_OC3Init(TIM8, &TIM_OCInitStructure);
TIM_OC4Init(TIM8, &TIM_OCInitStructure);
TIM_Cmd(TIM2, ENABLE);
TIM_Cmd(TIM3, ENABLE);
TIM_Cmd(TIM8, ENABLE);
TIM_CtrlPWMOutputs(TIM2, ENABLE);
TIM_CtrlPWMOutputs(TIM3, ENABLE);
TIM_CtrlPWMOutputs(TIM8, ENABLE);
}
int init_DAC()
{
GPIO_InitTypeDef gpinit[1] = {{0}};
gpinit->GPIO_Pin = GPIO_Pin_4;
gpinit->GPIO_Mode = GPIO_Mode_AIN;
gpinit->GPIO_Speed = GPIO_Speed_50MHz;
gpinit->GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOA, gpinit);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_DAC, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA1, ENABLE);
DAC_DeInit();
DAC_InitTypeDef dac[1];
dac->DAC_Trigger = DAC_Trigger_T6_TRGO;
dac->DAC_WaveGeneration = DAC_WaveGeneration_None;
dac->DAC_LFSRUnmask_TriangleAmplitude = DAC_LFSRUnmask_Bits11_0;
dac->DAC_OutputBuffer = DAC_OutputBuffer_Enable;
DAC_Init(DAC_Channel_1, dac);
DAC_Cmd(DAC_Channel_1, ENABLE);
DMA_DeInit(DMA1_Stream5);
DMA_InitTypeDef dma[1];
dma->DMA_Channel = DMA_Channel_7;
dma->DMA_PeripheralBaseAddr = (uint32_t) &DAC->DHR12L1;
dma->DMA_Memory0BaseAddr = (uint32_t) buffer;
dma->DMA_DIR = DMA_DIR_MemoryToPeripheral;
dma->DMA_BufferSize = NUMEL(buffer);
dma->DMA_PeripheralInc = DMA_PeripheralInc_Disable;
dma->DMA_MemoryInc = DMA_MemoryInc_Enable;
dma->DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
dma->DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
dma->DMA_Mode = DMA_Mode_Circular;
dma->DMA_Priority = DMA_Priority_High;
dma->DMA_FIFOMode = DMA_FIFOMode_Disable;
dma->DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull;
dma->DMA_MemoryBurst = DMA_MemoryBurst_Single;
dma->DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(DMA1_Stream5, dma);
DMA_ITConfig(DMA1_Stream5, DMA_IT_TC, ENABLE);
DMA_ITConfig(DMA1_Stream5, DMA_IT_HT, ENABLE);
NVIC_InitTypeDef nvic[1];
nvic->NVIC_IRQChannel = DMA1_Stream5_IRQn;
nvic->NVIC_IRQChannelPreemptionPriority = 7;
nvic->NVIC_IRQChannelSubPriority = 7;
nvic->NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(nvic);
DMA_Cmd(DMA1_Stream5, ENABLE);
DAC_DMACmd(DAC_Channel_1, ENABLE);
TIM_DeInit(TIM6);
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = 1749;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM6, &TIM_TimeBaseStructure);
TIM_SelectOutputTrigger(TIM6, TIM_TRGOSource_Update);
TIM_Cmd(TIM6, ENABLE);
return 0;
}
static void config_tim1( void )
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_BDTRInitTypeDef TIM_BDTRInitStructure;
uint16_t TimerPeriod = 0;
uint16_t Channel1Pulse = 0, Channel2Pulse = 0, Channel3Pulse = 0, Channel4Pulse = 0;
/* Compute the value to be set in ARR register to generate signal frequency at 16 Khz */
//TimerPeriod = (SystemCoreClock / 16000) - 1;
// In center aligned mode, counts up and down, so * 2.
// TimerPeriod = (84000000 / ( 2 * 14000 )) - 1;
TimerPeriod = 1000;
/* Compute CCR1 value to generate a duty cycle at 50% for channel 1 */
//Channel1Pulse = (uint16_t) (((uint32_t) 5 * (TimerPeriod - 1)) / 10);
Channel1Pulse = 500;
/* Compute CCR2 value to generate a duty cycle at 25% for channel 2 */
//Channel2Pulse = (uint16_t) (((uint32_t) 25 * (TimerPeriod - 1)) / 100);
Channel2Pulse = 250;
/* Compute CCR3 value to generate a duty cycle at 12.5% for channel 3 */
//Channel3Pulse = (uint16_t) (((uint32_t) 125 * (TimerPeriod - 1)) / 1000);
Channel3Pulse = 125;
// pulse sent to other timer to trigger ADC;
// 97 steps from 999 -> 999-97 = 902
Channel4Pulse = 902;
/* Time Base configuration */
TIM_TimeBaseStructInit( &TIM_TimeBaseStructure );
// 14 MHz / 1000 steps == 14 kHz
TIM_TimeBaseStructure.TIM_Prescaler = PRESCALER;
//TIM_TimeBaseStructure.TIM_Prescaler = 65535;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_CenterAligned2;
TIM_TimeBaseStructure.TIM_Period = TimerPeriod;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
/* Channel 1, 2 and 3 Configuration in PWM mode */
TIM_OCStructInit( &TIM_OCInitStructure );
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = Channel1Pulse;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Set;
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse = Channel2Pulse;
TIM_OC2Init(TIM1, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse = Channel3Pulse;
TIM_OC3Init(TIM1, &TIM_OCInitStructure);
TIM_OCStructInit( &TIM_OCInitStructure );
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Toggle;
TIM_OCInitStructure.TIM_Pulse = Channel4Pulse;
TIM_OC4Init(TIM1, &TIM_OCInitStructure);
/* Automatic Output enable, Break, dead time and lock configuration*/
TIM_BDTRStructInit( &TIM_BDTRInitStructure );
TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;
TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_1;
TIM_BDTRInitStructure.TIM_DeadTime = 11;
TIM_BDTRInitStructure.TIM_Break = TIM_Break_Enable;
TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_Low;
TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Enable;
TIM_BDTRConfig(TIM1, &TIM_BDTRInitStructure);
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);
/* Master Mode selection and TRGO update output */
TIM_SelectOutputTrigger(TIM1, TIM_TRGOSource_OC4Ref);
TIM_SelectMasterSlaveMode(TIM1, TIM_MasterSlaveMode_Enable);
/* TIM1 counter enable */
TIM_Cmd(TIM1, ENABLE);
/* Main Output Enable */
TIM_CtrlPWMOutputs(TIM1, ENABLE);
}
/**
* @brief Configures TIM1: channels in PWM mode
* @param None
* @retval None
*/
void TIM_Config(void)
{
TIM_BDTRInitTypeDef TIM_BDTRInitStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
GPIO_InitTypeDef GPIO_InitStructure;
/* GPIOA clock enable */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE);
/* TIM1 channels pin configuration:
TIM1_CH1 -> PA8
*/
GPIO_StructInit(&GPIO_InitStructure);
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_UP;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* Enable Alternate function on PA8 to be controlled by TIM1 */
GPIO_PinAFConfig(GPIOA, GPIO_PinSource8, GPIO_AF_2);
/* TIM1 clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
/* Time Base configuration */
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = 100;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
/* Channel 1 Configuration in PWM mode */
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = 50;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
/* Automatic Output enable, Break, dead time and lock configuration*/
TIM_BDTRStructInit(&TIM_BDTRInitStructure);
TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;
TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_1;
TIM_BDTRInitStructure.TIM_DeadTime = 11;
TIM_BDTRInitStructure.TIM_Break = TIM_Break_Enable;
TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_High;
TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Enable;
TIM_BDTRConfig(TIM1, &TIM_BDTRInitStructure);
/* Main Output Enable */
TIM_CtrlPWMOutputs(TIM1, ENABLE);
/* TIM1 counter enable */
TIM_Cmd(TIM1, ENABLE);
}