int main(void)
{
void *tmp;
#if ZOTTAOS_TIMER == EVENT_TIMER_INDEX
#error Event timer device must be different from the internal timer used by ZottaOS
#endif
// Enable debug module clock
RCC_APB2PeriphClockCmd(RCC_APB2Periph_DBGMCU,ENABLE);
/* Stop ZottaOS internal timer during debugger connection */
#if ZOTTAOS_TIMER == OS_IO_TIM17
DBGMCU_APB2PeriphConfig(DBGMCU_TIM17_STOP,ENABLE);
#elif ZOTTAOS_TIMER == OS_IO_TIM16
DBGMCU_APB2PeriphConfig(DBGMCU_TIM16_STOP,ENABLE);
#elif ZOTTAOS_TIMER == OS_IO_TIM15
DBGMCU_APB2PeriphConfig(DBGMCU_TIM15_STOP,ENABLE);
#elif ZOTTAOS_TIMER == OS_IO_TIM14
DBGMCU_APB1PeriphConfig(DBGMCU_TIM14_STOP,ENABLE);
#elif ZOTTAOS_TIMER == OS_IO_TIM3
DBGMCU_APB1PeriphConfig(DBGMCU_TIM3_STOP,ENABLE);
#elif ZOTTAOS_TIMER == OS_IO_TIM2
DBGMCU_APB1PeriphConfig(DBGMCU_TIM2_STOP,ENABLE);
#elif ZOTTAOS_TIMER == OS_IO_TIM1
DBGMCU_APB2PeriphConfig(DBGMCU_TIM1_STOP,ENABLE);
#endif
/* Initialize Hardware */
SystemInit();
InitializeFlags(FLAG1_PIN | FLAG2_PIN);
OSInitTimerEvent(2,47,0,EVENT_TIMER_INDEX);
#if defined(ZOTTAOS_VERSION_HARD)
tmp = OSCreateEventDescriptor();
OSCreateSynchronousTask(ClearLed1Task,1000,tmp,NULL);
OSCreateTask(SetLed1Task,0,5000,5000,tmp);
tmp = OSCreateEventDescriptor();
OSCreateSynchronousTask(ClearLed2Task,1000,tmp,NULL);
OSCreateTask(SetLed2Task,0,10000,10000,tmp);
#elif defined(ZOTTAOS_VERSION_SOFT)
tmp = OSCreateEventDescriptor();
OSCreateSynchronousTask(ClearLed1Task,0,1000,0,tmp,NULL);
OSCreateTask(SetLed1Task,0,0,5000,5000,1,1,0,tmp);
tmp = OSCreateEventDescriptor();
OSCreateSynchronousTask(ClearLed2Task,0,1000,0,tmp,NULL);
OSCreateTask(SetLed2Task,0,0,10000,10000,1,1,0,tmp);
#endif
/* Start the OS so that it starts scheduling the user tasks */
return OSStartMultitasking(NULL,NULL);
} /* end of main */
int main(void)
{
#if ZOTTAOS_TIMER == OS_IO_TIM14
DBGMCU_APB1PeriphConfig(DBGMCU_TIM14_STOP,ENABLE);
#elif ZOTTAOS_TIMER == OS_IO_TIM13
DBGMCU_APB1PeriphConfig(DBGMCU_TIM13_STOP,ENABLE);
#elif ZOTTAOS_TIMER == OS_IO_TIM12
DBGMCU_APB1PeriphConfig(DBGMCU_TIM12_STOP,ENABLE);
#elif ZOTTAOS_TIMER == OS_IO_TIM11
DBGMCU_APB2PeriphConfig(DBGMCU_TIM11_STOP,ENABLE);
#elif ZOTTAOS_TIMER == OS_IO_TIM10
DBGMCU_APB2PeriphConfig(DBGMCU_TIM10_STOP,ENABLE);
#elif ZOTTAOS_TIMER == OS_IO_TIM9
DBGMCU_APB2PeriphConfig(DBGMCU_TIM9_STOP,ENABLE);
#elif ZOTTAOS_TIMER == OS_IO_TIM8
DBGMCU_APB2PeriphConfig(DBGMCU_TIM8_STOP,ENABLE);
#elif ZOTTAOS_TIMER == OS_IO_TIM5
DBGMCU_APB1PeriphConfig(DBGMCU_TIM5_STOP,ENABLE);
#elif ZOTTAOS_TIMER == OS_IO_TIM4
DBGMCU_APB1PeriphConfig(DBGMCU_TIM4_STOP,ENABLE);
#elif ZOTTAOS_TIMER == OS_IO_TIM3
DBGMCU_APB1PeriphConfig(DBGMCU_TIM3_STOP,ENABLE);
#elif ZOTTAOS_TIMER == OS_IO_TIM2
DBGMCU_APB1PeriphConfig(DBGMCU_TIM2_STOP,ENABLE);
#elif ZOTTAOS_TIMER == OS_IO_TIM1
DBGMCU_APB2PeriphConfig(DBGMCU_TIM1_STOP,ENABLE);
#endif
/* Keep debugger connection during sleep mode */
DBGMCU_Config(DBGMCU_SLEEP,ENABLE);
/* Initialize Hardware */
SystemInit();
/* Initialize ZottaOS I/O UART drivers */
OSInitUART(UART_TRANSMIT_FIFO_NB_NODE,UART_TRANSMIT_FIFO_NODE_SIZE,
UARTUserReceiveInterruptHandler,UART_VECTOR);
/* Initialize USART2 hardware */
InitializeUART2Hardware();
/* Start the OS so that it runs the idle task, which puts the processor to sleep when
** there are no interrupts. */
return OSStartMultitasking(NULL,NULL);
} /* end of main */
void timers_init(void) {
#ifdef TESTING
RCC_APB2PeriphClockCmd(RCC_APB2Periph_DBGMCU, ENABLE);
DBGMCU_APB1PeriphConfig(DBGMCU_APB1_FZ_DBG_TIM2_STOP, ENABLE); //frclock
DBGMCU_APB1PeriphConfig(DBGMCU_APB1_FZ_DBG_TIM3_STOP, ENABLE); //txworker
DBGMCU_APB2PeriphConfig(DBGMCU_APB2_FZ_DBG_TIM16_STOP, ENABLE); //pmsg
#endif // TESTING
frclock_init();
//do these really need to be accessible outside timers.c ?
txwork_timer_init();
pmsg_timer_init();
return;
}
int main(void)
{
TaskParametersDef *TaskParameters;
// Enable debug module clock
RCC_APB2PeriphClockCmd(RCC_APB2Periph_DBGMCU, ENABLE);
/* Stop timer during debugger connection */
#if ZOTTAOS_TIMER == OS_IO_TIM17
DBGMCU_APB2PeriphConfig(DBGMCU_TIM17_STOP,ENABLE);
#elif ZOTTAOS_TIMER == OS_IO_TIM16
DBGMCU_APB2PeriphConfig(DBGMCU_TIM16_STOP,ENABLE);
#elif ZOTTAOS_TIMER == OS_IO_TIM15
DBGMCU_APB2PeriphConfig(DBGMCU_TIM15_STOP,ENABLE);
#elif ZOTTAOS_TIMER == OS_IO_TIM14
DBGMCU_APB1PeriphConfig(DBGMCU_TIM14_STOP,ENABLE);
#elif ZOTTAOS_TIMER == OS_IO_TIM3
DBGMCU_APB1PeriphConfig(DBGMCU_TIM3_STOP,ENABLE);
#elif ZOTTAOS_TIMER == OS_IO_TIM2
DBGMCU_APB1PeriphConfig(DBGMCU_TIM2_STOP,ENABLE);
#elif ZOTTAOS_TIMER == OS_IO_TIM1
DBGMCU_APB2PeriphConfig(DBGMCU_TIM1_STOP,ENABLE);
#endif
/* Initialize Hardware */
SystemInit();
InitializeFlags(FLAG1_PIN | FLAG2_PIN | FLAG3_PIN);
/* Create the 3 tasks. Notice that each particular task receives a private set of para-
** meters that it inherits from the main program and that it is the only task that can
** later access. */
#if defined(ZOTTAOS_VERSION_HARD)
/* Calculation of the total load:
** 1250 / 5000 -> 25%
** 2500 / 10000 -> 25%
** 12000 / 30000 -> 40%
** Total: 90% */
TaskParameters = (TaskParametersDef *)OSMalloc(sizeof(TaskParametersDef));
TaskParameters->GPIOx = FLAG_PORT;
TaskParameters->GPIO_Pin = FLAG1_PIN;
TaskParameters->Delay = 350;
OSCreateTask(FixedDelayTask,0,500,500,TaskParameters);
TaskParameters = (TaskParametersDef *)OSMalloc(sizeof(TaskParametersDef));
TaskParameters->GPIOx = FLAG_PORT;
TaskParameters->GPIO_Pin = FLAG2_PIN;
TaskParameters->Delay = 700;
OSCreateTask(FixedDelayTask,0,1000,1000,TaskParameters);
TaskParameters = (TaskParametersDef *)OSMalloc(sizeof(TaskParametersDef));
TaskParameters->GPIOx = FLAG_PORT;
TaskParameters->GPIO_Pin = FLAG3_PIN;
TaskParameters->Delay = 3000;
OSCreateTask(VariableDelayTask,0,3000,3000,TaskParameters);
#elif defined(ZOTTAOS_VERSION_SOFT)
/* Calculation of the total load:
** Without ZottaOS-Soft capabilities:
** 1250 / 5000 -> 25%
** 2500 / 10000 -> 25%
** 24000 / 30000 -> 80%
** Total: 130% (Task set is NOT schedulable)
** With ZottaOS-Soft capabilities:
** 1250 / 5000 / 3 -> 8%
** 2500 / 10000 / 3 -> 8%
** 24000 / 30000 / 1 -> 80%
** Total: 96% (Task set is schedulable) */
TaskParameters = (TaskParametersDef *)OSMalloc(sizeof(TaskParametersDef));
TaskParameters->GPIOx = FLAG_PORT;
TaskParameters->GPIO_Pin = FLAG1_PIN;
TaskParameters->Delay = 300;
OSCreateTask(FixedDelayTask,125,0,500,500,1,2,0,TaskParameters);
TaskParameters = (TaskParametersDef *)OSMalloc(sizeof(TaskParametersDef));
TaskParameters->GPIOx = FLAG_PORT;
TaskParameters->GPIO_Pin = FLAG2_PIN;
TaskParameters->Delay = 600;
OSCreateTask(FixedDelayTask,250,0,1000,1000,1,3,0,TaskParameters);
TaskParameters = (TaskParametersDef *)OSMalloc(sizeof(TaskParametersDef));
TaskParameters->GPIOx = FLAG_PORT;
TaskParameters->GPIO_Pin = FLAG3_PIN;
TaskParameters->Delay = 5000;
OSCreateTask(VariableDelayTask,2400,0,3000,3000,1,1,0,TaskParameters);
#endif
/* Start the OS so that it starts scheduling the user tasks */
return OSStartMultitasking(NULL,NULL);
} /* end of main */
void pwm_init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
TIM_BDTRInitTypeDef TIM_BDTRInitStructure;
DBGMCU_APB2PeriphConfig( DBGMCU_TIM8_STOP, ENABLE);//核心停止后终止PWM
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);////APB2 max frquency is 84M
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
/*TIM8 CH1*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_Init(GPIOC, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource6, GPIO_AF_TIM8);
/*TIM8 CH2*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
GPIO_Init(GPIOC, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource7, GPIO_AF_TIM8);
/*TIM8 CH3*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_Init(GPIOC, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource8, GPIO_AF_TIM8);
/*TIM8 CH4*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
GPIO_Init(GPIOC, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource9, GPIO_AF_TIM8);
// pwm_period = SystemCoreClock / IGBT_FREQ - 1;//计算设置开关频率计数周期
TIM_TimeBaseStructInit( &TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = pwm_period;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure);
//设置PWM输出
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_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;
// TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
// TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
TIM_OC1Init(TIM8, &TIM_OCInitStructure);
TIM_OC2Init(TIM8, &TIM_OCInitStructure);
TIM_OC3Init(TIM8, &TIM_OCInitStructure);
TIM_OC4Init(TIM8, &TIM_OCInitStructure);
// 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 = 5;
// TIM_BDTRInitStructure.TIM_Break = TIM_Break_Disable;
// TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_High;
// TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Disable;
// TIM_BDTRConfig(TIM1, &TIM_BDTRInitStructure);
NVIC_InitStructure.NVIC_IRQChannel = TIM8_UP_TIM13_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_ClearITPendingBit(TIM8, TIM_IT_Update);
TIM_ITConfig(TIM8, TIM_IT_Update, ENABLE);//interrupt
// TIM_SelectOutputTrigger(TIM8, TIM_TRGOSource_OC1);//可作为触发源，触发ADC等外设
TIM_CtrlPWMOutputs(TIM8, ENABLE);//pwm enable
// TIM_Cmd(TIM8, ENABLE); //tim8 enable
}