/* TIM3 init function */
void MX_TIM3_Init(void)
{
TIM_ClockConfigTypeDef sClockSourceConfig;
TIM_MasterConfigTypeDef sMasterConfig;
TIM_OC_InitTypeDef sConfigOC;
htim3.Instance = TIM3;
htim3.Init.Prescaler = 0;
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
htim3.Init.Period = 0;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
HAL_TIM_Base_Init(&htim3);
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig);
HAL_TIM_PWM_Init(&htim3);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3);
}
void MX_TIM1_Init(void) {
TIM_ClockConfigTypeDef sClockSourceConfig;
TIM_MasterConfigTypeDef sMasterConfig;
TIM_SlaveConfigTypeDef sSlaveConfig;
htim1.Instance = TIM1;
htim1.Init.Prescaler = 47999;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 249;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0;
HAL_TIM_Base_Init(&htim1);
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig);
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_TRIGGER;
sSlaveConfig.InputTrigger = TIM_TS_TI1FP1;
sSlaveConfig.TriggerPolarity = TIM_TRIGGERPOLARITY_RISING;
sSlaveConfig.TriggerFilter = 15;
HAL_TIM_SlaveConfigSynchronization(&htim1, &sSlaveConfig);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig);
}
/* TIM21 init function */
void MX_TIM21_Init(void)
{
TIM_MasterConfigTypeDef sMasterConfig;
TIM_OC_InitTypeDef sConfigOC;
htim21.Instance = TIM21;
htim21.Init.Prescaler = 0;
htim21.Init.CounterMode = TIM_COUNTERMODE_UP;
htim21.Init.Period = TIM_PERIOD;
htim21.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
HAL_TIM_PWM_Init(&htim21);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim21, &sMasterConfig);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 500;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
HAL_TIM_PWM_ConfigChannel(&htim21, &sConfigOC, TIM_CHANNEL_1);
HAL_TIM_PWM_ConfigChannel(&htim21, &sConfigOC, TIM_CHANNEL_2);
}
/* TIM3 init function */
void MX_TIM3_Init(void)
{
TIM_MasterConfigTypeDef sMasterConfig;
TIM_OC_InitTypeDef sConfigOC;
uint32_t uhPrescalerValue = (uint32_t) ((SystemCoreClock /2) / 1300) - 1;
htim3.Instance = TIM3;
htim3.Init.Prescaler = uhPrescalerValue;
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
htim3.Init.Period = PERIOD_VALUE;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
HAL_TIM_PWM_Init(&htim3);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = PULSE1_VALUE;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1);
HAL_TIM_MspPostInit(&htim3);
}
/* TIM5 init function */
void MX_TIM5_Init(void)
{
TIM_MasterConfigTypeDef sMasterConfig;
TIM_IC_InitTypeDef sConfigIC;
TIM_OC_InitTypeDef sConfigOC;
htim5.Instance = TIM5;
htim5.Init.Prescaler = 0;
htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
htim5.Init.Period = 8400000 * 5; // 500 ms
htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
HAL_TIM_IC_Init(&htim5);
HAL_TIM_PWM_Init(&htim5);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig);
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_BOTHEDGE;
sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
sConfigIC.ICFilter = 0;
HAL_TIM_IC_ConfigChannel(&htim5, &sConfigIC, TIM_CHANNEL_1);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 840;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_2);
HAL_TIM_MspPostInit(&htim5);
}
/* TIM4 init function */
void MX_TIM4_Init(void)
{
TIM_SlaveConfigTypeDef sSlaveConfig;
TIM_MasterConfigTypeDef sMasterConfig;
TIM_OC_InitTypeDef sConfigOC;
htim4.Instance = TIM4;
htim4.Init.Prescaler = 0;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 0;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
HAL_TIM_Base_Init(&htim4);
HAL_TIM_PWM_Init(&htim4);
HAL_TIM_OnePulse_Init(&htim4, TIM_OPMODE_SINGLE);
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_EXTERNAL1;
sSlaveConfig.InputTrigger = TIM_TS_ITR0;
HAL_TIM_SlaveConfigSynchronization(&htim4, &sSlaveConfig);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1);
HAL_TIM_MspPostInit(&htim4);
}
/**
* @brief Start audio recording
* @param pbuf Main buffer pointer for the recorded data storing
* @param size Current size of the recorded buffer
* @retval AUDIO_OK if correct communication, else wrong communication
*/
uint8_t BSP_AUDIO_IN_Record(uint16_t* pbuf, uint32_t size)
{
uint32_t ret = AUDIO_OK;
TIM_MasterConfigTypeDef master_config = {0};
if (HAL_ADC_Start_DMA(&hAudioInAdc, (uint32_t*)pbuf, size) == HAL_OK)
{
master_config.MasterOutputTrigger = TIM_TRGO_UPDATE;
master_config.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&hAudioInTim3, &master_config);
/* Start the time base triggering the ADC */
if (HAL_TIM_Base_Start(&hAudioInTim3) != HAL_OK)
{
ret = AUDIO_ERROR;
}
}
else
{
ret = AUDIO_ERROR;
}
return ret;
}
/* TIM4 init function */
void MX_TIM4_Init(void)
{
TIM_ClockConfigTypeDef sClockSourceConfig;
TIM_MasterConfigTypeDef sMasterConfig;
htim4.Instance = TIM4;
htim4.Init.Prescaler = 32000;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 1000;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief TIM6 Configuration
* @note TIM6 configuration is based on APB1 frequency
* @note TIM6 Update event occurs each TIM6CLK/256
* @param None
* @retval None
*/
void TIM6_Config(void)
{
static TIM_HandleTypeDef htim;
TIM_MasterConfigTypeDef sMasterConfig;
/*##-1- Configure the TIM peripheral #######################################*/
/* Time base configuration */
htim.Instance = TIM6;
htim.Init.Period = 0x7FF;
htim.Init.Prescaler = 0;
htim.Init.ClockDivision = 0;
htim.Init.CounterMode = TIM_COUNTERMODE_UP;
htim.Init.RepetitionCounter = 0;
HAL_TIM_Base_Init(&htim);
/* TIM6 TRGO selection */
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim, &sMasterConfig);
/*##-2- Enable TIM peripheral counter ######################################*/
HAL_TIM_Base_Start(&htim);
}
/**
* @brief TIM configuration
* @param None
* @retval None
*/
static void TIM_Config(void)
{
TIM_MasterConfigTypeDef sMasterConfig;
/* Time Base configuration */
htim.Instance = TIMx;
htim.Init.Period = 0x3C;
htim.Init.Prescaler = 0;
htim.Init.ClockDivision = 0;
htim.Init.CounterMode = TIM_COUNTERMODE_UP;
htim.Init.RepetitionCounter = 0x0;
if(HAL_TIM_Base_Init(&htim) != HAL_OK)
{
/* TIM8 Initialization Error */
Error_Handler();
}
/* TIM8 TRGO selection */
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if(HAL_TIMEx_MasterConfigSynchronization(&htim, &sMasterConfig) != HAL_OK)
{
/* TIM8 TRGO selection Error */
Error_Handler();
}
}
/* TIM3 init function */
void SC_TIM3_Init(SERVO_CONTROLLER_Frequency frequency)
{
TIM_ClockConfigTypeDef sClockSourceConfig;
TIM_MasterConfigTypeDef sMasterConfig;
TIM_OC_InitTypeDef sConfigOC;
htim3.Instance = TIM3;
htim3.Init.Prescaler = CORE_FCLK / TIM_FCLK - 1;
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
htim3.Init.Period = (uint16_t)(TIM_FCLK / frequency); //should not exceed 0xFFFF
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
HAL_TIM_Base_Init(&htim3);
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig);
HAL_TIM_PWM_Init(&htim3);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1);
HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2);
HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3);
}
/* TIM1 init function */
void MX_TIM1_Init(void)
{
TIM_Encoder_InitTypeDef sConfig;
TIM_MasterConfigTypeDef sMasterConfig;
htim1.Instance = TIM1;
htim1.Init.Prescaler = 0;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 0;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0;
sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 0;
sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 0;
HAL_TIM_Encoder_Init(&htim1, &sConfig);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig);
}
STATIC uint32_t TIMx_Config(mp_obj_t timer) {
// TRGO selection to trigger DAC
TIM_HandleTypeDef *tim = pyb_timer_get_handle(timer);
TIM_MasterConfigTypeDef config;
config.MasterOutputTrigger = TIM_TRGO_UPDATE;
config.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(tim, &config);
// work out the trigger channel (only certain ones are supported)
if (tim->Instance == TIM2) {
return DAC_TRIGGER_T2_TRGO;
} else if (tim->Instance == TIM4) {
return DAC_TRIGGER_T4_TRGO;
} else if (tim->Instance == TIM5) {
return DAC_TRIGGER_T5_TRGO;
#if defined(TIM6)
} else if (tim->Instance == TIM6) {
return DAC_TRIGGER_T6_TRGO;
#endif
#if defined(TIM7)
} else if (tim->Instance == TIM7) {
return DAC_TRIGGER_T7_TRGO;
#endif
#if defined(TIM8)
} else if (tim->Instance == TIM8) {
return DAC_TRIGGER_T8_TRGO;
#endif
} else {
nlr_raise(mp_obj_new_exception_msg(&mp_type_ValueError, "Timer does not support DAC triggering"));
}
}
/**
* @brief TIM configuration
* @param None
* @retval None
*/
static void TIM_Config(void)
{
TIM_MasterConfigTypeDef master_timer_config;
RCC_ClkInitTypeDef clk_init_struct = {0}; /* Temporary variable to retrieve RCC clock configuration */
uint32_t latency; /* Temporary variable to retrieve Flash Latency */
uint32_t timer_clock_frequency = 0; /* Timer clock frequency */
uint32_t timer_prescaler = 0; /* Time base prescaler to have timebase aligned on minimum frequency possible */
/* Configuration of timer as time base: */
/* Caution: Computation of frequency is done for a timer instance on APB1 */
/* (clocked by PCLK1) */
/* Timer period can be adjusted by modifying the following constants: */
/* - TIMER_FREQUENCY: timer frequency (unit: Hz). */
/* - TIMER_FREQUENCY_RANGE_MIN: timer minimum frequency (unit: Hz). */
/* Retrieve timer clock source frequency */
HAL_RCC_GetClockConfig(&clk_init_struct, &latency);
/* If APB1 prescaler is different of 1, timers have a factor x2 on their */
/* clock source. */
if (clk_init_struct.APB1CLKDivider == RCC_HCLK_DIV1)
{
timer_clock_frequency = HAL_RCC_GetPCLK1Freq();
}
else
{
timer_clock_frequency = HAL_RCC_GetPCLK1Freq() *2;
}
/* Timer prescaler calculation */
/* (computation for timer 16 bits, additional + 1 to round the prescaler up) */
timer_prescaler = (timer_clock_frequency / (TIMER_PRESCALER_MAX_VALUE * TIMER_FREQUENCY_RANGE_MIN)) +1;
/* Set timer instance */
TimHandle.Instance = TIMx;
/* Configure timer parameters */
TimHandle.Init.Period = ((timer_clock_frequency / (timer_prescaler * TIMER_FREQUENCY)) - 1);
TimHandle.Init.Prescaler = (timer_prescaler - 1);
TimHandle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimHandle.Init.RepetitionCounter = 0x0;
if (HAL_TIM_Base_Init(&TimHandle) != HAL_OK)
{
/* Timer initialization Error */
Error_Handler();
}
/* Timer TRGO selection */
master_timer_config.MasterOutputTrigger = TIM_TRGO_UPDATE;
master_timer_config.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&TimHandle, &master_timer_config) != HAL_OK)
{
/* Timer TRGO selection Error */
Error_Handler();
}
}
/* TIM3 init function */
void MX_TIM3_Init(void)
{
TIM_Encoder_InitTypeDef sConfig;
TIM_MasterConfigTypeDef sMasterConfig;
htim3.Instance = TIM3;
htim3.Init.Prescaler = 0;
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
htim3.Init.Period = 4*ENCODER_GAP-1;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 8;
sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 8;
if (HAL_TIM_Encoder_Init(&htim3, &sConfig) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
}
/* TIM4 init function */
void MX_TIM4_Init(void)
{
TIM_MasterConfigTypeDef sMasterConfig;
TIM_IC_InitTypeDef sConfigIC;
htim4.Instance = TIM4;
htim4.Init.Prescaler = 0;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 0;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
HAL_TIM_IC_Init(&htim4);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig);
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
sConfigIC.ICFilter = 0;
HAL_TIM_IC_ConfigChannel(&htim4, &sConfigIC, TIM_CHANNEL_1);
HAL_TIM_IC_ConfigChannel(&htim4, &sConfigIC, TIM_CHANNEL_2);
}
void CAM_TIM_init(CLOCKSPEED speed)
{
/*
* Enable TIM2 clock
*/
__TIM2_CLK_ENABLE();
/* Variables */
uint32_t prescaler, period;
TIM_MasterConfigTypeDef sMasterConfig;
/*
* Workout TIM parameters based on given clock speed
*/
if (speed == FAST) {
prescaler = 84;
period = 8;
} else {
prescaler = 84;
period = 12;
}
/*
* Time Base configuration and initialization
*/
htim.Instance = TIM2;
htim.Init.Period = period - 1;
htim.Init.Prescaler = prescaler - 1;
htim.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim.Init.CounterMode = TIM_COUNTERMODE_UP;
htim.Init.RepetitionCounter = 0x0;
HAL_TIM_Base_Init(&htim);
/*
* Configure TIM2 to trig ADC using the TRG0 internal trigger
*/
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim, &sMasterConfig);
/*
* Initialize PWM
*/
HAL_TIM_PWM_Init(&htim);
/*
* Configure PWM channel
*/
TIM_OC_InitTypeDef sPWMConfig;
sPWMConfig.OCMode = TIM_OCMODE_PWM1;
sPWMConfig.Pulse = period / 2;
sPWMConfig.OCPolarity = TIM_OCPOLARITY_LOW;
sPWMConfig.OCFastMode = TIM_OCFAST_DISABLE;
HAL_TIM_PWM_ConfigChannel(&htim, &sPWMConfig, TIM_CHANNEL_2);
}
/* TIM3 init function */
void BSP_TIM3_Init(void)
{
TIM_MasterConfigTypeDef sMasterConfig;
TIM_OC_InitTypeDef sConfigOC;
__GPIOA_CLK_ENABLE();
__GPIOB_CLK_ENABLE();
htim3.Instance = TIM3;
htim3.Init.Prescaler = 5-1;
htim3.Init.CounterMode = TIM_COUNTERMODE_DOWN;
htim3.Init.Period = 144*250-1;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
HAL_TIM_PWM_Init(&htim3);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig);
HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig);
HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig);
HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 10000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1);
sConfigOC.Pulse = 10000;
HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2);
sConfigOC.Pulse = 10000;
HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3);
sConfigOC.Pulse = 10000;
HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4);
HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_4);
}
/* TIM1 init function */
void MX_TIM1_Init(void)
{
TIM_ClockConfigTypeDef sClockSourceConfig;
TIM_MasterConfigTypeDef sMasterConfig;
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;
TIM_OC_InitTypeDef sConfigOC;
htim1.Instance = TIM1;
htim1.Init.Prescaler = 0;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 0;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0;
HAL_TIM_Base_Init(&htim1);
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig);
HAL_TIM_OC_Init(&htim1);
HAL_TIM_PWM_Init(&htim1);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig);
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;
HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig);
sConfigOC.OCMode = TIM_OCMODE_TIMING;
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;
HAL_TIM_OC_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1);
HAL_TIM_OC_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2);
HAL_TIM_OC_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4);
HAL_TIM_MspPostInit(&htim1);
}
STATIC void TIM6_Config(uint freq) {
// Init TIM6 at the required frequency (in Hz)
timer_tim6_init(freq);
// TIM6 TRGO selection
TIM_MasterConfigTypeDef config;
config.MasterOutputTrigger = TIM_TRGO_UPDATE;
config.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&TIM6_Handle, &config);
// TIM6 start counter
HAL_TIM_Base_Start(&TIM6_Handle);
}
/* TIM1 init function */
void MX_TIM1_Init(void)
{
TIM_MasterConfigTypeDef sMasterConfig;
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;
TIM_OC_InitTypeDef sConfigOC;
htim1.Instance = TIM1;
htim1.Init.Prescaler = 84;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 64535;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0;
if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != 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(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM2;
sConfigOC.Pulse = 37767;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
HAL_TIM_MspPostInit(&htim1);
}
/**
* @brief TIM3 Configuration
* @note TIM3 configuration is based on APB1 frequency
* @note TIM3 Update event occurs each SystemCoreClock/FREQ
* @param None
* @retval None
*/
void TIM3_Config(void)
{
TIM_OC_InitTypeDef TIMPWM_Config;
uint16_t PeriodValue = 0;
TIM_MasterConfigTypeDef sMasterConfig;
/*##-1- Configure the TIM peripheral #######################################*/
/* PWM configuration */
PWM_Handle.Instance = TIM3;
/* Calculate the period value */
PeriodValue = (uint16_t) ((SystemCoreClock) / FREQ);
PWM_Handle.Init.Period = PeriodValue;
PWM_Handle.Init.Prescaler = 0;
PWM_Handle.Init.ClockDivision = 0;
PWM_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
PWM_Handle.Init.RepetitionCounter = 0;
HAL_TIM_PWM_Init(&PWM_Handle);
/*##-2- Configure the PWM Output Capture ########################################*/
/* PWM Output Capture configuration of channel 3 */
TIMPWM_Config.OCMode = TIM_OCMODE_PWM2;
TIMPWM_Config.Pulse = PeriodValue/2;
TIMPWM_Config.OCPolarity = TIM_OCPOLARITY_LOW;
TIMPWM_Config.OCFastMode = TIM_OCFAST_DISABLE;
TIMPWM_Config.OCIdleState = TIM_OCIDLESTATE_SET;
if(HAL_TIM_PWM_ConfigChannel(&PWM_Handle, &TIMPWM_Config, TIM_CHANNEL_3) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/*##-3- Configure the Trigger Output #######################################*/
/* TIM3 TRGO selection */
sMasterConfig.MasterOutputTrigger = TIM_TRGO_ENABLE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
HAL_TIMEx_MasterConfigSynchronization(&PWM_Handle, &sMasterConfig);
/* Reset the flags */
PWM_Handle.Instance->SR = 0;
/*##-4- Enable TIM peripheral counter ######################################*/
/* Start the TIM Output Capture measurement in interrupt mode */
if(HAL_TIM_PWM_Start(&PWM_Handle, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
}
/* TIM6 init function */
void MX_TIM6_Init(void)
{
TIM_MasterConfigTypeDef sMasterConfig;
htim6.Instance = TIM6;
htim6.Init.Prescaler = 0;
htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
htim6.Init.Period = 0;
HAL_TIM_Base_Init(&htim6);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim6, &sMasterConfig);
}
/* TIM7 init function */
void MX_TIM7_Init(void)
{
TIM_MasterConfigTypeDef sMasterConfig;
htim7.Instance = TIM7;
htim7.Init.Prescaler = 6000;
htim7.Init.CounterMode = TIM_COUNTERMODE_UP;
htim7.Init.Period = 10;
HAL_TIM_Base_Init(&htim7);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim7, &sMasterConfig);
}
/* TIM3 init function */
void MX_TIM3_Init(void)
{
TIM_MasterConfigTypeDef sMasterConfig;
htim_scope.Instance = TIM3;
htim_scope.Init.Prescaler = 0;
htim_scope.Init.CounterMode = TIM_COUNTERMODE_UP;
htim_scope.Init.Period = 2048;
htim_scope.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
HAL_TIM_Base_Init(&htim_scope);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim_scope, &sMasterConfig);
}
/* TIM6 init function */
void MX_TIM6_Init(void)
{
TIM_MasterConfigTypeDef sMasterConfig;
htim6.Instance = TIM6;
htim6.Init.Prescaler = 0;
htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
htim6.Init.ClockDivision = TIM_CLOCKDIVISION_DIV2; // wurde vergessen???
htim6.Init.Period = 100;
HAL_TIM_Base_Init(&htim6);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim6, &sMasterConfig);
}
/* TIM4 init function */
void MX_TIM4_Init(DeviceConfig *x)
{
HAL_TIM_PWM_Init(&(x->htim4));
HAL_TIM_OC_Init(&(x->htim4));
HAL_TIMEx_MasterConfigSynchronization(&(x->htim4),&(x->sTIMMasterConfig));
HAL_TIM_PWM_ConfigChannel(&(x->htim4), &(x->TIMConfigOC1), TIM_CHANNEL_1);
HAL_TIM_PWM_ConfigChannel(&(x->htim4), &(x->TIMConfigOC2), TIM_CHANNEL_2);
HAL_TIM_PWM_ConfigChannel(&(x->htim4), &(x->TIMConfigOC3), TIM_CHANNEL_3);
HAL_TIM_PWM_ConfigChannel(&(x->htim4), &(x->TIMConfigOC4), TIM_CHANNEL_4);
HAL_TIM_MspPostInit(&(x->htim4));
}
/* TIM3 init function */
void MX_TIM3_Init(void)
{
TIM_ClockConfigTypeDef sClockSourceConfig;
TIM_MasterConfigTypeDef sMasterConfig;
/*
htim3.Instance = TIM3;
htim3.Init.Prescaler =10; //( SystemCoreClock /1000000) - 1;;
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
htim3.Init.Period = 10;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
HAL_TIM_Base_Init(&htim3);
*/
//benceküdte:
// 12.5MHz period
htim3.Instance = TIM3;
htim3.Init.Prescaler = 1;// ( (32000000) / 60000 ) - 1; // 1 us - 1 MHz
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
htim3.Init.Period = 200;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
HAL_TIM_Base_Init(&htim3);
/////////////////////////////////////////////////
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig);
HAL_TIM_PWM_Init(&htim3);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_LOW;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1);
HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3);
HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4);
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2);
}
void initializesync(void){
//Sets up TIM8 for sync pulse generation
/* TIM8 init function */
TIM_ClockConfigTypeDef sClockSourceConfig;
TIM_MasterConfigTypeDef sMasterConfig;
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;
TIM_OC_InitTypeDef sConfigOC;
htim8.Instance = TIM8;
htim8.Init.Prescaler = 65535;
htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
htim8.Init.Period = 160; //Sets the 30Hz pulse ~31.27Hz when = 80 //Right now ~16Hz
htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim8.Init.RepetitionCounter = 0;
HAL_TIM_Base_Init(&htim8);
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
HAL_TIM_ConfigClockSource(&htim8, &sClockSourceConfig);
HAL_TIM_OC_Init(&htim8);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig);
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;
HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 10;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_LOW;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
HAL_TIM_OC_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_1);
}
/* TIM7 init function */
void kick_TIM7_timed_interrupt(uint32_t control_loop) {
TIM_MasterConfigTypeDef sMasterConfig;
htim7.Instance = TIM7;
htim7.Init.Prescaler = 32;
htim7.Init.CounterMode = TIM_COUNTERMODE_UP;
htim7.Init.Period = control_loop;
HAL_TIM_Base_Init(&htim7);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim7, &sMasterConfig);
/* Kick timer interrupt for timed threads */
HAL_TIM_Base_Start_IT(&htim7);
}