/* 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);
}
void MX_TIM1_Init(void) {
TIM_ClockConfigTypeDef sClockSourceConfig;
TIM_MasterConfigTypeDef sMasterConfig;
TIM_SlaveConfigTypeDef sSlaveConfig;
htim2.Instance = TIM2;
htim2.Init.Prescaler = 31999;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 249;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
HAL_TIM_Base_Init(&htim2);
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig);
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_TRIGGER;
sSlaveConfig.InputTrigger = TIM_TS_TI1FP1;
sSlaveConfig.TriggerPolarity = TIM_TRIGGERPOLARITY_RISING;
sSlaveConfig.TriggerFilter = 15;
HAL_TIM_SlaveConfigSynchronization(&htim2, &sSlaveConfig);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig);
}
/**
* @brief TIM4 Configuration
* @note TIM4 configuration is based on APB1 frequency
* @note TIM4 Update event occurs each Input Capture Rising Edge
* @param None
* @retval None
*/
void TIM4_Config(void)
{
TIM_IC_InitTypeDef TIMInput_Config;
uint16_t PeriodValue = 0;
TIM_SlaveConfigTypeDef sSlaveConfig;
/*##-1- Configure the TIM peripheral #######################################*/
/* Input Capture configuration */
Input_Handle.Instance = TIM4;
/* Calculate the period value */
PeriodValue = (uint16_t) ((SystemCoreClock) / FREQ);
Input_Handle.Init.Period = PeriodValue;
Input_Handle.Init.Prescaler = 0;
Input_Handle.Init.ClockDivision = 0;
Input_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
Input_Handle.Init.RepetitionCounter = 0;
HAL_TIM_IC_Init(&Input_Handle);
/*##-2- Configure the Input Capture ########################################*/
/* Input Capture configuration of channel 2 */
TIMInput_Config.ICPolarity = TIM_ICPOLARITY_RISING;
TIMInput_Config.ICSelection = TIM_ICSELECTION_DIRECTTI;
TIMInput_Config.ICPrescaler = TIM_ICPSC_DIV1;
TIMInput_Config.ICFilter = 0;
if(HAL_TIM_IC_ConfigChannel(&Input_Handle, &TIMInput_Config, TIM_CHANNEL_2) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/*##-3- Configure the Trigger Input ########################################*/
/* TIM4 Input Trigger selection */
sSlaveConfig.InputTrigger = TIM_TS_ITR2;
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_TRIGGER;
HAL_TIM_SlaveConfigSynchronization(&Input_Handle, &sSlaveConfig);
/* Reset the flags */
Input_Handle.Instance->SR = 0;
/*##-4- Enable TIM peripheral counter ######################################*/
/* Start the TIM Input Capture measurement in interrupt mode */
if(HAL_TIM_IC_Start_IT(&Input_Handle, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
}
void MX_TIM21_Init(void) {
TIM_SlaveConfigTypeDef sSlaveConfig;
htim21.Instance = TIM21;
htim21.Init.Prescaler = 0;
htim21.Init.CounterMode = TIM_COUNTERMODE_UP;
htim21.Init.Period = 1;
htim21.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
HAL_TIM_Base_Init(&htim21);
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_EXTERNAL1;
sSlaveConfig.InputTrigger = TIM_TS_ITR0;
HAL_TIM_SlaveConfigSynchronization(&htim21, &sSlaveConfig);
HAL_NVIC_SetPriority(TIM21_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM21_IRQn);
}
/* TIM2 init function */
void MX_TIM2_Init(void) {
TIM_SlaveConfigTypeDef sSlaveConfig;
htim2.Instance = TIM2;
htim2.Init.Prescaler = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 16383;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
HAL_TIM_Base_Init(&htim2);
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_EXTERNAL1;
sSlaveConfig.InputTrigger = TIM_TS_TI2FP2;
sSlaveConfig.TriggerPolarity = TIM_TRIGGERPOLARITY_RISING;
sSlaveConfig.TriggerFilter = 0;
HAL_TIM_SlaveConfigSynchronization(&htim2, &sSlaveConfig);
HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM2_IRQn);
}
/* TIM1 init function */
void MX_TIM1_Init(void)
{
TIM_ClockConfigTypeDef sClockSourceConfig;
TIM_SlaveConfigTypeDef sSlaveConfig;
TIM_MasterConfigTypeDef sMasterConfig;
TIM_IC_InitTypeDef sConfigIC;
htim1.Instance = TIM1;
htim1.Init.Prescaler = 167;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 0xFFFF;
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_IC_Init(&htim1);
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_RESET;
sSlaveConfig.InputTrigger = TIM_TS_TI1F_ED;
sSlaveConfig.TriggerPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
sSlaveConfig.TriggerFilter = 0;
HAL_TIM_SlaveConfigSynchronization(&htim1, &sSlaveConfig);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig);
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
sConfigIC.ICFilter = 0;
HAL_TIM_IC_ConfigChannel(&htim1, &sConfigIC, TIM_CHANNEL_1);
HAL_TIM_IC_ConfigChannel(&htim1, &sConfigIC, TIM_CHANNEL_2);
HAL_TIM_IC_ConfigChannel(&htim1, &sConfigIC, TIM_CHANNEL_3);
HAL_TIM_ConfigTI1Input(&htim1, TIM_TI1SELECTION_XORCOMBINATION);
}
/* TIM5 init function */
void MX_TIM5_Init(void)
{
TIM_SlaveConfigTypeDef sSlaveConfig;
TIM_MasterConfigTypeDef sMasterConfig;
TIM_IC_InitTypeDef sConfigIC;
htim5.Instance = TIM5;
htim5.Init.Prescaler = 49;
htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
htim5.Init.Period = 0xFFFF;
htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
HAL_TIM_Base_Init(&htim5);
HAL_TIM_IC_Init(&htim5);
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_RESET;
sSlaveConfig.InputTrigger = TIM_TS_TI2FP2;
sSlaveConfig.TriggerPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
sSlaveConfig.TriggerFilter = 0;
HAL_TIM_SlaveConfigSynchronization(&htim5, &sSlaveConfig);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig);
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
sConfigIC.ICSelection = TIM_ICSELECTION_INDIRECTTI;
sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
sConfigIC.ICFilter = 0;
HAL_TIM_IC_ConfigChannel(&htim5, &sConfigIC, TIM_CHANNEL_1);
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
HAL_TIM_IC_ConfigChannel(&htim5, &sConfigIC, TIM_CHANNEL_2);
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Configure the Systick to generate an interrupt each 1 msec
- Set NVIC Group Priority to 4
- Global MSP (MCU Support Package) initialization
*/
HAL_Init();
/* Configure the system clock to 168 MHz */
SystemClock_Config();
/* Configure LED3 */
BSP_LED_Init(LED3);
/*##-1- Configure the TIM peripheral #######################################*/
/* ---------------------------------------------------------------------------
TIM4 configuration: PWM Input mode
In this example TIM4 input clock (TIM4CLK) is set to 2 * APB1 clock (PCLK1),
since APB1 prescaler is different from 1.
TIM4CLK = 2 * PCLK1
PCLK1 = HCLK / 4
=> TIM4CLK = HCLK / 2 = SystemCoreClock /2
External Signal Frequency = TIM4 counter clock / TIM4_CCR2 in Hz.
External Signal DutyCycle = (TIM4_CCR1*100)/(TIM4_CCR2) in %.
--------------------------------------------------------------------------- */
/* Set TIMx instance */
TimHandle.Instance = TIM4;
/* Initialize TIMx peripheral as follow:
+ Period = 0xFFFF
+ Prescaler = 0
+ ClockDivision = 0
+ Counter direction = Up
*/
TimHandle.Init.Period = 0xFFFF;
TimHandle.Init.Prescaler = 0;
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
if(HAL_TIM_IC_Init(&TimHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/*##-2- Configure the Input Capture channels ###############################*/
/* Common configuration */
sConfig.ICPrescaler = TIM_ICPSC_DIV1;
sConfig.ICFilter = 0;
/* Configure the Input Capture of channel 1 */
sConfig.ICPolarity = TIM_ICPOLARITY_FALLING;
sConfig.ICSelection = TIM_ICSELECTION_INDIRECTTI;
if(HAL_TIM_IC_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure the Input Capture of channel 2 */
sConfig.ICPolarity = TIM_ICPOLARITY_RISING;
sConfig.ICSelection = TIM_ICSELECTION_DIRECTTI;
if(HAL_TIM_IC_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_2) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*##-3- Configure the slave mode ###########################################*/
/* Select the slave Mode: Reset Mode */
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_RESET;
sSlaveConfig.InputTrigger = TIM_TS_TI2FP2;
if(HAL_TIM_SlaveConfigSynchronization(&TimHandle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*##-4- Start the Input Capture in interrupt mode ##########################*/
if(HAL_TIM_IC_Start_IT(&TimHandle, TIM_CHANNEL_2) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/*##-5- Start the Input Capture in interrupt mode ##########################*/
if(HAL_TIM_IC_Start_IT(&TimHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Infinite loop */
while (1)
{
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Configure the Systick to generate an interrupt each 1 msec
- Set NVIC Group Priority to 4
- Global MSP (MCU Support Package) initialization
*/
if(HAL_Init()!= HAL_OK)
{
/* Start Conversation Error */
Error_Handler();
}
/* Configure the system clock to 84 Mhz */
SystemClock_Config();
/* Configure LED5 */
BSP_LED_Init(LED5);
/*##-1- Configure the TIM peripheral #######################################*/
/* Set TIMx instance */
TimHandle.Instance = TIMx;
/* Initialize TIMx peripheral as follow:
+ Period = 0xFFFF
+ Prescaler = 0
+ ClockDivision = 0
+ Counter direction = Up
*/
TimHandle.Init.Period = 0xFFFF;
TimHandle.Init.Prescaler = 0;
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
if(HAL_TIM_IC_Init(&TimHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/*##-2- Configure the Input Capture channels ###############################*/
/* Common configuration */
sConfig.ICPrescaler = TIM_ICPSC_DIV1;
sConfig.ICFilter = 0;
/* Configure the Input Capture of channel 1 */
sConfig.ICPolarity = TIM_ICPOLARITY_FALLING;
sConfig.ICSelection = TIM_ICSELECTION_INDIRECTTI;
if(HAL_TIM_IC_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure the Input Capture of channel 2 */
sConfig.ICPolarity = TIM_ICPOLARITY_RISING;
sConfig.ICSelection = TIM_ICSELECTION_DIRECTTI;
if(HAL_TIM_IC_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_2) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*##-3- Configure the slave mode ###########################################*/
/* Select the slave Mode: Reset Mode */
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_RESET;
sSlaveConfig.InputTrigger = TIM_TS_TI2FP2;
if(HAL_TIM_SlaveConfigSynchronization(&TimHandle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*##-4- Start the Input Capture in interrupt mode ##########################*/
if(HAL_TIM_IC_Start_IT(&TimHandle, TIM_CHANNEL_2) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/*##-5- Start the Input Capture in interrupt mode ##########################*/
if(HAL_TIM_IC_Start_IT(&TimHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Infinite loop */
while (1)
{
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch
- Systick timer is configured by default as source of time base, but user
can eventually implement his proper time base source (a general purpose
timer for example or other time source), keeping in mind that Time base
duration should be kept 1ms since PPP_TIMEOUT_VALUEs are defined and
handled in milliseconds basis.
- Set NVIC Group Priority to 4
- Low Level Initialization
*/
HAL_Init();
/* Configure the system clock to 180 MHz */
SystemClock_Config();
/* Configure LED3 */
BSP_LED_Init(LED3);
/* Timers Configuration */
/* ---------------------------------------------------------------------------
TIM1 and Timers(TIM3 and TIM4) synchronisation in parallel mode.
1/TIM1 is configured as Master Timer:
- PWM Mode is used
- The TIM1 Update event is used as Trigger Output
2/TIM3 and TIM4 are slaves for TIM1,
- PWM Mode is used
- The ITR0(TIM1) is used as input trigger for both slaves
- Gated mode is used, so starts and stops of slaves counters
are controlled by the Master trigger output signal(update event).
In this example TIM1 input clock (TIM1CLK) is set to 2 * APB2 clock (PCLK2),
since APB2 prescaler is different from 1.
TIM1CLK = 2 * PCLK2
PCLK2 = HCLK / 2
=> TIM1CLK = HCLK = SystemCoreClock
The TIM1 counter clock is equal to SystemCoreClock = 180 MHz.
The Master Timer TIM1 is running at:
TIM1 frequency = TIM1 counter clock / (TIM1_Period + 1) = 703.125 KHz
TIM1_Period = (TIM1 counter clock / TIM1 frequency) - 1 = 182
and the duty cycle is equal to: TIM1_CCR1/(TIM1_ARR + 1) = 50%
The TIM3 is running at:
(TIM1 frequency)/ ((TIM3 period +1)* (Repetition_Counter+1)) = 46.875 KHz and
a duty cycle equal to TIM3_CCR1/(TIM3_ARR + 1) = 33.3%
The TIM4 is running at:
(TIM1 frequency)/ ((TIM4 period +1)* (Repetition_Counter+1)) = 70.312 KHz and
a duty cycle equal to TIM4_CCR1/(TIM4_ARR + 1) = 50%
Note:
SystemCoreClock variable holds HCLK frequency and is defined in SystemClock_Config().
Each time the core clock (HCLK) changes, user had to update SystemCoreClock
variable value. Otherwise, any configuration based on this variable will be incorrect.
This variable is updated in three ways:
1) by calling CMSIS function SystemCoreClockUpdate()
2) by calling HAL API function HAL_RCC_GetSysClockFreq()
3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
--------------------------------------------------------------------------- */
/* Set Timers instance */
TimMasterHandle.Instance = TIM1;
TimSlave1Handle.Instance = TIM3;
TimSlave2Handle.Instance = TIM4;
/*====================== Master configuration : TIM1 =======================*/
/* Initialize TIM1 peripheral in PWM mode*/
TimMasterHandle.Init.Period = 255;
TimMasterHandle.Init.Prescaler = 0;
TimMasterHandle.Init.ClockDivision = 0;
TimMasterHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimMasterHandle.Init.RepetitionCounter = 4;
if (HAL_TIM_PWM_Init(&TimMasterHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the PWM_channel_1 */
sOCConfig.OCMode = TIM_OCMODE_PWM1;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sOCConfig.Pulse = 127;
sOCConfig.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sOCConfig.OCFastMode = TIM_OCFAST_DISABLE;
sOCConfig.OCIdleState = TIM_OCIDLESTATE_RESET;
sOCConfig.OCNIdleState = TIM_OCNIDLESTATE_RESET;
if (HAL_TIM_PWM_ConfigChannel(&TimMasterHandle, &sOCConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM1 as master & use the update event as Trigger Output (TRGO) */
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&TimMasterHandle, &sMasterConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*================== End of Master configuration : TIM1 ====================*/
/*====================== Slave1 configuration : TIM3 =======================*/
/* Initialize TIM3 peripheral in PWM mode*/
TimSlave1Handle.Init.Period = 2;
TimSlave1Handle.Init.Prescaler = 0;
TimSlave1Handle.Init.ClockDivision = 0;
TimSlave1Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimSlave1Handle.Init.RepetitionCounter = 0;
if (HAL_TIM_PWM_Init(&TimSlave1Handle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the PWM_channel_1 */
sOCConfig.OCMode = TIM_OCMODE_PWM1;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sOCConfig.Pulse = 1;
if (HAL_TIM_PWM_ConfigChannel(&TimSlave1Handle, &sOCConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM3 in Gated slave mode &
use the Internal Trigger 0 (ITR0) as trigger source */
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_GATED;
sSlaveConfig.InputTrigger = TIM_TS_ITR0;
sSlaveConfig.TriggerPolarity = TIM_TRIGGERPOLARITY_NONINVERTED;
sSlaveConfig.TriggerPrescaler = TIM_TRIGGERPRESCALER_DIV1;
sSlaveConfig.TriggerFilter = 0;
if (HAL_TIM_SlaveConfigSynchronization(&TimSlave1Handle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*================== End of Slave1 configuration : TIM3 ====================*/
/*====================== Slave2 configuration : TIM4 =======================*/
/* Initialize TIM4 peripheral in PWM mode*/
TimSlave2Handle.Init.Period = 1;
TimSlave2Handle.Init.Prescaler = 0;
TimSlave2Handle.Init.ClockDivision = 0;
TimSlave2Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimSlave2Handle.Init.RepetitionCounter = 0;
if (HAL_TIM_PWM_Init(&TimSlave2Handle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the PWM_channel_3 */
sOCConfig.OCMode = TIM_OCMODE_PWM1;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sOCConfig.Pulse = 1;
if (HAL_TIM_PWM_ConfigChannel(&TimSlave2Handle, &sOCConfig, TIM_CHANNEL_3) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM3 in Gated slave mode &
use the Internal Trigger 0 (ITR0) as trigger source */
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_GATED;
sSlaveConfig.InputTrigger = TIM_TS_ITR0;
if (HAL_TIM_SlaveConfigSynchronization(&TimSlave2Handle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*================== End of Slave2 configuration : TIM4 ====================*/
/* Start Master PWM generation */
if (HAL_TIM_PWM_Start(&TimMasterHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* PWM generation Error */
Error_Handler();
}
/* Start Slave1 PWM generation */
if (HAL_TIM_PWM_Start(&TimSlave1Handle, TIM_CHANNEL_1) != HAL_OK)
{
/* PWM generation Error */
Error_Handler();
}
/* Start Slave2 PWM generation */
if (HAL_TIM_PWM_Start(&TimSlave2Handle, TIM_CHANNEL_3) != HAL_OK)
{
/* PWM generation Error */
Error_Handler();
}
while (1)
{
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/* STM32F0xx HAL library initialization:
- Configure the Flash prefetch
- Systick timer is configured by default as source of time base, but user
can eventually implement his proper time base source (a general purpose
timer for example or other time source), keeping in mind that Time base
duration should be kept 1ms since PPP_TIMEOUT_VALUEs are defined and
handled in milliseconds basis.
- Low Level Initialization
*/
HAL_Init();
/* Configure LED2 */
BSP_LED_Init(LED2);
/* Configure the system clock to 48 MHz */
SystemClock_Config();
/*##-1- Configure the TIM peripheral #######################################*/
/* ---------------------------------------------------------------------------
TIM3 configuration: PWM Input mode
In this example TIM3 input clock (TIM3CLK) is set to APB1 clock (PCLK1),
since APB1 prescaler is 1.
TIM3CLK = PCLK1
PCLK1 = HCLK
=> TIM3CLK = HCLK = SystemCoreClock
External Signal Frequency = TIM3 counter clock / TIM3_CCR2 in Hz.
External Signal DutyCycle = (TIM3_CCR1*100)/(TIM3_CCR2) in %.
--------------------------------------------------------------------------- */
/* Set TIMx instance */
TimHandle.Instance = TIMx;
/* Initialize TIMx peripheral as follows:
+ Period = 0xFFFF
+ Prescaler = 0
+ ClockDivision = 0
+ Counter direction = Up
*/
TimHandle.Init.Period = 0xFFFF;
TimHandle.Init.Prescaler = 0;
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimHandle.Init.RepetitionCounter = 0;
if (HAL_TIM_IC_Init(&TimHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/*##-2- Configure the Input Capture channels ###############################*/
/* Common configuration */
sConfig.ICPrescaler = TIM_ICPSC_DIV1;
sConfig.ICFilter = 0;
/* Configure the Input Capture of channel 1 */
sConfig.ICPolarity = TIM_ICPOLARITY_FALLING;
sConfig.ICSelection = TIM_ICSELECTION_INDIRECTTI;
if (HAL_TIM_IC_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure the Input Capture of channel 2 */
sConfig.ICPolarity = TIM_ICPOLARITY_RISING;
sConfig.ICSelection = TIM_ICSELECTION_DIRECTTI;
if (HAL_TIM_IC_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_2) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*##-3- Configure the slave mode ###########################################*/
/* Select the slave Mode: Reset Mode */
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_RESET;
sSlaveConfig.InputTrigger = TIM_TS_TI2FP2;
sSlaveConfig.TriggerPolarity = TIM_TRIGGERPOLARITY_NONINVERTED;
sSlaveConfig.TriggerPrescaler = TIM_TRIGGERPRESCALER_DIV1;
sSlaveConfig.TriggerFilter = 0;
if (HAL_TIM_SlaveConfigSynchronization(&TimHandle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*##-4- Start the Input Capture in interrupt mode ##########################*/
if (HAL_TIM_IC_Start_IT(&TimHandle, TIM_CHANNEL_2) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/*##-5- Start the Input Capture in interrupt mode ##########################*/
if (HAL_TIM_IC_Start_IT(&TimHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
while (1)
{
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/* Enable the CPU Cache */
CPU_CACHE_Enable();
/* STM32F7xx HAL library initialization:
- Configure the Flash ART accelerator on ITCM interface
- Systick timer is configured by default as source of time base, but user
can eventually implement his proper time base source (a general purpose
timer for example or other time source), keeping in mind that Time base
duration should be kept 1ms since PPP_TIMEOUT_VALUEs are defined and
handled in milliseconds basis.
- Set NVIC Group Priority to 4
- Low Level Initialization
*/
HAL_Init();
/* Configure the system clock to 216 MHz */
SystemClock_Config();
/* Configure LED3 */
BSP_LED_Init(LED3);
/* Set Timers instance */
TimMasterHandle.Instance = TIM1;
TimSlaveMasterHandle.Instance = TIM4;
TimSlaveHandle.Instance = TIM5;
/*======= Master1/Slave for an external trigger configuration : TIM1 =======*/
/* Initialize TIM1 peripheral in Output Compare mode*/
TimMasterHandle.Init.Period = 79;
TimMasterHandle.Init.Prescaler = (SystemCoreClock / 16000000) - 1;;
TimMasterHandle.Init.ClockDivision = 0;
TimMasterHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
if(HAL_TIM_OC_Init(&TimMasterHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the output: Channel_1 */
sOCConfig.OCMode = TIM_OCMODE_TOGGLE;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
if(HAL_TIM_OC_ConfigChannel(&TimMasterHandle, &sOCConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure the Input: channel_2 */
sICConfig.ICPolarity = TIM_ICPOLARITY_RISING;
sICConfig.ICSelection = TIM_ICSELECTION_DIRECTTI;
sICConfig.ICPrescaler = TIM_ICPSC_DIV1;
sICConfig.ICFilter = 0;
if(HAL_TIM_IC_ConfigChannel(&TimMasterHandle, &sICConfig, TIM_CHANNEL_2) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM1 in Gated Slave mode for the external trigger (Filtered Timer
Input 2) */
sSlaveConfig.InputTrigger = TIM_TS_TI2FP2;
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_GATED;
if( HAL_TIM_SlaveConfigSynchronization(&TimMasterHandle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM1 in Master Enable mode & use the update event as Trigger
Output (TRGO) */
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
sMasterConfig.MasterOutputTrigger = TIM_TRGO_ENABLE;
if( HAL_TIMEx_MasterConfigSynchronization(&TimMasterHandle, &sMasterConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*=== End of Master1/Slave for an external trigger configuration : TIM1 ====*/
/*=================== Slave/Master configuration : TIM4 ====================*/
/* Initialize TIM4 peripheral in Output Compare mode*/
TimSlaveMasterHandle.Init.Period = 79;
TimSlaveMasterHandle.Init.Prescaler = ((SystemCoreClock/2) / 16000000) - 1;;
TimSlaveMasterHandle.Init.ClockDivision = 0;
TimSlaveMasterHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
if(HAL_TIM_OC_Init(&TimSlaveMasterHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the Output Compare channel_1 */
sOCConfig.OCMode = TIM_OCMODE_TOGGLE;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
if(HAL_TIM_OC_ConfigChannel(&TimSlaveMasterHandle, &sOCConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM4 in Gated Slave mode for the internal trigger 0(ITR0) */
sSlaveConfig.InputTrigger = TIM_TS_ITR0;
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_GATED;
if( HAL_TIM_SlaveConfigSynchronization(&TimSlaveMasterHandle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM4 in Master Enable mode & use the update event as Trigger
Output (TRGO) */
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
sMasterConfig.MasterOutputTrigger = TIM_TRGO_ENABLE;
if( HAL_TIMEx_MasterConfigSynchronization(&TimSlaveMasterHandle, &sMasterConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*=============== End of Slave/Master configuration : TIM4 =================*/
/*====================== Slave configuration : TIM5 ========================*/
/* Initialize TIM5 peripheral in Output Compare mode*/
TimSlaveHandle.Init.Period = 79;
TimSlaveHandle.Init.Prescaler = ((SystemCoreClock/2) / 16000000) - 1;;
TimSlaveHandle.Init.ClockDivision = 0;
TimSlaveHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
if(HAL_TIM_OC_Init(&TimSlaveHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the Output Compare channel_1 */
sOCConfig.OCMode = TIM_OCMODE_TOGGLE;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
if(HAL_TIM_OC_ConfigChannel(&TimSlaveHandle, &sOCConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM5 in Gated Slave mode for the internal trigger 2(ITR2) */
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_GATED;
sSlaveConfig.InputTrigger = TIM_TS_ITR2;
if(HAL_TIM_SlaveConfigSynchronization(&TimSlaveHandle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*================== End of Slave configuration : TIM5 =====================*/
/* 1- Start Timer1 xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx */
/* Start Channel2 in Input Capture */
if(HAL_TIM_IC_Start(&TimMasterHandle, TIM_CHANNEL_2) != HAL_OK)
{
/* Start Error */
Error_Handler();
}
/* Start the Output Compare */
if(HAL_TIM_OC_Start(&TimMasterHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* Start Error */
Error_Handler();
}
/* 2- Start Timer3 xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx */
/* Start the Output Compare */
if(HAL_TIM_OC_Start(&TimSlaveMasterHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* Start Error */
Error_Handler();
}
/* 3- Start Timer3 xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx */
/* Start the Output Compare */
if(HAL_TIM_OC_Start(&TimSlaveHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* Start Error */
Error_Handler();
}
/* Infinite loop */
while (1)
{
}
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/* STM32F2xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Configure the Systick to generate an interrupt each 1 msec
- Set NVIC Group Priority to 4
- Global MSP (MCU Support Package) initialization
*/
HAL_Init();
/* Configure the system clock to 120 MHz */
SystemClock_Config();
/* Configure LED3 */
BSP_LED_Init(LED3);
/* Timers Configuration */
/* ---------------------------------------------------------------------------
TIM1 and Timers(TIM3 and TIM4) synchronisation in parallel mode.
1/TIM1 is configured as Master Timer:
- PWM Mode is used
- The TIM1 Update event is used as Trigger Output
2/TIM3 and TIM4 are slaves for TIM1,
- PWM Mode is used
- The ITR0(TIM1) is used as input trigger for both slaves
- Gated mode is used, so starts and stops of slaves counters
are controlled by the Master trigger output signal(update event).
In this example TIM1 input clock (TIM1CLK) is set to 2 * APB2 clock (PCLK2),
since APB2 prescaler is different from 1.
TIM1CLK = 2 * PCLK2
PCLK2 = HCLK / 2
=> TIM1CLK = HCLK = SystemCoreClock
The TIM1 counter clock is equal to SystemCoreClock = 120 MHz.
The Master Timer TIM1 is running at:
TIM1 frequency = TIM1 counter clock / (TIM1_Period + 1) = 469 KHz
TIM1_Period = (TIM1 counter clock / TIM1 frequency) - 1 = 255
and the duty cycle is equal to: TIM1_CCR1/(TIM1_ARR + 1) = 50%
The TIM3 is running at:
(TIM1 frequency)/ ((TIM3 period +1)* (Repetition_Counter+1)) = 31.25 KHz and
a duty cycle equal to TIM3_CCR1/(TIM3_ARR + 1) = 33.3%
The TIM4 is running at:
(TIM1 frequency)/ ((TIM4 period +1)* (Repetition_Counter+1)) = 46.9 KHz and
a duty cycle equal to TIM4_CCR1/(TIM4_ARR + 1) = 50%
Note:
SystemCoreClock variable holds HCLK frequency and is defined in system_stm32f2xx.c file.
Each time the core clock (HCLK) changes, user had to update SystemCoreClock
variable value. Otherwise, any configuration based on this variable will be incorrect.
This variable is updated in three ways:
1) by calling CMSIS function SystemCoreClockUpdate()
2) by calling HAL API function HAL_RCC_GetSysClockFreq()
3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
--------------------------------------------------------------------------- */
/* Set Timers instance */
TimMasterHandle.Instance = TIM1;
TimSlave1Handle.Instance = TIM3;
TimSlave2Handle.Instance = TIM4;
/*====================== Master configuration : TIM1 =======================*/
/* Initialize TIM1 peripheral in PWM mode*/
TimMasterHandle.Init.Period = 255;
TimMasterHandle.Init.Prescaler = 0;
TimMasterHandle.Init.ClockDivision = 0;
TimMasterHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimMasterHandle.Init.RepetitionCounter = 4;
if(HAL_TIM_PWM_Init(&TimMasterHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the PWM_channel_1 */
sOCConfig.OCMode = TIM_OCMODE_PWM1;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sOCConfig.Pulse = 127;
if(HAL_TIM_PWM_ConfigChannel(&TimMasterHandle, &sOCConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM1 as master & use the update event as Trigger Output (TRGO) */
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
if( HAL_TIMEx_MasterConfigSynchronization(&TimMasterHandle,&sMasterConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*================== End of Master configuration : TIM1 ====================*/
/*====================== Slave1 configuration : TIM3 =======================*/
/* Initialize TIM3 peripheral in PWM mode*/
TimSlave1Handle.Init.Period = 2;
TimSlave1Handle.Init.Prescaler = 0;
TimSlave1Handle.Init.ClockDivision = 0;
TimSlave1Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimSlave1Handle.Init.RepetitionCounter = 0;
if(HAL_TIM_PWM_Init(&TimSlave1Handle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the PWM_channel_1 */
sOCConfig.OCMode = TIM_OCMODE_PWM1;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sOCConfig.Pulse = 1;
if(HAL_TIM_PWM_ConfigChannel(&TimSlave1Handle, &sOCConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM3 in Gated slave mode &
use the Internal Trigger 0 (ITR0) as trigger source */
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_GATED;
sSlaveConfig.InputTrigger = TIM_TS_ITR0;
if(HAL_TIM_SlaveConfigSynchronization(&TimSlave1Handle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*================== End of Slave1 configuration : TIM3 ====================*/
/*====================== Slave2 configuration : TIM4 =======================*/
/* Initialize TIM4 peripheral in PWM mode*/
TimSlave2Handle.Init.Period = 1;
TimSlave2Handle.Init.Prescaler = 0;
TimSlave2Handle.Init.ClockDivision = 0;
TimSlave2Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimSlave2Handle.Init.RepetitionCounter = 0;
if(HAL_TIM_PWM_Init(&TimSlave2Handle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the PWM_channel_1 */
sOCConfig.OCMode = TIM_OCMODE_PWM1;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sOCConfig.Pulse = 1;
if(HAL_TIM_PWM_ConfigChannel(&TimSlave2Handle, &sOCConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM3 in Gated slave mode &
use the Internal Trigger 0 (ITR0) as trigger source */
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_GATED;
sSlaveConfig.InputTrigger = TIM_TS_ITR0;
if(HAL_TIM_SlaveConfigSynchronization(&TimSlave2Handle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*================== End of Slave2 configuration : TIM4 ====================*/
/* Start Master PWM generation */
if(HAL_TIM_PWM_Start(&TimMasterHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* PWM generation Error */
Error_Handler();
}
/* Start Slave1 PWM generation */
if(HAL_TIM_PWM_Start(&TimSlave1Handle, TIM_CHANNEL_1) != HAL_OK)
{
/* PWM generation Error */
Error_Handler();
}
/* Start Slave2 PWM generation */
if(HAL_TIM_PWM_Start(&TimSlave2Handle, TIM_CHANNEL_1) != HAL_OK)
{
/* PWM generation Error */
Error_Handler();
}
/* Infinite loop */
while (1)
{
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Systick timer is configured by default as source of time base, but user
can eventually implement his proper time base source (a general purpose
timer for example or other time source), keeping in mind that Time base
duration should be kept 1ms since PPP_TIMEOUT_VALUEs are defined and
handled in milliseconds basis.
- Set NVIC Group Priority to 4
- Low Level Initialization: global MSP (MCU Support Package) initialization
*/
HAL_Init();
/* Configure the system clock to 180 MHz */
SystemClock_Config();
/* Configure LED3 */
BSP_LED_Init(LED3);
/* Timers configuration ------------------------------------------------------
1/TIM3 is configured as Master Timer:
- PWM Mode is used
- The TIM3 Update event is used as Trigger Output
2/TIM2 is slave for TIM3 and Master for TIM4,
- PWM Mode is used
- The ITR2(TIM3) is used as input trigger
- Gated mode is used, so start and stop of slave counter
are controlled by the Master trigger output signal(TIM3 update event).
- The TIM2 Update event is used as Trigger Output.
3/TIM4 is slave for TIM2,
- PWM Mode is used
- The ITR1(TIM2) is used as input trigger
- Gated mode is used, so start and stop of slave counter
are controlled by the Master trigger output signal(TIM2 update event).
In this example TIM3 input clock (TIM3CLK) is set to 2 * APB1 clock (PCLK1),
since APB1 prescaler is different from 1.
TIM3CLK = 2 * PCLK1
PCLK1 = HCLK / 4
=> TIM3CLK = HCLK / 2 = SystemCoreClock /2
The TIM3 counter clock is equal to SystemCoreClock/2 = 180 MHz/2.
The Master Timer TIM3 is running at:
TIM3 frequency = TIM3 counter clock / (TIM3_Period + 1) = 351.562 KHz
TIM3_Period = (TIM3 counter clock / TIM3 frequency) - 1 = 182
and the duty cycle is equal to: TIM3_CCR1/(TIM3_ARR + 1) = 25%
The TIM2 is running:
- At (TIM3 frequency)/ (TIM2 period + 1) = 87.891 KHz and a duty cycle
equal to TIM2_CCR1/(TIM2_ARR + 1) = 25%
The TIM4 is running:
- At (TIM2 frequency)/ (TIM4 period + 1) = 21.973 KHz and a duty cycle
equal to TIM4_CCR1/(TIM4_ARR + 1) = 25%
Note:
SystemCoreClock variable holds HCLK frequency and is defined in SystemClock_Config().
Each time the core clock (HCLK) changes, user had to update SystemCoreClock
variable value. Otherwise, any configuration based on this variable will be incorrect.
This variable is updated in three ways:
1) by calling CMSIS function SystemCoreClockUpdate()
2) by calling HAL API function HAL_RCC_GetSysClockFreq()
3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
--------------------------------------------------------------------------- */
/* Set Timers instance */
TimMasterHandle.Instance = TIM3;
TimSlave1Handle.Instance = TIM2;
TimSlave2Handle.Instance = TIM4;
/*====================== Master configuration : TIM3 =======================*/
/* Initialize TIM3 peripheral in PWM mode*/
TimMasterHandle.Init.Period = 255;
TimMasterHandle.Init.Prescaler = 0;
TimMasterHandle.Init.ClockDivision = 0;
TimMasterHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimMasterHandle.Init.RepetitionCounter = 0;
if(HAL_TIM_PWM_Init(&TimMasterHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the PWM_channel_1 */
sOCConfig.OCMode = TIM_OCMODE_PWM1;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sOCConfig.Pulse = 64;
sOCConfig.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sOCConfig.OCFastMode = TIM_OCFAST_DISABLE;
sOCConfig.OCIdleState = TIM_OCIDLESTATE_RESET;
sOCConfig.OCNIdleState = TIM_OCNIDLESTATE_RESET;
if (HAL_TIM_PWM_ConfigChannel(&TimMasterHandle, &sOCConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM2 as master & use the update event as Trigger Output (TRGO) */
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&TimMasterHandle, &sMasterConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*================== End of Master configuration : TIM3 ====================*/
/*====================== Slave1 configuration : TIM2 =======================*/
/* Initialize TIM2 peripheral in PWM mode*/
TimSlave1Handle.Init.Period = 3;
TimSlave1Handle.Init.Prescaler = 0;
TimSlave1Handle.Init.ClockDivision = 0;
TimSlave1Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimSlave1Handle.Init.RepetitionCounter = 0;
if (HAL_TIM_PWM_Init(&TimSlave1Handle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the PWM_channel_1 */
sOCConfig.OCMode = TIM_OCMODE_PWM1;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sOCConfig.Pulse = 1;
if (HAL_TIM_PWM_ConfigChannel(&TimSlave1Handle, &sOCConfig, TIM_CHANNEL_4) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM3 in Gated slave mode &
use the Internal Trigger 1 (ITR1) as trigger source */
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_GATED;
sSlaveConfig.InputTrigger = TIM_TS_ITR2;
sSlaveConfig.TriggerPolarity = TIM_TRIGGERPOLARITY_NONINVERTED;
sSlaveConfig.TriggerPrescaler = TIM_TRIGGERPRESCALER_DIV1;
sSlaveConfig.TriggerFilter = 0;
if (HAL_TIM_SlaveConfigSynchronization(&TimSlave1Handle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM3 as master & use the update event as Trigger Output (TRGO) */
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
if( HAL_TIMEx_MasterConfigSynchronization(&TimSlave1Handle,&sMasterConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*================== End of Slave1 configuration : TIM2 ====================*/
/*====================== Slave2 configuration : TIM4 =======================*/
/* Initialize TIM4 peripheral in PWM mode*/
TimSlave2Handle.Init.Period = 3;
TimSlave2Handle.Init.Prescaler = 0;
TimSlave2Handle.Init.ClockDivision = 0;
TimSlave2Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimSlave2Handle.Init.RepetitionCounter = 0;
if (HAL_TIM_PWM_Init(&TimSlave2Handle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the PWM_channel_3 */
sOCConfig.OCMode = TIM_OCMODE_PWM1;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sOCConfig.Pulse = 1;
if (HAL_TIM_PWM_ConfigChannel(&TimSlave2Handle, &sOCConfig, TIM_CHANNEL_3) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM4 in Gated slave mode &
use the Internal Trigger 2 (ITR2) as trigger source */
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_GATED;
sSlaveConfig.InputTrigger = TIM_TS_ITR1;
if (HAL_TIM_SlaveConfigSynchronization(&TimSlave2Handle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*================== End of Slave2 configuration : TIM4 ====================*/
/* Start Master PWM generation */
if (HAL_TIM_PWM_Start(&TimMasterHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* PWM generation Error */
Error_Handler();
}
/* Start Slave1 PWM generation */
if (HAL_TIM_PWM_Start(&TimSlave1Handle, TIM_CHANNEL_4) != HAL_OK)
{
/* PWM generation Error */
Error_Handler();
}
/* Start Slave2 PWM generation */
if (HAL_TIM_PWM_Start(&TimSlave2Handle, TIM_CHANNEL_3) != HAL_OK)
{
/* PWM generation Error */
Error_Handler();
}
/* Infinite loop */
while (1)
{
}
}
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);
}
/* TIM5 init function */
void MX_TIM5_Init(void)
{
TIM_ClockConfigTypeDef sClockSourceConfig;
TIM_SlaveConfigTypeDef sSlaveConfig;
TIM_MasterConfigTypeDef sMasterConfig;
TIM_IC_InitTypeDef sConfigIC;
htim5.Instance = TIM5;
htim5.Init.Prescaler = 840;
htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
htim5.Init.Period = 65535;
htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
if (HAL_TIM_Base_Init(&htim5) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim5, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_IC_Init(&htim5) != HAL_OK)
{
Error_Handler();
}
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_RESET;
sSlaveConfig.InputTrigger = TIM_TS_TI2FP2;
sSlaveConfig.TriggerPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
sSlaveConfig.TriggerFilter = 0;
if (HAL_TIM_SlaveConfigSynchronization(&htim5, &sSlaveConfig) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
sConfigIC.ICSelection = TIM_ICSELECTION_INDIRECTTI;
sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
sConfigIC.ICFilter = 0;
if (HAL_TIM_IC_ConfigChannel(&htim5, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
if (HAL_TIM_IC_ConfigChannel(&htim5, &sConfigIC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Configure the Systick to generate an interrupt each 1 msec
- Set NVIC Group Priority to 4
- Global MSP (MCU Support Package) initialization
*/
HAL_Init();
/* Configure the system clock to 168 MHz */
SystemClock_Config();
/* Configure LED3 */
BSP_LED_Init(LED3);
/* Timers configuration ------------------------------------------------------
1/TIM2 is configured as Master Timer:
- PWM Mode is used
- The TIM2 Update event is used as Trigger Output
2/TIM3 is slave for TIM2 and Master for TIM4,
- PWM Mode is used
- The ITR1(TIM2) is used as input trigger
- Gated mode is used, so start and stop of slave counter
are controlled by the Master trigger output signal(TIM2 update event).
- The TIM3 Update event is used as Trigger Output.
3/TIM4 is slave for TIM3,
- PWM Mode is used
- The ITR2(TIM3) is used as input trigger
- Gated mode is used, so start and stop of slave counter
are controlled by the Master trigger output signal(TIM3 update event).
In this example TIM2 input clock (TIM2CLK) is set to 2 * APB1 clock (PCLK1),
since APB1 prescaler is different from 1.
TIM2CLK = 2 * PCLK1
PCLK1 = HCLK / 4
=> TIM2CLK = HCLK / 2 = SystemCoreClock /2
The Master Timer TIM2 is running at TIM2 counter clock:
TIM2 frequency = (TIM2 counter clock)/ (TIM2 period + 1) = 328.125 KHz
and the duty cycle = TIM2_CCR1/(TIM2_ARR + 1) = 25%.
The TIM3 is running:
- At (TIM2 frequency)/ (TIM3 period + 1) = 82.02 KHz and a duty cycle
equal to TIM3_CCR1/(TIM3_ARR + 1) = 25%
The TIM4 is running:
- At (TIM3 frequency)/ (TIM4 period + 1) = 20.5 KHz and a duty cycle
equal to TIM4_CCR1/(TIM4_ARR + 1) = 25%
Note:
SystemCoreClock variable holds HCLK frequency and is defined in system_stm32f4xx.c file.
Each time the core clock (HCLK) changes, user had to update SystemCoreClock
variable value. Otherwise, any configuration based on this variable will be incorrect.
This variable is updated in three ways:
1) by calling CMSIS function SystemCoreClockUpdate()
2) by calling HAL API function HAL_RCC_GetSysClockFreq()
3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
--------------------------------------------------------------------------- */
/* Set Timers instance */
TimMasterHandle.Instance = TIM2;
TimSlave1Handle.Instance = TIM3;
TimSlave2Handle.Instance = TIM4;
/*====================== Master configuration : TIM2 =======================*/
/* Initialize TIM2 peripheral in PWM mode*/
TimMasterHandle.Init.Period = 255;
TimMasterHandle.Init.Prescaler = 0;
TimMasterHandle.Init.ClockDivision = 0;
TimMasterHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimMasterHandle.Init.RepetitionCounter = 0;
if(HAL_TIM_PWM_Init(&TimMasterHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the PWM_channel_1 */
sOCConfig.OCMode = TIM_OCMODE_PWM1;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sOCConfig.Pulse = 64;
if(HAL_TIM_PWM_ConfigChannel(&TimMasterHandle, &sOCConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM2 as master & use the update event as Trigger Output (TRGO) */
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
if( HAL_TIMEx_MasterConfigSynchronization(&TimMasterHandle,&sMasterConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*================== End of Master configuration : TIM2 ====================*/
/*====================== Slave1 configuration : TIM3 =======================*/
/* Initialize TIM3 peripheral in PWM mode*/
TimSlave1Handle.Init.Period = 3;
TimSlave1Handle.Init.Prescaler = 0;
TimSlave1Handle.Init.ClockDivision = 0;
TimSlave1Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimSlave1Handle.Init.RepetitionCounter = 0;
if(HAL_TIM_PWM_Init(&TimSlave1Handle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the PWM_channel_1 */
sOCConfig.OCMode = TIM_OCMODE_PWM1;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sOCConfig.Pulse = 1;
if(HAL_TIM_PWM_ConfigChannel(&TimSlave1Handle, &sOCConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM3 in Gated slave mode &
use the Internal Trigger 1 (ITR1) as trigger source */
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_GATED;
sSlaveConfig.InputTrigger = TIM_TS_ITR1;
if(HAL_TIM_SlaveConfigSynchronization(&TimSlave1Handle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM3 as master & use the update event as Trigger Output (TRGO) */
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
if( HAL_TIMEx_MasterConfigSynchronization(&TimSlave1Handle,&sMasterConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*================== End of Slave1 configuration : TIM3 ====================*/
/*====================== Slave2 configuration : TIM4 =======================*/
/* Initialize TIM4 peripheral in PWM mode*/
TimSlave2Handle.Init.Period = 3;
TimSlave2Handle.Init.Prescaler = 0;
TimSlave2Handle.Init.ClockDivision = 0;
TimSlave2Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimSlave2Handle.Init.RepetitionCounter = 0;
if(HAL_TIM_PWM_Init(&TimSlave2Handle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the PWM_channel_1 */
sOCConfig.OCMode = TIM_OCMODE_PWM1;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sOCConfig.Pulse = 1;
if(HAL_TIM_PWM_ConfigChannel(&TimSlave2Handle, &sOCConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM4 in Gated slave mode &
use the Internal Trigger 2 (ITR2) as trigger source */
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_GATED;
sSlaveConfig.InputTrigger = TIM_TS_ITR2;
if(HAL_TIM_SlaveConfigSynchronization(&TimSlave2Handle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*================== End of Slave2 configuration : TIM4 ====================*/
/* Start Master PWM generation */
if(HAL_TIM_PWM_Start(&TimMasterHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* PWM generation Error */
Error_Handler();
}
/* Start Slave1 PWM generation */
if(HAL_TIM_PWM_Start(&TimSlave1Handle, TIM_CHANNEL_1) != HAL_OK)
{
/* PWM generation Error */
Error_Handler();
}
/* Start Slave2 PWM generation */
if(HAL_TIM_PWM_Start(&TimSlave2Handle, TIM_CHANNEL_1) != HAL_OK)
{
/* PWM generation Error */
Error_Handler();
}
/* Infinite loop */
while (1)
{
}
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/* STM32F2xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Configure the Systick to generate an interrupt each 1 msec
- Set NVIC Group Priority to 4
- Global MSP (MCU Support Package) initialization
*/
HAL_Init();
/* Configure the system clock to 120 MHz */
SystemClock_Config();
/* Configure LED3 */
BSP_LED_Init(LED3);
/* Timers synchronisation in cascade mode with an external trigger -----
1/TIM1 is configured as Master Timer:
- Toggle Mode is used
- The TIM1 Enable event is used as Trigger Output
2/TIM1 is configured as Slave Timer for an external Trigger connected
to TIM1 TI2 pin (TIM1 CH2 configured as input pin):
- The TIM1 TI2FP2 is used as Trigger Input
- Rising edge is used to start and stop the TIM1: Gated Mode.
3/TIM3 is slave for TIM1 and Master for TIM4,
- Toggle Mode is used
- The ITR1(TIM1) is used as input trigger
- Gated mode is used, so start and stop of slave counter
are controlled by the Master trigger output signal(TIM1 enable event).
- The TIM3 enable event is used as Trigger Output.
4/TIM4 is slave for TIM3,
- Toggle Mode is used
- The ITR2(TIM3) is used as input trigger
- Gated mode is used, so start and stop of slave counter
are controlled by the Master trigger output signal(TIM3 enable event).
TIM1 input clock (TIM1CLK) is set to 2 * APB2 clock (PCLK2),
since APB2 prescaler is different from 1.
TIM1CLK = 2 * PCLK2
PCLK2 = HCLK / 2
=> TIM1CLK = 2 * (HCLK / 2) = HCLK = SystemCoreClock
TIM3/TIM4 input clock (TIM3CLK/TIM4CLK) is set to 2 * APB1 clock (PCLK1),
since APB1 prescaler is different from 1.
TIM3CLK/TIM4CLK = 2 * PCLK1
PCLK1 = HCLK / 4
=> TIM3CLK/TIM4CLK = HCLK / 2 = SystemCoreClock /2
The TIM1CLK is fixed to 120 MHZ, the Prescaler is equal to 5 so the TIMx clock
counter is equal to 28 MHz.
The TIM3CLK and TIM4CLK are fixed to 84 MHZ, the Prescaler is equal to 5
so the TIMx clock counter is equal to 14 MHz.
The Three Timers are running at:
TIMx frequency = TIMx clock counter/ 2*(TIMx_Period + 1) = 93,3 KHz.
The starts and stops of the TIM1 counters are controlled by the
external trigger.
The TIM3 starts and stops are controlled by the TIM1, and the TIM4
starts and stops are controlled by the TIM3.
Note:
SystemCoreClock variable holds HCLK frequency and is defined in system_stm32f2xx.c file.
Each time the core clock (HCLK) changes, user had to update SystemCoreClock
variable value. Otherwise, any configuration based on this variable will be incorrect.
This variable is updated in three ways:
1) by calling CMSIS function SystemCoreClockUpdate()
2) by calling HAL API function HAL_RCC_GetSysClockFreq()
3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
-------------------------------------------------------------------- */
/* Set Timers instance */
TimMasterHandle.Instance = TIM1;
TimSlaveMasterHandle.Instance = TIM3;
TimSlaveHandle.Instance = TIM4;
/*======= Master1/Slave for an external trigger configuration : TIM1 =======*/
/* Initialize TIM1 peripheral in Output Compare mode*/
TimMasterHandle.Init.Period = 149;
TimMasterHandle.Init.Prescaler = 5;
TimMasterHandle.Init.ClockDivision = 0;
TimMasterHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimMasterHandle.Init.RepetitionCounter = 0;
if(HAL_TIM_OC_Init(&TimMasterHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the output: Channel_1 */
sOCConfig.OCMode = TIM_OCMODE_TOGGLE;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
if(HAL_TIM_OC_ConfigChannel(&TimMasterHandle, &sOCConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure the Input: channel_2 */
sICConfig.ICPolarity = TIM_ICPOLARITY_RISING;
sICConfig.ICSelection = TIM_ICSELECTION_DIRECTTI;
sICConfig.ICPrescaler = TIM_ICPSC_DIV1;
sICConfig.ICFilter = 0;
if(HAL_TIM_IC_ConfigChannel(&TimMasterHandle, &sICConfig, TIM_CHANNEL_2) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM1 in Gated Slave mode for the external trigger (Filtered Timer
Input 2) */
sSlaveConfig.InputTrigger = TIM_TS_TI2FP2;
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_GATED;
if( HAL_TIM_SlaveConfigSynchronization(&TimMasterHandle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM1 in Master Enable mode & use the update event as Trigger
Output (TRGO) */
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
sMasterConfig.MasterOutputTrigger = TIM_TRGO_ENABLE;
if( HAL_TIMEx_MasterConfigSynchronization(&TimMasterHandle, &sMasterConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*=== End of Master1/Slave for an external trigger configuration : TIM1 ====*/
/*=================== Slave/Master configuration : TIM3 ====================*/
/* Initialize TIM3 peripheral in Output Compare mode*/
TimSlaveMasterHandle.Init.Period = 74;
TimSlaveMasterHandle.Init.Prescaler = 5;
TimSlaveMasterHandle.Init.ClockDivision = 0;
TimSlaveMasterHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimSlaveMasterHandle.Init.RepetitionCounter = 0;
if(HAL_TIM_OC_Init(&TimSlaveMasterHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the Output Compare channel_1 */
sOCConfig.OCMode = TIM_OCMODE_TOGGLE;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
if(HAL_TIM_OC_ConfigChannel(&TimSlaveMasterHandle, &sOCConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM3 in Gated Slave mode for the internal trigger 0(ITR0) */
sSlaveConfig.InputTrigger = TIM_TS_ITR0;
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_GATED;
if( HAL_TIM_SlaveConfigSynchronization(&TimSlaveMasterHandle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM3 in Master Enable mode & use the update event as Trigger
Output (TRGO) */
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
sMasterConfig.MasterOutputTrigger = TIM_TRGO_ENABLE;
if( HAL_TIMEx_MasterConfigSynchronization(&TimSlaveMasterHandle, &sMasterConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*=============== End of Slave/Master configuration : TIM3 =================*/
/*====================== Slave configuration : TIM4 ========================*/
/* Initialize TIM4 peripheral in Output Compare mode*/
TimSlaveHandle.Init.Period = 74;
TimSlaveHandle.Init.Prescaler = 5;
TimSlaveHandle.Init.ClockDivision = 0;
TimSlaveHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimSlaveHandle.Init.RepetitionCounter = 0;
if(HAL_TIM_OC_Init(&TimSlaveHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the Output Compare channel_1 */
sOCConfig.OCMode = TIM_OCMODE_TOGGLE;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
if(HAL_TIM_OC_ConfigChannel(&TimSlaveHandle, &sOCConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM4 in Gated Slave mode for the internal trigger 2(ITR2) */
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_GATED;
sSlaveConfig.InputTrigger = TIM_TS_ITR2;
if(HAL_TIM_SlaveConfigSynchronization(&TimSlaveHandle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*================== End of Slave configuration : TIM4 =====================*/
/* 1- Start Timer1 xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx */
/* Start Channel2 in Input Capture */
if(HAL_TIM_IC_Start(&TimMasterHandle, TIM_CHANNEL_2) != HAL_OK)
{
/* Start Error */
Error_Handler();
}
/* Start the Output Compare */
if(HAL_TIM_OC_Start(&TimMasterHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* Start Error */
Error_Handler();
}
/* 2- Start Timer3 xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx */
/* Start the Output Compare */
if(HAL_TIM_OC_Start(&TimSlaveMasterHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* Start Error */
Error_Handler();
}
/* 3- Start Timer3 xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx */
/* Start the Output Compare */
if(HAL_TIM_OC_Start(&TimSlaveHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* Start Error */
Error_Handler();
}
/* Infinite loop */
while (1)
{
}
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Configure the Systick to generate an interrupt each 1 msec
- Set NVIC Group Priority to 4
- Global MSP (MCU Support Package) initialization
*/
HAL_Init();
/* Configure the system clock to 180 MHz */
SystemClock_Config();
/* Configure LED3 */
BSP_LED_Init(LED3);
/* Set Timers instance */
TimMasterHandle.Instance = TIM1;
TimSlave1Handle.Instance = TIM3;
TimSlave2Handle.Instance = TIM4;
/*====================== Master configuration : TIM1 =======================*/
/* Initialize TIM1 peripheral in PWM mode*/
TimMasterHandle.Init.Period = 255;
TimMasterHandle.Init.Prescaler = 0;
TimMasterHandle.Init.ClockDivision = 0;
TimMasterHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimMasterHandle.Init.RepetitionCounter = 4;
if(HAL_TIM_PWM_Init(&TimMasterHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the PWM_channel_1 */
sOCConfig.OCMode = TIM_OCMODE_PWM1;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sOCConfig.Pulse = 127;
if(HAL_TIM_PWM_ConfigChannel(&TimMasterHandle, &sOCConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM1 as master & use the update event as Trigger Output (TRGO) */
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
if( HAL_TIMEx_MasterConfigSynchronization(&TimMasterHandle,&sMasterConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*================== End of Master configuration : TIM1 ====================*/
/*====================== Slave1 configuration : TIM3 =======================*/
/* Initialize TIM3 peripheral in PWM mode*/
TimSlave1Handle.Init.Period = 2;
TimSlave1Handle.Init.Prescaler = 0;
TimSlave1Handle.Init.ClockDivision = 0;
TimSlave1Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimSlave1Handle.Init.RepetitionCounter = 0;
if(HAL_TIM_PWM_Init(&TimSlave1Handle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the PWM_channel_1 */
sOCConfig.OCMode = TIM_OCMODE_PWM1;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sOCConfig.Pulse = 1;
if(HAL_TIM_PWM_ConfigChannel(&TimSlave1Handle, &sOCConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM3 in Gated slave mode &
use the Internal Trigger 0 (ITR0) as trigger source */
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_GATED;
sSlaveConfig.InputTrigger = TIM_TS_ITR0;
if(HAL_TIM_SlaveConfigSynchronization(&TimSlave1Handle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*================== End of Slave1 configuration : TIM3 ====================*/
/*====================== Slave2 configuration : TIM4 =======================*/
/* Initialize TIM4 peripheral in PWM mode*/
TimSlave2Handle.Init.Period = 1;
TimSlave2Handle.Init.Prescaler = 0;
TimSlave2Handle.Init.ClockDivision = 0;
TimSlave2Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimSlave2Handle.Init.RepetitionCounter = 0;
if(HAL_TIM_PWM_Init(&TimSlave2Handle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the PWM_channel_1 */
sOCConfig.OCMode = TIM_OCMODE_PWM1;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sOCConfig.Pulse = 1;
if(HAL_TIM_PWM_ConfigChannel(&TimSlave2Handle, &sOCConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM3 in Gated slave mode &
use the Internal Trigger 0 (ITR0) as trigger source */
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_GATED;
sSlaveConfig.InputTrigger = TIM_TS_ITR0;
if(HAL_TIM_SlaveConfigSynchronization(&TimSlave2Handle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*================== End of Slave2 configuration : TIM4 ====================*/
/* Start Master PWM generation */
if(HAL_TIM_PWM_Start(&TimMasterHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* PWM generation Error */
Error_Handler();
}
/* Start Slave1 PWM generation */
if(HAL_TIM_PWM_Start(&TimSlave1Handle, TIM_CHANNEL_1) != HAL_OK)
{
/* PWM generation Error */
Error_Handler();
}
/* Start Slave2 PWM generation */
if(HAL_TIM_PWM_Start(&TimSlave2Handle, TIM_CHANNEL_1) != HAL_OK)
{
/* PWM generation Error */
Error_Handler();
}
/* Infinite loop */
while (1)
{
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/* STM32F3xx HAL library initialization:
- Configure the Flash prefetch
- Systick timer is configured by default as source of time base, but user
can eventually implement his proper time base source (a general purpose
timer for example or other time source), keeping in mind that Time base
duration should be kept 1ms since PPP_TIMEOUT_VALUEs are defined and
handled in milliseconds basis.
- Set NVIC Group Priority to 4
- Low Level Initialization
*/
HAL_Init();
/* Configure LED3 */
BSP_LED_Init(LED3);
/* Configure the system clock to have a system clock = 72 Mhz */
SystemClock_Config();
/*##-1- Configure the TIM peripheral #######################################*/
/* ---------------------------------------------------------------------------
TIM8 is configured to generate an Asymetric signal with a programmable
Phase-Shifted signal on TIM8_CH2:
- TIM8 Channel 1 is configured in PWM2 mode
- TIM8 Channel 2 is configured in Asymetric PWM2 mode
- The counter mode is center aligned mode
- The pulse length and the phase shift are programmed consecutively in TIM8_CCR2 and TIM8_CCR1.
TIM1 is configured to generating the reference signal on Channel1 used by TIM8:
- TIM1 is generating a PWM signal with frequency equal to 1.636KHz
- TIM1 is used as master for TIM8, the update event of TIM1 genarates the Reset counter
of TIM8 to synchronize the two signals: the reference signal (TIM1_CH1) and
the shifted signal (TIM8_CH2).
In this example TIM1 and TIM8 input clock (TIM18CLK) is set to APB2 clock (PCLK2)
TIM1 and TIM8 signals are at frequency of (SystemCoreClock / (PWM_FREQUENCY + 1))
TIM8 is gerating a signal with the following caracteristics:
- Pulse lenght = (TIM8_CCR1 + TIM8_CCR2) / TIM8_CLK
- Phase shift = TIM8_CCR1/TIM8_CLK
with TIM8_CLK = (SystemCoreClock / (Period + 1)), as the prescaler is equal to zero.
Note:
SystemCoreClock variable holds HCLK frequency and is defined in system_stm32f3xx.c file.
Each time the core clock (HCLK) changes, user had to update SystemCoreClock
variable value. Otherwise, any configuration based on this variable will be incorrect.
This variable is updated in three ways:
1) by calling CMSIS function SystemCoreClockUpdate()
2) by calling HAL API function HAL_RCC_GetSysClockFreq()
3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
--------------------------------------------------------------------------- */
/* Initialize Timers: TIM1 & TIM8 */
TimHandle.Instance = TIM1;
TimHandle.Init.Prescaler = 0;
TimHandle.Init.Period = 2 * PWM_FREQUENCY;
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimHandle.Init.RepetitionCounter = 0;
if(HAL_TIM_PWM_Init(&TimHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
TimHandle.Instance = TIM8;
TimHandle.Init.Prescaler = 0;
TimHandle.Init.Period = PWM_FREQUENCY;
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1;
TimHandle.Init.RepetitionCounter = 0;
if(HAL_TIM_PWM_Init(&TimHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/*##-2- Configure the PWM channels #########################################*/
/* Channels 1&2 configuration on TIM8 */
TimHandle.Instance = TIM8;
sConfig.OCMode = TIM_OCMODE_PWM2;
sConfig.Pulse = INITIAL_PHASE;
sConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfig.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sConfig.OCFastMode = TIM_OCFAST_DISABLE;
sConfig.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfig.OCNIdleState = TIM_OCNIDLESTATE_RESET;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
sConfig.OCMode = TIM_OCMODE_ASSYMETRIC_PWM2;
sConfig.Pulse = INITIAL_LENGTH;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_2) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Channel1 configuration on TIM1 */
TimHandle.Instance = TIM1;
sConfig.OCMode = TIM_OCMODE_PWM1;
sConfig.Pulse = PWM_FREQUENCY;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*##-3- Configure master/slave mode and trigger ############################*/
/* Synchronization between TIM1 and TIM8
The aim is to generate a reference signal on TIM1_CH1
The Phase-Shifted signal generated on TIM8_CH2 is compared to the reference
signal */
/* Configure TIM8 in slave mode: an active edge on trigger input generates a
reset on TIM8 */
TimHandle.Instance = TIM8;
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_RESET;
sSlaveConfig.InputTrigger = TIM_TS_ITR0;
if(HAL_TIM_SlaveConfigSynchronization(&TimHandle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM1 in master mode */
TimHandle.Instance = TIM1;
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if(HAL_TIMEx_MasterConfigSynchronization(&TimHandle, &sMasterConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*##-4- Start PWM signals generation #######################################*/
/* Start TIM1 channel 1 */
TimHandle.Instance = TIM1;
if(HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* PWM Generation Error */
Error_Handler();
}
/* Start TIM8 channel 1 */
TimHandle.Instance = TIM8;
if(HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* PWM Generation Error */
Error_Handler();
}
/* Start TIM8 channel 2 */
TimHandle.Instance = TIM8;
if(HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_2) != HAL_OK)
{
/* PWM Generation Error */
Error_Handler();
}
while (1)
{
}
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/*This sample code shows how to use STM32L0xx TIM HAL API to measure the
frequency and duty cycle of an external signal through the STM32L0xx HAL API. */
/* STM32L0xx HAL library initialization:
- Configure the Flash prefetch, Flash preread and Buffer caches
- Systick timer is configured by default as source of time base, but user
can eventually implement his proper time base source (a general purpose
timer for example or other time source), keeping in mind that Time base
duration should be kept 1ms since PPP_TIMEOUT_VALUEs are defined and
handled in milliseconds basis.
- Low Level Initialization
*/
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/*##-1- Configure the TIM peripheral #######################################*/
/* Set TIM instance */
TimHandle.Instance = TIM2;
/* Initialize TIMx peripheral as follow:
+ Period = 0xFFFF
+ Prescaler = 0
+ ClockDivision = 0
+ Counter direction = Up
*/
TimHandle.Init.Period = 0xFFFF;
TimHandle.Init.Prescaler = 0;
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
if(HAL_TIM_IC_Init(&TimHandle) != HAL_OK)
{
/* Initialization Error */
ErrorHandler();
}
/*##-2- Configure the Input Capture channels ###############################*/
/* Common configuration */
sConfig.ICPrescaler = TIM_ICPSC_DIV1;
sConfig.ICFilter = 0;
/* Configure the Input Capture of channel 1 */
sConfig.ICPolarity = TIM_ICPOLARITY_FALLING;
sConfig.ICSelection = TIM_ICSELECTION_INDIRECTTI;
if(HAL_TIM_IC_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
ErrorHandler();
}
/* Configure the Input Capture of channel 2 */
sConfig.ICPolarity = TIM_ICPOLARITY_RISING;
sConfig.ICSelection = TIM_ICSELECTION_DIRECTTI;
if(HAL_TIM_IC_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_2) != HAL_OK)
{
/* Configuration Error */
ErrorHandler();
}
/*##-3- Configure the slave mode ###########################################*/
/* Select the slave Mode: Reset Mode */
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_RESET;
sSlaveConfig.InputTrigger = TIM_TS_TI2FP2;
if(HAL_TIM_SlaveConfigSynchronization(&TimHandle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
ErrorHandler();
}
/*##-4- Start the Input Capture in interrupt mode ##########################*/
if(HAL_TIM_IC_Start_IT(&TimHandle, TIM_CHANNEL_2) != HAL_OK)
{
/* Starting Error */
ErrorHandler();
}
/*##-5- Start the Input Capture in interrupt mode ##########################*/
if(HAL_TIM_IC_Start_IT(&TimHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* Starting Error */
ErrorHandler();
}
while (1)
{
}
}
