/*
*******************************************************************************
* FUNCTIONS
*******************************************************************************
*/
void HalLightInit(void)
{
/* Enable TIM1 clock */
CLK_PeripheralClockConfig(CLK_Peripheral_TIM1, ENABLE);
/* GPIOD configuration */
GPIO_Init(GPIOD, GPIO_Pin_2, GPIO_Mode_Out_PP_Low_Fast);
GPIO_Init(GPIOD, GPIO_Pin_3, GPIO_Mode_Out_PP_Low_Fast);
GPIO_SetBits(GPIOD, GPIO_Pin_3); /* Close relay output */
/*
- TIM1CLK = 16 MHz
- TIM1 counter clock = TIM1CLK / 320 = 16MHz/320 = 50000Hz
*/
/* Time base configuration */
TIM1_TimeBaseInit(320, TIM1_CounterMode_Up, 100, 0);
TIM1_OC1Init(TIM1_OCMode_PWM1, TIM1_OutputState_Enable, TIM1_OutputNState_Disable,
10, TIM1_OCPolarity_Low, TIM1_OCNPolarity_High, TIM1_OCIdleState_Set,
TIM1_OCNIdleState_Set);
TIM1_OC1PreloadConfig(DISABLE);
TIM1_ARRPreloadConfig(ENABLE);
/* Enable TIM1 outputs */
// TIM1_CtrlPWMOutputs(ENABLE);
//HalLightOpen();
// HalLightClose();
// HalLightSetBrightness(10);
HalLigthPWM = (80);
HalLightOpen();
}
void initTimer(void)
{
TIM1_DeInit();
TIM1_TimeBaseInit(15, TIM1_COUNTERMODE_UP,5000-1, 0); //5MS
TIM1_ARRPreloadConfig(ENABLE);
TIM1_ITConfig(TIM1_IT_UPDATE, ENABLE);
TIM1_Cmd(ENABLE);
}
/**
* @brief Configure TIM1 to generate 3 complementary signals, to insert a
* defined dead time value, to use the break feature and to lock the
* desired parameters
* @param None
* @retval None
*/
static void TIM1_Config(void)
{
/* TIM1 Peripheral Configuration */
TIM1_DeInit();
/* Time Base configuration */
/*
TIM1_Prescaler = 0
TIM1_CounterMode = TIM1_COUNTERMODE_UP
TIM1_Period = 65535
TIM1_RepetitionCounter = 0
*/
TIM1_TimeBaseInit(0, TIM1_COUNTERMODE_UP, 65535,0);
/* Channel 1, 2 and 3 Configuration in PWM mode */
/*
TIM1_OCMode = TIM1_OCMODE_PWM2
TIM1_OutputState = TIM1_OUTPUTSTATE_ENABLE
TIM1_OutputNState = TIM1_OUTPUTNSTATE_ENABLE
TIM1_Pulse = CCR1_Val
TIM1_OCPolarity = TIM1_OCPOLARITY_LOW
TIM1_OCNPolarity = TIM1_OCNPOLARITY_LOW
TIM1_OCIdleState = TIM1_OCIDLESTATE_SET
TIM1_OCNIdleState = TIM1_OCIDLESTATE_RESET
*/
TIM1_OC1Init(TIM1_OCMODE_PWM2, TIM1_OUTPUTSTATE_ENABLE, TIM1_OUTPUTNSTATE_ENABLE,
CCR1_Val, TIM1_OCPOLARITY_LOW, TIM1_OCNPOLARITY_LOW, TIM1_OCIDLESTATE_SET,
TIM1_OCNIDLESTATE_RESET);
/* TIM1_Pulse = CCR2_Val */
TIM1_OC2Init(TIM1_OCMODE_PWM2, TIM1_OUTPUTSTATE_ENABLE, TIM1_OUTPUTNSTATE_ENABLE,
CCR2_Val, TIM1_OCPOLARITY_LOW, TIM1_OCNPOLARITY_LOW, TIM1_OCIDLESTATE_SET,
TIM1_OCNIDLESTATE_RESET);
/* TIM1_Pulse = CCR3_Val */
TIM1_OC3Init(TIM1_OCMODE_PWM2, TIM1_OUTPUTSTATE_ENABLE, TIM1_OUTPUTNSTATE_ENABLE,
CCR3_Val, TIM1_OCPOLARITY_LOW, TIM1_OCNPOLARITY_LOW, TIM1_OCIDLESTATE_SET,
TIM1_OCNIDLESTATE_RESET);
/* Automatic Output enable, Break, dead time and lock configuration */
/*
TIM1_OSSIState = TIM1_OSSISTATE_ENABLE
TIM1_LockLevel = TIM1_LOCKLEVEL_1
TIM1_DeadTime = 117
TIM1_Break = TIM1_BREAK_ENABLE
TIM1_BreakPolarity = TIM1_BREAKPOLARITY_HIGH
TIM1_AutomaticOutput = TIM1_AUTOMATICOUTPUT_ENABLE
*/
TIM1_BDTRConfig( TIM1_OSSISTATE_ENABLE, TIM1_LOCKLEVEL_1, 117, TIM1_BREAK_ENABLE,
TIM1_BREAKPOLARITY_HIGH, TIM1_AUTOMATICOUTPUT_ENABLE);
/* TIM1 counter enable */
TIM1_Cmd(ENABLE);
/* Main Output Enable */
TIM1_CtrlPWMOutputs(ENABLE);
}
void CAN_Node_OW_init(void)
{
GPIO_Init(OW_PORT, OW_IN, GPIO_MODE_IN_FL_NO_IT); // external pull up
GPIO_Init(OW_PORT, OW_OUT, GPIO_MODE_OUT_PP_LOW_FAST);
GPIO_WriteLow(OW_PORT, OW_OUT);
// Configure TIM1 to run at 1MHz frequency.
// NOTE assuming master clock frequency is 8MHz.
TIM1_DeInit();
TIM1_TimeBaseInit(7, TIM1_COUNTERMODE_UP, 60, 0);
TIM1_SelectOnePulseMode(TIM1_OPMODE_SINGLE);
}
/**
* @brief Configure TIM1 to generate 7 PWM signals with 4 different duty cycles
* @param None
* @retval None
*/
static void TIM1_Config(void)
{
TIM1_DeInit();
/* Time Base configuration */
/*
TIM1_Period = 4095
TIM1_Prescaler = 0
TIM1_CounterMode = TIM1_COUNTERMODE_UP
TIM1_RepetitionCounter = 0
*/
TIM1_TimeBaseInit(0, TIM1_COUNTERMODE_UP, 4095, 0);
/* Channel 1, 2,3 and 4 Configuration in PWM mode */
/*
TIM1_OCMode = TIM1_OCMODE_PWM2
TIM1_OutputState = TIM1_OUTPUTSTATE_ENABLE
TIM1_OutputNState = TIM1_OUTPUTNSTATE_ENABLE
TIM1_Pulse = CCR1_Val
TIM1_OCPolarity = TIM1_OCPOLARITY_LOW
TIM1_OCNPolarity = TIM1_OCNPOLARITY_HIGH
TIM1_OCIdleState = TIM1_OCIDLESTATE_SET
TIM1_OCNIdleState = TIM1_OCIDLESTATE_RESET
*/
TIM1_OC1Init(TIM1_OCMODE_PWM2, TIM1_OUTPUTSTATE_ENABLE, TIM1_OUTPUTNSTATE_ENABLE,
CCR1_Val, TIM1_OCPOLARITY_LOW, TIM1_OCNPOLARITY_HIGH, TIM1_OCIDLESTATE_SET,
TIM1_OCNIDLESTATE_RESET);
/*TIM1_Pulse = CCR2_Val*/
TIM1_OC2Init(TIM1_OCMODE_PWM2, TIM1_OUTPUTSTATE_ENABLE, TIM1_OUTPUTNSTATE_ENABLE, CCR2_Val,
TIM1_OCPOLARITY_LOW, TIM1_OCNPOLARITY_HIGH, TIM1_OCIDLESTATE_SET,
TIM1_OCNIDLESTATE_RESET);
/*TIM1_Pulse = CCR3_Val*/
TIM1_OC3Init(TIM1_OCMODE_PWM2, TIM1_OUTPUTSTATE_ENABLE, TIM1_OUTPUTNSTATE_ENABLE,
CCR3_Val, TIM1_OCPOLARITY_LOW, TIM1_OCNPOLARITY_HIGH, TIM1_OCIDLESTATE_SET,
TIM1_OCNIDLESTATE_RESET);
/*TIM1_Pulse = CCR4_Val*/
TIM1_OC4Init(TIM1_OCMODE_PWM2, TIM1_OUTPUTSTATE_ENABLE, CCR4_Val, TIM1_OCPOLARITY_LOW,
TIM1_OCIDLESTATE_SET);
/* TIM1 counter enable */
TIM1_Cmd(ENABLE);
/* TIM1 Main Output Enable */
TIM1_CtrlPWMOutputs(ENABLE);
}
void TIME1_INIT()
{
// TIM1_DeInit();
TIM1_TimeBaseInit(0, //预分频 16 000 000 / (159 + 1)
TIM1_COUNTERMODE_UP, //计数模式
15999, //重装值 1ms进入一次
0x00); //重复计数N，计数N次后产生更新标志
TIM1_SetCounter(0); //计数器初值设为0
// TIM1_ARRPreloadConfig(ENABLE);
TIM1->CR1 |= TIM1_CR1_ARPE;
TIM1_ITConfig(TIM1_IT_UPDATE, ENABLE);
// TIM1_Cmd(ENABLE);
TIM1->CR1 |= TIM1_CR1_CEN;
}
void led_on(void)
{
TIM1_DeInit();
/* TIM1 configuration:
* TIM1 in PWM mode without output disabled. We only interest in the interrupts.
* Period of PWM is 1024us; Duty cycle adjustable from 1/16 - 15/16.
* With 16Mhz clock, we use:
* TIM1_Period = 16 - 1
* TIM1_Prescaler = 1024 - 1
* TIM1_Pulse = [0..15]
*/
TIM1_TimeBaseInit(1023, TIM1_COUNTERMODE_UP, 15, 0);
/*
TIM1_OCMode = TIM1_OCMODE_PWM1
TIM1_OutputState = TIM1_OUTPUTSTATE_DISABLED
TIM1_OutputNState = TIM1_OUTPUTNSTATE_DISABLED
TIM1_Pulse = [1..16], change using TIM1_SetCompare1
TIM1_OCPolarity = TIM1_OCPOLARITY_LOW; Doesn't matter as output is disabled
TIM1_OCNPolarity = TIM1_OCNPOLARITY_HIGH; Doesn't matter as output is disabled
TIM1_OCIdleState = TIM1_OCIDLESTATE_SET; Doesn't matter as output is disabled
TIM1_OCNIdleState = TIM1_OCIDLESTATE_RESET; Doesn't matter as output is disabled
*/
TIM1_OC1Init
(
TIM1_OCMODE_PWM1,
TIM1_OUTPUTSTATE_DISABLE, TIM1_OUTPUTNSTATE_DISABLE,
_duty,
TIM1_OCPOLARITY_LOW, TIM1_OCNPOLARITY_HIGH,
TIM1_OCIDLESTATE_SET, TIM1_OCNIDLESTATE_RESET
);
TIM1_ITConfig((TIM1_IT_TypeDef)(TIM1_IT_UPDATE | TIM1_IT_CC1), ENABLE);
/* TIM1 Main Output disabled */
TIM1_CtrlPWMOutputs(DISABLE);
/* TIM1 counter enable */
TIM1_Cmd(ENABLE);
}
/**
* @brief Configure TIM1,2,3 peripherals
* @param None
* @retval None
*/
static void TIM_Config(void)
{
/* TIM1 configuration:
- TIM1CLK is set to 2 MHz, the TIM2 Prescaler is equal to 15 so the TIM1 counter
clock used is 2 MHz / (15 + 1) = 125 000 Hz
- TIM1 Channel 1 output frequency = TIM1CLK / (TIM1_PERIOD + 1) * (TIM1_PRESCALER + 1)
= 2 000 000 / 256 * 16 = 488.28 Hz */
/* Time Base configuration */
TIM1_TimeBaseInit(TIM1_PRESCALER, TIM1_CounterMode_Up, TIM1_PERIOD, TIM1_REPETITION_COUNTER);
/* TIM1 Channel 1 Configuration in PWM2 mode */
TIM1_OC1Init(TIM1_OCMode_PWM2, TIM1_OutputState_Enable, TIM1_OutputNState_Disable, TIM1_CCR1_VAL,
TIM1_OCPolarity_Low, TIM1_OCNPolarity_Low, TIM1_OCIdleState_Set, TIM1_OCNIdleState_Set);
/* Master Mode selection: Update event */
TIM1_SelectOutputTrigger(TIM1_TRGOSource_Update);
/* TIM2 configuration:
- TIM2 is connected to TIM1 Update so TIM2CLK is equal to
TIM1 output clock / (TIM1_REPETITION_COUNTER + 1) = 488.28 / 5 = 97.65 Hz
- TIM2 Prescaler is equal to 1 so the TIM2 counter clock used is 97.65 / 1 = 97.65 Hz
- TIM2 Channel 1 output frequency = TIM2CLK / (TIM2_PERIOD + 1) * TIM2_Prescaler
= 97.65 / 3 * 1 = 32.55 Hz */
/* Time Base configuration */
TIM2_TimeBaseInit(TIM2_Prescaler_1, TIM2_CounterMode_Up, TIM2_PERIOD);
TIM2_OC1Init(TIM2_OCMode_PWM2, TIM2_OutputState_Enable, TIM2_CCR1_VAL,
TIM2_OCPolarity_Low, TIM2_OCIdleState_Reset);
/* TIM2 Slave Mode selection: Gated mode */
TIM2_SelectSlaveMode(TIM2_SlaveMode_Gated);
TIM2_SelectInputTrigger(TIM2_TRGSelection_TIM1);
/* TIM3 configuration:
- TIM3 is connected to TIM1 Update so TIM3CLK is equal to
TIM1 output clock / (TIM1_REPETITION_COUNTER + 1) = 488.28 / 5 = 97.65 Hz
- TIM3 Prescaler is equal to 1 so the TIM3 counter clock used is 97.65 / 1 = 97.65 Hz
- TIM3 Channel 1 output frequency = TIM3CLK / (TIM3_PERIOD + 1) * TIM3Prescaler
= 97.65 / 4 * 1 = 24.41 Hz */
/* Time Base configuration */
TIM3_TimeBaseInit(TIM3_Prescaler_1, TIM3_CounterMode_Up, TIM3_PERIOD);
TIM3_OC1Init(TIM3_OCMode_PWM2, TIM3_OutputState_Enable, TIM3_CCR1_VAL,
TIM3_OCPolarity_Low, TIM3_OCIdleState_Reset);
/* TIM3 Slave Mode selection: Gated mode */
TIM3_SelectSlaveMode(TIM3_SlaveMode_Gated);
TIM3_SelectInputTrigger(TIM3_TRGSelection_TIM1);
/* Main Output Enable */
TIM1_CtrlPWMOutputs(ENABLE);
TIM2_CtrlPWMOutputs(ENABLE);
TIM3_CtrlPWMOutputs(ENABLE);
/* TIM2 counter enable */
TIM2_Cmd(ENABLE);
/* TIM3 counter enable */
TIM3_Cmd(ENABLE);
/* TIM1 counter enable */
TIM1_Cmd(ENABLE);
}
/* Configures the used Timers. ----------------------------------------------*/
void TIM_Configuration(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure2;
TIM_OCInitTypeDef TIM_OCInitStructure3;
TIM_OCInitTypeDef TIM_OCInitStructure8;
/* TIM2 configuration for LED -------------------------------------------*/
TIM_TimeBaseStructure.TIM_Period = 0x12B; //299
TIM_TimeBaseStructure.TIM_Prescaler = 0xEA5F; //59999
TIM_TimeBaseStructure.TIM_ClockDivision = 0x0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
/* Outoput Compare Init */
TIM_OCStructInit(&TIM_OCInitStructure2);
/* Output Compare Timing Mode configuration: Channel1 */
TIM_OCInitStructure2.TIM_OCMode = TIM_OCMode_Timing;
TIM_OCInitStructure2.TIM_Pulse = 0x0;
TIM_OCInit(TIM2, &TIM_OCInitStructure2);
/* TIM2 enable counter */
TIM_Cmd(TIM2, ENABLE);
/* Immediate load of TIM2 Precaler value */
TIM_PrescalerConfig(TIM2, 0xEA5F, TIM_PSCReloadMode_Immediate);
/* Clear TIM2 update pending flag */
TIM_ClearFlag(TIM2, TIM_FLAG_Update);
/* Enable TIM2 Update interrupt */
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
/* TIM3 configuration for Statemachine (main control loop) --------------*/
TIM_TimeBaseStructure.TIM_Period = 1000; //alle 1ms
TIM_TimeBaseStructure.TIM_Prescaler = 0x48; //72
TIM_TimeBaseStructure.TIM_ClockDivision = 0x0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
/* Outoput Compare Init */
TIM_OCStructInit(&TIM_OCInitStructure3);
/* Output Compare Timing Mode configuration: Channel1 */
TIM_OCInitStructure3.TIM_OCMode = TIM_OCMode_Timing;
TIM_OCInitStructure3.TIM_Pulse = 0x0;
TIM_OCInit(TIM3, &TIM_OCInitStructure3);
/* TIM3 enable counter */
TIM_Cmd(TIM3, ENABLE);
/* Immediate load of TIM3 Precaler value */
TIM_PrescalerConfig(TIM3, 0x48, TIM_PSCReloadMode_Immediate);
/* Clear TIM3 update pending flag */
TIM_ClearFlag(TIM3, TIM_FLAG_Update);
/* Enable TIM3 Update interrupt */
// enable in main after powerup
//TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
/* Timer for PPM decode ---------------------------------------------------*/
TIM1_ICInitTypeDef TIM1_ICInitStructure;
//TIM_ICInitStructure.TIM_ICMode = TIM_ICMode_ICAP;
#ifndef PPM_PA11
TIM1_ICInitStructure.TIM1_Channel = TIM1_Channel_1; //Pin: PA8
#else
TIM1_ICInitStructure.TIM1_Channel = TIM1_Channel_4; //Pin: PA11
#endif
TIM1_ICInitStructure.TIM1_ICPolarity = TIM1_ICPolarity_Falling;
TIM1_ICInitStructure.TIM1_ICSelection = TIM1_ICSelection_DirectTI;
TIM1_ICInitStructure.TIM1_ICPrescaler = TIM1_ICPSC_DIV1;
TIM1_ICInitStructure.TIM1_ICFilter = 0x0;
TIM1_ICInit(&TIM1_ICInitStructure);
TIM1_SelectInputTrigger(TIM1_TS_TI2FP2);
TIM1_InternalClockConfig();
TIM1_TimeBaseInitTypeDef TIM1_TimeBaseStructure;
TIM1_TimeBaseStructure.TIM1_Period = 0xFFFF;
TIM1_TimeBaseStructure.TIM1_Prescaler = 17; // fCK_PSC / (17 + 1) 1ms = 4000
TIM1_TimeBaseStructure.TIM1_ClockDivision = TIM1_CKD_DIV1;
TIM1_TimeBaseStructure.TIM1_CounterMode = TIM1_CounterMode_Up;
TIM1_TimeBaseInit(& TIM1_TimeBaseStructure);
/* TIM enable counter */
TIM1_Cmd(ENABLE);
/* Enable the CC1 Interrupt Request */
#ifndef PPM_PA11
TIM1_ITConfig(TIM_IT_CC1, ENABLE);
#else
TIM1_ITConfig(TIM_IT_CC4, ENABLE);
#endif
/* Timer for Servo 0-3 --------------------------------------------------*/
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = 5999;
TIM_TimeBaseStructure.TIM_Prescaler = 72;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure);
/* PWM1 Mode configuration: Channel1 */
TIM_OCInitStructure8.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure8.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure8.TIM_Channel = TIM_Channel_1;
TIM_OCInitStructure8.TIM_Pulse = 1500;
TIM_OCInitStructure8.TIM_OCPolarity = TIM_OCPolarity_High; // maybee it works with TIM_OCPolarity_LOW???
TIM_OCInit(TIM8, &TIM_OCInitStructure8);
TIM_OC1PreloadConfig(TIM8, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel2 */
TIM_OCInitStructure8.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure8.TIM_Channel = TIM_Channel_2;
TIM_OCInitStructure8.TIM_Pulse = 1500;
TIM_OCInit(TIM8, &TIM_OCInitStructure8);
TIM_OC2PreloadConfig(TIM8, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel3 */
TIM_OCInitStructure8.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure8.TIM_Channel = TIM_Channel_3;
TIM_OCInitStructure8.TIM_Pulse = 1500;
TIM_OCInit(TIM8, &TIM_OCInitStructure8);
TIM_OC3PreloadConfig(TIM8, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel4 */
TIM_OCInitStructure8.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure8.TIM_Channel = TIM_Channel_4;
TIM_OCInitStructure8.TIM_Pulse = 1500;
TIM_OCInit(TIM8, &TIM_OCInitStructure8);
TIM_OC4PreloadConfig(TIM8, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM8, ENABLE);
/* Enable the TIM Main Output only needed for timer 1 and 8*/
TIM8->BDTR |= ((u16)0x8000); //BDTR_MOE_Set;
/* TIM8 enable counter */
TIM_Cmd(TIM8, ENABLE);
/* Immediate load of TIM8 Precaler value */
//TIM_PrescalerConfig(TIM8, 72, TIM_PSCReloadMode_Immediate);
/* Clear TIM8 update pending flag */
//TIM_ClearFlag(TIM8, TIM_FLAG_Update);
}
