void TIM2_IRQHandler()
{
if (TIM_GetITStatus(TIM2, TIM_IT_CC1) == SET) {
/* Clear TIM2 Capture compare interrupt pending bit */
TIM_ClearITPendingBit(TIM2, TIM_IT_CC1);
/* Get the Input Capture value */
timebaseCapture_prev = timebaseCapture_current;
timebaseCapture_current = TIM_GetCapture1(TIM2);
if(TIM_ICInitStructure.TIM_ICPolarity == TIM_ICPolarity_Rising){
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
TIM_ICInit(TIM2, &TIM_ICInitStructure);
}
else if(TIM_ICInitStructure.TIM_ICPolarity == TIM_ICPolarity_Falling){
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInit(TIM2, &TIM_ICInitStructure);
if(timebaseCapture_current > timebaseCapture_prev){
timebaseCapture_output = (timebaseCapture_current - timebaseCapture_prev);//*5/18;
}
else{
timebaseCapture_output = (20000 - timebaseCapture_prev + timebaseCapture_current);//*5/18;
}
}
}
}
//ÊäÈ벶»ñÅäÖÃ
void capture_config(void)
{
TIM_ICInitTypeDef TIM_ICInitStructure;
gpio_af_pp_up_init(GPIOB, GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_9);//CH1|CH2|CH4
GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_TIM4);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource7, GPIO_AF_TIM4);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_TIM4);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0;
TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;
TIM_ICInit(TIM4, &TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
TIM_ICInit(TIM4, &TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_4;
TIM_ICInit(TIM4, &TIM_ICInitStructure);
TIM_Cmd(TIM4, ENABLE);
TIM_ITConfig(TIM4, TIM_IT_CC1, ENABLE);
TIM_ITConfig(TIM4, TIM_IT_CC2, ENABLE);
TIM_ITConfig(TIM4, TIM_IT_CC4, ENABLE);
nvic_config(TIM4_IRQn, 2);
}
//输入捕获配置
void capture_config(void)
{
TIM_ICInitTypeDef TIM_ICInitStructure;
gpio_af_pp_up_init(GPIOC, GPIO_Pin_8|GPIO_Pin_9);//CH3|CH4
GPIO_PinAFConfig(GPIOC, GPIO_PinSource8, GPIO_AF_TIM3);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource9, GPIO_AF_TIM3);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_BothEdge;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 10;
TIM_ICInitStructure.TIM_Channel = TIM_Channel_3;
TIM_ICInit(TIM3, &TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_4;
TIM_ICInit(TIM3, &TIM_ICInitStructure);
TIM_Cmd(TIM3, ENABLE);
TIM_ITConfig(TIM3, TIM_IT_CC3, ENABLE);
TIM_ITConfig(TIM3, TIM_IT_CC4, ENABLE);
nvic_config(TIM3_IRQn, 0);
TIM7_init(500, 8400);
}
void ENC_Init(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
//Encoder uint connected to TIM2
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
//RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);
RCC_APB1PeriphClockCmd(ENC_TIMER_CLK,ENABLE);
RCC_APB2PeriphClockCmd(ENC_GPIO_CLK ,ENABLE);
GPIO_StructInit(&GPIO_InitStructure);
//GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_InitStructure.GPIO_Pin = ENC_GPIO_PIN_A | ENC_GPIO_PIN_B ;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(ENC_GPIO_PORT ,&GPIO_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = ENC_TIMER_IRQn ;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = TIMx_PRE_EMPTION_PRIORITY;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = TIMx_SUB_PRIORITY;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_DeInit(ENC_TIMER);
//TIM_TimeBaseInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0;
TIM_TimeBaseStructure.TIM_Period = (4*ENCODER_PPR)-1;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(ENC_TIMER,&TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(ENC_TIMER,TIM_EncoderMode_TI12,
TIM_ICPolarity_Rising,TIM_ICPolarity_Rising);
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = ICx_FILTER;
TIM_ICInit(ENC_TIMER,&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;//注意通道
TIM_ICInit(ENC_TIMER, &TIM_ICInitStructure);
TIM_ClearFlag(ENC_TIMER,TIM_FLAG_Update);
TIM_ITConfig(ENC_TIMER,TIM_IT_Update,ENABLE);
TIM2->CNT = COUNTER_RESET;//!!此处注意修改
//局部初始化
ENC_Clear_Speed_Buffer();
hPrevious_angle=0;
hRot_Speed=0;;
bSpeed_Buffer_Index = 0;
hEncoder_Timer_Overflow=0;
bIs_First_Measurement = true;
hEncoder_Revolutions_Num=0;
TIM_Cmd(ENC_TIMER,ENABLE);
}
void TIM3_Mode_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
//TIM_OCInitTypeDef TIM_OCInitStructure;
/*----------------------------------------------------------------*/
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
GPIO_StructInit(&GPIO_InitStructure);
/* Configure PA.06,07 as encoder input */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/*----------------------------------------------------------------*/
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //使能ＴＩＭ３
TIM_DeInit(TIM3);
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period =0xffff; //
TIM_TimeBaseStructure.TIM_Prescaler =0; //设置预分频：
TIM_TimeBaseStructure.TIM_ClockDivision =TIM_CKD_DIV1 ; //设置时钟分频系数：不分频
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数模式
//TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_CenterAligned1;
/*初始化TIM2定时器 */
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
/*-----------------------------------------------------------------*/
//编码配置 编码模式
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12,
TIM_ICPolarity_Rising, TIM_ICPolarity_Rising); //TIM_ICPolarity_Rising上升沿捕获
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;//配置通道1的滤波器
TIM_ICInitStructure.TIM_ICFilter = 6; //比较滤波器
TIM_ICInit(TIM3, &TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;//配置通道2的滤波器
TIM_ICInitStructure.TIM_ICFilter = 6; //比较滤波器
TIM_ICInit(TIM3, &TIM_ICInitStructure);
TIM_ARRPreloadConfig(TIM3, ENABLE);
// Clear all pending interrupts
TIM_ClearFlag(TIM3, TIM_FLAG_Update);
TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE); //使能中断
//Reset counter
TIM3->CNT =0;
TIM_Cmd(TIM3, ENABLE); //使能定时器3
}
static void PIOS_PWM_tim_edge_cb (uint32_t tim_id, uint32_t context, uint8_t chan_idx, uint16_t count)
{
/* Recover our device context */
struct pios_pwm_dev * pwm_dev = (struct pios_pwm_dev *)context;
if (!PIOS_PWM_validate(pwm_dev)) {
/* Invalid device specified */
return;
}
if (chan_idx >= pwm_dev->cfg->num_channels) {
/* Channel out of range */
return;
}
const struct pios_tim_channel * chan = &pwm_dev->cfg->channels[chan_idx];
if (pwm_dev->CaptureState[chan_idx] == 0) {
pwm_dev->RiseValue[chan_idx] = count;
pwm_dev->us_since_update[chan_idx] = 0;
} else {
pwm_dev->FallValue[chan_idx] = count;
}
// flip state machine and capture value here
/* Simple rise or fall state machine */
TIM_ICInitTypeDef TIM_ICInitStructure = pwm_dev->cfg->tim_ic_init;
if (pwm_dev->CaptureState[chan_idx] == 0) {
/* Switch states */
pwm_dev->CaptureState[chan_idx] = 1;
/* Switch polarity of input capture */
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
TIM_ICInitStructure.TIM_Channel = chan->timer_chan;
TIM_ICInit(chan->timer, &TIM_ICInitStructure);
} else {
/* Capture computation */
if (pwm_dev->FallValue[chan_idx] > pwm_dev->RiseValue[chan_idx]) {
pwm_dev->CaptureValue[chan_idx] = (pwm_dev->FallValue[chan_idx] - pwm_dev->RiseValue[chan_idx]);
} else {
pwm_dev->CaptureValue[chan_idx] = ((chan->timer->ARR - pwm_dev->RiseValue[chan_idx]) + pwm_dev->FallValue[chan_idx]);
}
/* Switch states */
pwm_dev->CaptureState[chan_idx] = 0;
/* Increase supervisor counter */
pwm_dev->CapCounter[chan_idx]++;
/* Switch polarity of input capture */
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_Channel = chan->timer_chan;
TIM_ICInit(chan->timer, &TIM_ICInitStructure);
}
}
void TIM3_IRQHandler(void)
{
uint16_t val =0,i=0;
for(i=0;i<4;i++){
if (Channels[i+2].tim == TIM3 && (TIM_GetITStatus(TIM3, Channels[i+2].cc) == SET)){
TIM_ClearITPendingBit(TIM3, Channels[i+2].cc);
switch (Channels[i+2].channel)
{
case TIM_Channel_1:
val = TIM_GetCapture1(TIM3);
break;
case TIM_Channel_2:
val = TIM_GetCapture2(TIM3);
break;
case TIM_Channel_3:
val = TIM_GetCapture3(TIM3);
break;
case TIM_Channel_4:
val = TIM_GetCapture4(TIM3);
break;
}
if (Inputs[i+2].state == 0)
Inputs[i+2].rise = val;
else
Inputs[i+2].fall = val;
if (Inputs[i+2].state == 0) {
Inputs[i+2].state = 1;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
TIM_ICInitStructure.TIM_Channel = Channels[i+2].channel;
TIM_ICInit(TIM3, &TIM_ICInitStructure);
}else{
if(Inputs[i+2].fall > Inputs[i+2].rise ){
val = (Inputs[i+2].fall - Inputs[i+2].rise);
if(val < 2100 && val>900)
Inputs[i+2].capture = val;
}else{
val = ((0xffff - Inputs[i+2].rise) + Inputs[i+2].fall);
if(val < 2100 && val>900)
Inputs[i+2].capture = val;
}
Inputs[i+2].state = 0;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_Channel = Channels[i+2].channel;
TIM_ICInit(TIM3, &TIM_ICInitStructure);
}
}
}
rc_in.thr=Inputs[0].capture;
rc_in.roll=Inputs[1].capture;
rc_in.pitch=Inputs[2].capture;
rc_in.yaw=Inputs[3].capture;
rc_in.mode=Inputs[4].capture;
rc_in.serve=Inputs[5].capture;
}
/*
* 函数名：TIM3_PWM_In_Init
* 描述 ：定时器3输入捕获初始化函数
* 输入 ：arr：自动重装载寄存器周期的值；psc：时钟频率除数的预分频值
* 输出 ：无
*/
void TIM3_PWM_In_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM3_ICInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); //使能GPIOB时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //使能TIM3时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3,ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_ResetBits(GPIOB,GPIO_Pin_4);
GPIO_ResetBits(GPIOB,GPIO_Pin_5);
//初始化TIM3
TIM_TimeBaseStructure.TIM_Period = arr; //设定计数器自动重装值
TIM_TimeBaseStructure.TIM_Prescaler =psc; //预分频器
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置时钟分割
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //初始化TIMx的时间基数单位
//初始化TIM3通道1输入捕获参数
TIM3_ICInitStructure.TIM_Channel = TIM_Channel_1 ; //选择输入端 IC1映射到TI1上
TIM3_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕获
TIM3_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
TIM3_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //配置输入分频,不分频
TIM3_ICInitStructure.TIM_ICFilter = 0x00; //配置输入滤波器,不滤波
TIM_ICInit(TIM3, &TIM3_ICInitStructure);
//初始化TIM3通道2输入捕获参数
TIM3_ICInitStructure.TIM_Channel = TIM_Channel_2 ; //选择输入端 IC1映射到TI1上
TIM3_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕获
TIM3_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
TIM3_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //配置输入分频,不分频
TIM3_ICInitStructure.TIM_ICFilter = 0x00; //配置输入滤波器 不滤波
TIM_ICInit(TIM3, &TIM3_ICInitStructure);
//中断分组初始化
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn ; //TIM3中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3; //先占优先级
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; //从优先级
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
NVIC_Init(&NVIC_InitStructure); //初始化外设NVIC寄存器
TIM_ITConfig(TIM3,TIM_IT_Update | TIM_IT_CC1 | TIM_IT_CC2,ENABLE); //允许更新中断 ,允许CC1IE捕获中断
TIM_Cmd(TIM3,ENABLE ); //使能定时器3
}
void tim3_capture_init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM3_ICInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
//初始化定时器4 TIM3
TIM_TimeBaseStructure.TIM_Period = 0xffff;
TIM_TimeBaseStructure.TIM_Prescaler = 71;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
//初始化TIM3输入捕获参数
TIM3_ICInitStructure.TIM_Channel = TIM_Channel_1;
TIM3_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM3_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM3_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM3_ICInitStructure.TIM_ICFilter = 0x00;
TIM_ICInit(TIM3, &TIM3_ICInitStructure);
TIM3_ICInitStructure.TIM_Channel = TIM_Channel_2;
TIM3_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM3_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM3_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM3_ICInitStructure.TIM_ICFilter = 0x00;
TIM_ICInit(TIM3, &TIM3_ICInitStructure);
TIM3_ICInitStructure.TIM_Channel = TIM_Channel_3;
TIM3_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM3_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM3_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM3_ICInitStructure.TIM_ICFilter = 0x00;
TIM_ICInit(TIM3, &TIM3_ICInitStructure);
TIM3_ICInitStructure.TIM_Channel = TIM_Channel_4;
TIM3_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM3_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM3_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM3_ICInitStructure.TIM_ICFilter = 0x00;
TIM_ICInit(TIM3, &TIM3_ICInitStructure);
TIM_Cmd(TIM3, ENABLE);
TIM_ITConfig(TIM3, TIM_IT_CC1, ENABLE);
TIM_ITConfig(TIM3, TIM_IT_CC2, ENABLE);
TIM_ITConfig(TIM3, TIM_IT_CC3, ENABLE);
TIM_ITConfig(TIM3, TIM_IT_CC4, ENABLE);
}
void TIM4_Config(void) //PWM正脉宽捕获
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_BaseInitStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7| GPIO_Pin_8| GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
TIM_BaseInitStructure.TIM_Period = 40000; //40ms
TIM_BaseInitStructure.TIM_Prescaler = (uint16_t) (SystemCoreClock / 1000000) - 1; //1us
TIM_BaseInitStructure.TIM_ClockDivision = 0;
TIM_BaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM4, &TIM_BaseInitStructure);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_1; //定时器2通道1输入捕获模式
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0;
TIM_ICInit(TIM4, &TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2; //定时器2通道1输入捕获模式
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0;
TIM_ICInit(TIM4, &TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_3; //定时器2通道1输入捕获模式
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0;
TIM_ICInit(TIM4, &TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_4; //定时器2通道1输入捕获模式
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0;
TIM_ICInit(TIM4, &TIM_ICInitStructure);
TIM_ITConfig(TIM4, TIM_IT_CC1|TIM_IT_CC2|TIM_IT_CC3|TIM_IT_CC4, ENABLE);
TIM_Cmd(TIM4, ENABLE);
}
//void PIOS_PWM_irq_handler(TIM_TypeDef * timer)
void TIM3_IRQHandler(void)
{
/* Zero value always will be changed but this prevents compiler warning */
int32_t i = 0;
/* Do this as it's more efficient */
if (TIM_GetITStatus(TIM3, TIM_IT_CC2) == SET) {
i = 7;
if (CaptureState == 0) {
RiseValue = TIM_GetCapture2(TIM3);
} else {
FallValue = TIM_GetCapture2(TIM3);
}
}
/* Clear TIM3 Capture compare interrupt pending bit */
TIM_ClearITPendingBit(TIM3, TIM_IT_CC2);
/* Simple rise or fall state machine */
if (CaptureState == 0) {
/* Switch states */
CaptureState = 1;
/* Switch polarity of input capture */
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
TIM_ICInit(TIM3, &TIM_ICInitStructure);
} else {
/* Capture computation */
if (FallValue > RiseValue) {
CaptureValue = (FallValue - RiseValue);
} else {
CaptureValue = ((0xFFFF - RiseValue) + FallValue);
}
/* Switch states */
CaptureState = 0;
/* Increase supervisor counter */
CapCounter++;
TIM_ITConfig(TIM3, TIM_IT_CC2, DISABLE);
/* Switch polarity of input capture */
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
TIM_ICInit(TIM3, &TIM_ICInitStructure);
}
}
void PWD_Config(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;//定时器初始化结构
TIM_ICInitTypeDef TIM_ICInitStructure; //通道输入初始化结构
GPIO_InitTypeDef GPIO_InitStructure;
//浮动输入方式
GPIO_InitStructure.GPIO_Pin = /* GPIO_Pin_0 | */GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_Init(GPIOB, &GPIO_InitStructure);
//输出初始化
TIM_TimeBaseStructure.TIM_Period = 65535; //周期
TIM_TimeBaseStructure.TIM_Prescaler = 720; //时钟分频
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //时钟分割
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;//模式
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);//基本初始化
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
//捕捉初始化
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;//下降沿
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;//管脚与寄存器对应关系
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;//分频器
TIM_ICInitStructure.TIM_ICFilter = 0x4; //滤波设置，经历几个周期跳变认定波形稳定0x0～0xF
TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;//通道选择
// TIM_ICInit(TIM2, &TIM_ICInitStructure); //初始化
TIM_ICInit(TIM4, &TIM_ICInitStructure); //初始化
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;//通道选择
TIM_ICInit(TIM2, &TIM_ICInitStructure); //初始化
TIM_ICInitStructure.TIM_Channel = TIM_Channel_3;//通道选择
TIM_ICInit(TIM2, &TIM_ICInitStructure); //初始化
TIM_ICInitStructure.TIM_Channel = TIM_Channel_4;//通道选择
TIM_ICInit(TIM2, &TIM_ICInitStructure); //初始化
TIM_SelectInputTrigger(TIM2, TIM_TS_TI1FP1); //选择时钟触发源
TIM_SelectSlaveMode(TIM2, TIM_SlaveMode_Reset);//触发方式
TIM_SelectMasterSlaveMode(TIM2, TIM_MasterSlaveMode_Enable); //启动定时器的被动触发
TIM_ITConfig(TIM2, /*TIM_IT_CC1|*/TIM_IT_CC2|TIM_IT_CC3|TIM_IT_CC4, ENABLE); //打开中断
TIM_SelectInputTrigger(TIM4, TIM_TS_TI1F_ED); //选择时钟触发源
TIM_SelectSlaveMode(TIM4, TIM_SlaveMode_Reset);//触发方式
TIM_SelectMasterSlaveMode(TIM4, TIM_MasterSlaveMode_Enable); //启动定时器的被动触发
TIM_ITConfig(TIM4, TIM_IT_CC1, ENABLE); //打开中断
TIM_Cmd(TIM2, ENABLE); //启动TIM2
TIM_Cmd(TIM4, ENABLE);
}
/**************************************************************************
函数功能：把TIM4初始化为编码器接口模式
入口参数：无
返回 值：无
**************************************************************************/
void Encoder_Init_TIM3(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);//使能定时器3的时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//使能PA端口时钟
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7; //端口配置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空输入
GPIO_Init(GPIOA, &GPIO_InitStructure); //根据设定参数初始化GPIOA
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // 预分频器
TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //设定计数器自动重装值
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//选择时钟分频：不分频
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;////TIM向上计数
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//使用编码器模式3
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 10;
TIM_ICInit(TIM3, &TIM_ICInitStructure);
TIM_ClearFlag(TIM3, TIM_FLAG_Update);//清除TIM的更新标志位
TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
//Reset counter
TIM_SetCounter(TIM3,0);
TIM_Cmd(TIM3, ENABLE);
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
files (startup_stm32f40_41xxx.s/startup_stm32f427_437xx.s/startup_stm32f429_439xx.s)
before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f4xx.c file
*/
/* TIM1 Configuration */
TIM_Config();
/* TIM1 configuration: Input Capture mode ---------------------
The external signal is connected to TIM1 CH2 pin (PE.11)
The Rising edge is used as active edge,
The TIM1 CCR2 is used to compute the frequency value
------------------------------------------------------------ */
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0;
TIM_ICInit(TIM1, &TIM_ICInitStructure);
/* TIM enable counter */
TIM_Cmd(TIM1, ENABLE);
/* Enable the CC2 Interrupt Request */
TIM_ITConfig(TIM1, TIM_IT_CC2, ENABLE);
while (1);
}
void TIM8_Encoder_Init()
{
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOC, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
TIM_DeInit(TIM8);
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_Period = 0xFFFFFFFF; // Max value for encoder pulse
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM8, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 0;
TIM_ICInit(TIM8, &TIM_ICInitStructure);
// TIM_SetAutoreload(TIM2, 0xFFFF);
TIM_SetCounter(TIM8, 0);
TIM_Cmd(TIM8, ENABLE);
GPIO_InitTypeDef GPIO_InitStruct;
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOC, &GPIO_InitStruct);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource6, GPIO_AF_4);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource7, GPIO_AF_4);
}
void encoder_init(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
//TIM2_CH1->PA5, TIM2_CH2->PA1
gpio_af_od_up_init(GPIOA, GPIO_Pin_1|GPIO_Pin_5); //编码器AB相输入口,复用开漏上拉
GPIO_PinAFConfig(GPIOA, GPIO_PinSource1, GPIO_AF_TIM2);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource5, GPIO_AF_TIM2);
TIM_DeInit(TIM2);
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_Period = ENCODER_RELOAD; //TIM2为32位定时器,这里把重载值设为最大，可以不考虑计数溢出
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2,&TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 6;
TIM_ICInit(TIM2, &TIM_ICInitStructure);
TIM2->CNT = COUNTER_RESET;
TIM_Cmd(TIM2, ENABLE);
}
/**
* @brief This function initialises quadrature encoder input to capture
AB phase output from ENB encoder.
* @param void
* @retval void
* @brief
* PB4 --> TIM3 CH1
* PB5 --> TIM3 CH2
*/
void QEI1_init (void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
/* TIM3 clock source enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
/* Enable GPIOB, clock */
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
GPIO_StructInit(&GPIO_InitStructure);
/* Configure PB.4,5 as encoder alternate function */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP ;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* Connect TIM3 pins to AF2 */
GPIO_PinAFConfig(GPIOB, GPIO_PinSource4, GPIO_AF_TIM3);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource5, GPIO_AF_TIM3);
/* Enable the TIM3 Update Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Timer configuration in Encoder mode */
TIM_DeInit(TIM3);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // No prescaling
TIM_TimeBaseStructure.TIM_Period = (4*4000)-1;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12,
TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 6;
TIM_ICInit(TIM3, &TIM_ICInitStructure);
// Clear all pending interrupts
TIM_ClearFlag(TIM3, TIM_FLAG_Update);
TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
//Reset counter
TIM3->CNT = 0; //encoder value
TIM_Cmd(TIM3, ENABLE);
}
/*
*berif: Initialize the counter of the encoding module(Right)
*param: None
*reval: None
*/
void TIM3_Init()
{
TIM_ICInitTypeDef TIM3_ICInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE); //TIM4时钟使能
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); //使能PORTA时钟
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; //GPIOB6 | 7
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; //速度100MHz
//以下两个不用设置
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD; //推挽复用
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //下拉
GPIO_Init(GPIOB,&GPIO_InitStructure); //初始化PB
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; //GPIOB6 | 7
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; //速度100MHz
//以下两个不用设置
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD; //推挽复用
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //下拉
GPIO_Init(GPIOA,&GPIO_InitStructure); //初始化PB
GPIO_PinAFConfig(GPIOB,GPIO_PinSource5,GPIO_AF_TIM3); //PB6复用位定时器4
GPIO_PinAFConfig(GPIOA,GPIO_PinSource6,GPIO_AF_TIM3); //PB7复用位定时器4
TIM_DeInit(TIM3);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler=0; //定时器分频
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up; //向上计数模式
TIM_TimeBaseStructure.TIM_Period=60000; //自动重装载值
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStructure);
//初始化TIM5输入捕获参数
TIM3_ICInitStructure.TIM_Channel = TIM_Channel_1 | TIM_Channel_2; //CC1S=01 选择输入端 IC1映射到TI1上
TIM3_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_BothEdge; //上升沿捕获
TIM3_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
TIM3_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //配置输入分频,不分频
TIM3_ICInitStructure.TIM_ICFilter = 0x00;//IC1F=0000 配置输入滤波器 不滤波
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI1, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_ICInit(TIM3, &TIM3_ICInitStructure);
TIM_ITConfig(TIM3,TIM_IT_Update,ENABLE);//允许更新中断 ,允许CC1IE捕获中断
TIM_SetCounter(TIM3, 30000);
TIM_Cmd(TIM3,ENABLE ); //使能定时器5
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0;//抢占优先级3
NVIC_InitStructure.NVIC_IRQChannelSubPriority =0; //子优先级3
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道使能
NVIC_Init(&NVIC_InitStructure); //根据指定的参数初始化VIC寄存器、
}
void encb_init( void )
{
TIM_ICInitTypeDef TIM_ICInitStructure;
//*********************************************************
//****** Main Encoder Setting
//*********************************************************
DBG( ENC, L, "Main encoder button init" );
RCC_APB2PeriphResetCmd( RCC_APB2Periph_TIM8, ENABLE );
TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = ENCB_FILTER_CNT;
TIM_ICInit( TIM8, &TIM_ICInitStructure );
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = ENCB_FILTER_CNT;
TIM_ICInit( TIM8, &TIM_ICInitStructure );
TIM_EncoderInterfaceConfig( TIM8, TIM_EncoderMode_TI12,
TIM_ICPolarity_Falling, ENCB_MAIN_DIR_POL );
TIM_Cmd( TIM8, ENABLE );
bio_i_chk[ENCB_MAIN_A_PORT_IX].mask &= ~ENCB_MAIN_A_PIN;
bio_i_chk[ENCB_MAIN_B_PORT_IX].mask &= ~ENCB_MAIN_B_PIN;
//*********************************************************
//****** Initial Values Setting
//*********************************************************
encb_info[ENCB_IX_MAIN].pls_rev = 24;
encb_info[ENCB_IX_MAIN].val_min = 0;
encb_info[ENCB_IX_MAIN].val_max = 999 * 10;
encb_info[ENCB_IX_MAIN].val_cur = 123;
// encb_info[ENCB_IX_MAIN].val_cur = eep_data.c_ht_tgt;
encb_info[ENCB_IX_MAIN].sns_min = ENCB_BASE_SENS * 10;
encb_info[ENCB_IX_MAIN].sns_max = 25000;
} // end of encb_init()
void aglInit(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
///////////////////////////////////
// AGL TIM16_CH1 PB4
aglPulseWidth = 0;
GPIO_PinAFConfig(GPIOB, GPIO_PinSource4, GPIO_AF_1);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
GPIO_Init(GPIOB, &GPIO_InitStructure);
///////////////////////////////////
NVIC_InitStructure.NVIC_IRQChannel = TIM1_UP_TIM16_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0x0000;
TIM_TimeBaseInit(TIM16, &TIM_TimeBaseStructure);
///////////////////////////////////
TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x00;
TIM_ICInit(TIM16, &TIM_ICInitStructure);
TIM_ITConfig(TIM16, TIM_IT_CC1, ENABLE);
TIM_Cmd(TIM16, ENABLE);
///////////////////////////////////
}
static void hal_soft_serial_init_timer(void) {
TIM_TimeBaseInitTypeDef tim_init;
TIM_ICInitTypeDef tim_ic_init;
// time base configuration:
TIM_TimeBaseStructInit(&tim_init);
// this serial uart runs at 9600 baud, thus bitlength = 1/9600 = 104.166667 us
// a 1mhz counter gives us 1us resolution, a 24mhz counter gives us 1/24 us res
// the finer the better -> go for 24mhz counter = prescaler = 0 (:1)
tim_init.TIM_Prescaler = (uint16_t) (0);
// timer period = bit duration
tim_init.TIM_Period = 0xFFFF;
tim_init.TIM_ClockDivision = 0;
tim_init.TIM_CounterMode = TIM_CounterMode_Up;
//set time base. NOTE: this will immediately trigger an INT!
TIM_TimeBaseInit(SOFT_SERIAL_TIMER, &tim_init);
//clear IT flag (caused by TimeBaseInit()):
TIM_ClearITPendingBit(SOFT_SERIAL_TIMER, TIM_IT_Update);
TIM_ICStructInit(&tim_ic_init);
tim_ic_init.TIM_Channel = SOFT_SERIAL_TIMER_CH;
#if HUB_TELEMETRY_INVERTED
#if SOFT_SERIAL_INVERTED
//board has inverter -> invert twice = no inversion
tim_ic_init.TIM_ICPolarity = TIM_ICPolarity_Falling;
#else
tim_ic_init.TIM_ICPolarity = TIM_ICPolarity_Rising;
#endif
#else
#if SOFT_SERIAL_INVERTED
//board has inverter -> invert
tim_ic_init.TIM_ICPolarity = TIM_ICPolarity_Rising;
#else
tim_ic_init.TIM_ICPolarity = TIM_ICPolarity_Falling;
#endif
#endif
tim_ic_init.TIM_ICSelection = TIM_ICSelection_DirectTI;
tim_ic_init.TIM_ICPrescaler = TIM_ICPSC_DIV1;
tim_ic_init.TIM_ICFilter = 0x0;
TIM_ICInit(SOFT_SERIAL_TIMER, &tim_ic_init);
TIM_ClearITPendingBit(SOFT_SERIAL_TIMER, SOFT_SERIAL_TIMER_IT_IC);
/*
//Output Compare Active Mode configuration:
TIM_OCStructInit(&tim_oc_init);
tim_oc_init.TIM_OCMode = TIM_OCMode_ disable;
tim_oc_init.TIM_OutputState = TIM_OutputState_ disable;
tim_oc_init.TIM_Pulse = PPM_SYNC_PULS_LEN_TICKS;
tim_oc_init.TIM_OCPolarity = TIM_OCPolarity_High;
hal_ppm_init_ocx(PPM_TIMER_CH, PPM_TIMER, &tim_oc_init);
*/
//enable counter
TIM_Cmd(SOFT_SERIAL_TIMER, ENABLE);
}
/********************************************************************************************************
Function Name: EncoderTIMInit
Description :
Inputs : None
Outputs : None
Notes : Encoder TIME初始化
Revision :
********************************************************************************************************/
void EncoderTIMInit(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
/*********************** ENCODER2 *************************/
TIM_DeInit(ENCODER_R_TIMER);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0; // No prescaling
TIM_TimeBaseStructure.TIM_Period = 65535;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(ENCODER_R_TIMER, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(ENCODER_R_TIMER, TIM_EncoderMode_TI12,
TIM_ICPolarity_BothEdge, TIM_ICPolarity_BothEdge); // 编码器计数方式
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = ICx_FILTER; // 滤波器
TIM_ICInit(ENCODER_R_TIMER, &TIM_ICInitStructure);
ENCODER_R_TIMER->CNT = COUNTER_RESET;
TIM_Cmd(ENCODER_R_TIMER, ENABLE);
/********************** ENCODER1 *************************/
TIM_DeInit(ENCODER_L_TIMER);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0; // No prescaling
TIM_TimeBaseStructure.TIM_Period = 65535;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(ENCODER_L_TIMER, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(ENCODER_L_TIMER, TIM_EncoderMode_TI12,
TIM_ICPolarity_Rising, TIM_ICPolarity_Rising); //选定T1和T2同时计数模式，上升沿计数
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = ICx_FILTER;
TIM_ICInit(ENCODER_L_TIMER, &TIM_ICInitStructure);
ENCODER_L_TIMER->CNT = COUNTER_RESET;
TIM_Cmd(ENCODER_L_TIMER, ENABLE);
}
void TIM3_Init() //运动电机
{
//u16 CCR1_Val = 2500;
//u16 CCR2_Val = 1000;
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
//TIM_OCInitTypeDef TIM_OCInitStructure;
/*----------------------------------------------------------------*/
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
GPIO_StructInit(&GPIO_InitStructure);
/* Configure PA.06,07 as encoder input */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/*----------------------------------------------------------------*/
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //使能ＴＩＭ３
TIM_DeInit(TIM3);
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period =8000; //此处设置所使用的编码器转一圈产生的计数
TIM_TimeBaseStructure.TIM_Prescaler =0; //设置预分频：
TIM_TimeBaseStructure.TIM_ClockDivision =TIM_CKD_DIV1 ; //设置时钟分频系数：不分频
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数模式
//TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_CenterAligned1;
/*初始化TIM3定时器 */
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
/*-----------------------------------------------------------------*/
//编码配置 编码模式
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12,
TIM_ICPolarity_Rising, TIM_ICPolarity_Rising); //TIM_ICPolarity_Rising上升沿捕获
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 1; //比较滤波器
TIM_ICInit(TIM3, &TIM_ICInitStructure);
TIM_ClearFlag(TIM3, TIM_FLAG_Update);
TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE); //使能中断
//Reset counter
TIM3->CNT =0;
TIM_Cmd(TIM3, ENABLE); //使能定时器3
}
void TIM2_IRQHandler(void)
{
uint16_t val =0,i=0;
for(i=0;i<2;i++){
if (Channels[i].tim == TIM2 && (TIM_GetITStatus(TIM2, Channels[i].cc) == SET)){
TIM_ClearITPendingBit(TIM2, Channels[i].cc);
switch (Channels[i].channel)
{
case TIM_Channel_1:
val = TIM_GetCapture1(TIM2);
break;
case TIM_Channel_2:
val = TIM_GetCapture2(TIM2);
break;
}
if (Inputs[i].state == 0)
Inputs[i].rise = val;
else
Inputs[i].fall = val;
if (Inputs[i].state == 0) {
Inputs[i].state = 1;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
TIM_ICInitStructure.TIM_Channel = Channels[i].channel;
TIM_ICInit(TIM2, &TIM_ICInitStructure);
}else{
if(Inputs[i].fall > Inputs[i].rise ){
val = (Inputs[i].fall - Inputs[i].rise);
if(val < 2100 && val>900)
Inputs[i].capture = val;
}else{
val = ((0xffff - Inputs[i].rise) + Inputs[i].fall);
if(val < 2100 && val>900)
Inputs[i].capture = val;
}
Inputs[i].state = 0;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_Channel = Channels[i].channel;
TIM_ICInit(TIM2, &TIM_ICInitStructure);
}
}
}
}
void InitExternalPulseTimer(void (*InterruptService) (int capture), void (*OverflowService) ())
{
CaptureService = InterruptService;
CaptureOverflowService = OverflowService;
NVIC_InitTypeDef NVIC_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
/* PULSE_TIMER clock enable */
RCC_APB1PeriphClockCmd(PULSE_TIMER_PERIPHERAL, ENABLE);
/* GPIOA clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
/* Enable the PULSE_TIMER global Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = PULSE_TIMER_IRQ;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* PULSE_TIMER channel 2 pin (PA.07) configuration */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* PULSE_TIMER prescale */
TIM_TimeBaseInitStructure.TIM_Prescaler = EXTERNAL_PULSE_TIMER_PRESCALER - 1; /* clock slow down */
TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInitStructure.TIM_Period = 0xFFFF;
TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(PULSE_TIMER, &TIM_TimeBaseInitStructure);
/*
** PULSE_TIMER configuration: Input Capture mode
** The external signal is connected to PULSE_TIMER CH2 pin (PA.07)
** The Rising edge is used as active edge,
** The PULSE_TIMER CCR2 is used to compute the frequency value
*/
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0;
TIM_ICInit(PULSE_TIMER, &TIM_ICInitStructure);
/* TIM enable counter */
TIM_Cmd(PULSE_TIMER, ENABLE);
/* Enable the CC2 Interrupt Request */
TIM_ITConfig(PULSE_TIMER, TIM_IT_CC2, ENABLE);
TIM_ITConfig(PULSE_TIMER, TIM_IT_CC3, ENABLE);
}
void pwm_in_init()
{
uint8_t i;
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA , ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB , ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1| GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_Init(GPIOB, &GPIO_InitStructure);
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
NVIC_InitStructure.NVIC_IRQChannel=TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority=2;
NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel=TIM3_IRQn;
NVIC_Init(&NVIC_InitStructure);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);
TIM_DeInit(TIM2);
TIM_DeInit(TIM3);
TIM_TimeBaseStructure.TIM_Prescaler = (72 - 1);
TIM_TimeBaseStructure.TIM_Period = 0xffff;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0xF;
for(i=0;i<6;i++){
TIM_ICInitStructure.TIM_Channel = Channels[i].channel;
TIM_ICInit(Channels[i].tim, &TIM_ICInitStructure);
}
TIM_ITConfig(TIM2, TIM_IT_CC1 | TIM_IT_CC2 , ENABLE);
TIM_ITConfig(TIM3, TIM_IT_CC1 | TIM_IT_CC2 | TIM_IT_CC3 | TIM_IT_CC4 , ENABLE);
TIM_Cmd(TIM2, ENABLE);
TIM_Cmd(TIM3, ENABLE);
// Inputs[0].capture = roll_init;
// Inputs[1].capture = pitch_init;
// Inputs[2].capture = thr_init;
// Inputs[3].capture = yaw_init;
}
void InitRC(void)
{
// Common typedefs
NVIC_InitTypeDef NVIC_InitStructure;
// Input Capture
TIM_ICInitTypeDef TIM_ICInitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
GPIO_InitTypeDef GPIO_InitStructure;
/* TIM3 clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
/* GPIOA clock enable */
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
TIM_TimeBaseStructure.TIM_Prescaler = 83;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
GPIO_InitStructure.GPIO_Pin = RC_PPM_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(RC_PPM_PORT, &GPIO_InitStructure);
GPIO_PinAFConfig(RC_PPM_PORT, RC_PPM_PIN_SOURCE, GPIO_AF_TIM3);
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Enable capture*/
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; /* input pins directly connected */
TIM_ICInitStructure.TIM_ICFilter = 0x0;
TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;
TIM_ICInit(TIM3, &TIM_ICInitStructure);
/* Enable TIM3 */
TIM_Cmd(TIM3, ENABLE);
/* Enable CC1-4 interrupt */
TIM_ITConfig(TIM3, TIM_IT_CC1, ENABLE);
/* Clear CC1-4 Flag*/
TIM_ClearFlag(TIM3, TIM_FLAG_CC1);
}
/****************************************************************************
* 名 称：void TIM2_IC(void)
* 功 能：定时器输入捕获功能初始化
* 入口参数：无
* 出口参数：无
* 说 明：暂未实现
****************************************************************************/
void TIM2_IC(void)
{
TIM_ICInitTypeDef I; //创建输出比较设置变量
//输入捕获配置 TIMx_CCRx
I.TIM_Channel = TIM_Channel_1; //使用输入捕获通道
I.TIM_ICPolarity = TIM_ICPolarity_Rising; //输入捕获上升沿有效
I.TIM_ICSelection = TIM_ICSelection_DirectTI; //IC*输入引脚选择，针对IC1/IC2有不同的定义
I.TIM_ICPrescaler = TIM_ICPSC_DIV1; //输入模式下，捕获端口上的每一次边沿都触发一次捕获
I.TIM_ICFilter = 0; //捕获采样频率，详见TIM*_CCMR->IC*F说明
TIM_ICInit(TIM2, &I); //初始化输入
}
static void pwmInitializeInput(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
uint8_t i;
for (i = 0; i < PWMIN_CHANNEL_NUM; i++)
{
struct TIM_Channel channel = Channels[i];
// timer_reset ******************************************************************/
channel.tim_clkcmd(channel.tim_clk, ENABLE);
// timer_pause ******************************************************************/
TIM_Cmd(channel.tim, DISABLE);
// gpio_set_mode ****************************************************************/
channel.gpio_clkcmd(channel.gpio_clk, ENABLE);
GPIO_InitStructure.GPIO_Pin = channel.gpio_pin;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(channel.gpio_port, &GPIO_InitStructure);
// gpio_set_af_mode *************************************************************/
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
// GPIO_PinAFConfig(channel.gpio_port, channel.gpio_af, channel.gpio_af_tim);
// enable the TIM global interrupt
NVIC_InitStructure.NVIC_IRQChannel = channel.tim_irq;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
// TIM configuration base *******************************************************/
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 71; //100KHz
TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(channel.tim, &TIM_TimeBaseStructure);
// PWM input capture ************************************************************/
TIM_ICInitStructure.TIM_Channel = channel.tim_channel;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0;
TIM_ICInit(channel.tim, &TIM_ICInitStructure);
// timer_enable *****************************************************************/
TIM_Cmd(channel.tim, ENABLE);
// enable the CC interrupt request **********************************************/
TIM_ITConfig(channel.tim, channel.tim_cc, ENABLE);
}
}
void tim3ConfigFalling()
{
TIM_ICInitTypeDef timICStruct;
timICStruct.TIM_Channel = TIM_Channel_1;
timICStruct.TIM_ICPolarity = TIM_ICPolarity_Falling;
timICStruct.TIM_ICSelection = TIM_ICSelection_DirectTI;
timICStruct.TIM_ICPrescaler = TIM_ICPSC_DIV1;
timICStruct.TIM_ICFilter = 0x0;
TIM_ICInit(TIM3, &timICStruct);
}
