void InitADC()
{
ADC_InitTypeDef ADC_InitStructure;
ADC_CommonInitTypeDef ADC_CommonInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
/* Configure the ADC clock */
RCC_ADCCLKConfig( RCC_ADC34PLLCLK_Div2 );
/* Enable ADC1 clock */
RCC_AHBPeriphClockCmd( RCC_AHBPeriph_ADC34, ENABLE );
/* ADC Channel configuration */
/* GPIOC Periph clock enable */
RCC_AHBPeriphClockCmd( RCC_AHBPeriph_GPIOB, ENABLE );
/* Configure ADC Channel7 as analog input */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL ;
GPIO_Init( GPIOB, &GPIO_InitStructure );
ADC_StructInit( &ADC_InitStructure );
/* Calibration procedure */
ADC_VoltageRegulatorCmd( ADC4, ENABLE );
/* Insert delay equal to 10 µs */
_delay_us( 10 );
ADC_CommonInitStructure.ADC_Mode = ADC_Mode_Independent;
ADC_CommonInitStructure.ADC_Clock = ADC_Clock_AsynClkMode;
ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_Disabled;
ADC_CommonInitStructure.ADC_DMAMode = ADC_DMAMode_OneShot;
ADC_CommonInitStructure.ADC_TwoSamplingDelay = 0;
ADC_CommonInit( ADC4, &ADC_CommonInitStructure );
ADC_InitStructure.ADC_ContinuousConvMode = ADC_ContinuousConvMode_Enable;
ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
ADC_InitStructure.ADC_ExternalTrigConvEvent = ADC_ExternalTrigConvEvent_0;
ADC_InitStructure.ADC_ExternalTrigEventEdge = ADC_ExternalTrigEventEdge_None;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_OverrunMode = ADC_OverrunMode_Disable;
ADC_InitStructure.ADC_AutoInjMode = ADC_AutoInjec_Disable;
ADC_InitStructure.ADC_NbrOfRegChannel = 1;
ADC_Init( ADC4, &ADC_InitStructure );
/* ADC4 regular channel3 configuration */
ADC_RegularChannelConfig( ADC4, ADC_Channel_3, 1, ADC_SampleTime_181Cycles5 );
/* Enable ADC4 */
ADC_Cmd( ADC4, ENABLE );
/* wait for ADRDY */
while( !ADC_GetFlagStatus( ADC4, ADC_FLAG_RDY ) );
NVIC_InitTypeDef NVIC_InitStructure;
/* Enable the TIM2 gloabal Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init (&NVIC_InitStructure);
/* TIM2 clock enable */
RCC_APB1PeriphClockCmd (RCC_APB1Periph_TIM2, ENABLE);
/* Time base configuration */
RCC->CFGR |= 0X1400;
TIM_TimeBaseStructure.TIM_Period = (RCC_Clocks.HCLK_Frequency/(ADCFS*ADCOVERSAMP)) - 1;
TIM_TimeBaseStructure.TIM_Prescaler = 1 - 1; // Operate at clock frequency
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit (TIM2, &TIM_TimeBaseStructure);
/* TIM IT enable */
TIM_ITConfig (TIM2, TIM_IT_Update, ENABLE);
/* TIM2 enable counter */
TIM_Cmd (TIM2, ENABLE);
/* Start ADC4 Software Conversion */
ADC_StartConversion( ADC4 );
}
static inline void __ledScanHardwareInit() {
GPIO_InitTypeDef GPIO_InitStructure;
FSMC_NORSRAMInitTypeDef FSMC_NORSRAMInitStructure;
FSMC_NORSRAMTimingInitTypeDef FSMC_NORSRAMTimingInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
DMA_InitTypeDef DMA_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOG | RCC_APB2Periph_GPIOE |
RCC_APB2Periph_GPIOF, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_8 | GPIO_Pin_9 |
GPIO_Pin_10 | GPIO_Pin_14 | GPIO_Pin_15;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOD, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10 |
GPIO_Pin_11 | GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 |
GPIO_Pin_15;
GPIO_Init(GPIOE, &GPIO_InitStructure);
/* SRAM Address lines configuration */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 |
GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_12 | GPIO_Pin_13 |
GPIO_Pin_14 | GPIO_Pin_15;
GPIO_Init(GPIOF, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 |
GPIO_Pin_4 | GPIO_Pin_5;
GPIO_Init(GPIOG, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11 | GPIO_Pin_12 | GPIO_Pin_13;
GPIO_Init(GPIOD, &GPIO_InitStructure);
/* NOE and NWE configuration */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5;
GPIO_Init(GPIOD, &GPIO_InitStructure);
/* NE3 configuration */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
GPIO_Init(GPIOG, &GPIO_InitStructure);
/* NE4 configuration */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_Init(GPIOG, &GPIO_InitStructure);
/* NBL0, NBL1 configuration */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_Init(GPIOE, &GPIO_InitStructure);
FSMC_NORSRAMTimingInitStructure.FSMC_AddressSetupTime = 0; //FSMC_SetupTime
FSMC_NORSRAMTimingInitStructure.FSMC_AddressHoldTime = 0;
FSMC_NORSRAMTimingInitStructure.FSMC_DataSetupTime = 2;
FSMC_NORSRAMTimingInitStructure.FSMC_BusTurnAroundDuration = 0;
FSMC_NORSRAMTimingInitStructure.FSMC_CLKDivision = 0;
FSMC_NORSRAMTimingInitStructure.FSMC_DataLatency = 0;
FSMC_NORSRAMTimingInitStructure.FSMC_AccessMode = FSMC_AccessMode_A;
FSMC_NORSRAMInitStructure.FSMC_Bank = FSMC_Bank1_NORSRAM4;
FSMC_NORSRAMInitStructure.FSMC_DataAddressMux = FSMC_DataAddressMux_Disable;
FSMC_NORSRAMInitStructure.FSMC_MemoryType = FSMC_MemoryType_SRAM;
FSMC_NORSRAMInitStructure.FSMC_MemoryDataWidth = FSMC_MemoryDataWidth_16b;
FSMC_NORSRAMInitStructure.FSMC_BurstAccessMode = FSMC_BurstAccessMode_Disable;
FSMC_NORSRAMInitStructure.FSMC_WaitSignalPolarity = FSMC_WaitSignalPolarity_Low;
FSMC_NORSRAMInitStructure.FSMC_WrapMode = FSMC_WrapMode_Disable;
FSMC_NORSRAMInitStructure.FSMC_WaitSignalActive = FSMC_WaitSignalActive_BeforeWaitState;
FSMC_NORSRAMInitStructure.FSMC_WriteOperation = FSMC_WriteOperation_Enable;
FSMC_NORSRAMInitStructure.FSMC_WaitSignal = FSMC_WaitSignal_Disable;
FSMC_NORSRAMInitStructure.FSMC_ExtendedMode = FSMC_ExtendedMode_Disable;
FSMC_NORSRAMInitStructure.FSMC_WriteBurst = FSMC_WriteBurst_Disable;
FSMC_NORSRAMInitStructure.FSMC_ReadWriteTimingStruct = &FSMC_NORSRAMTimingInitStructure;
FSMC_NORSRAMInitStructure.FSMC_WriteTimingStruct = &FSMC_NORSRAMTimingInitStructure;
FSMC_NORSRAMInit(&FSMC_NORSRAMInitStructure);
FSMC_NORSRAMCmd(FSMC_Bank1_NORSRAM4, ENABLE);
GPIO_ResetBits(GPIOC, GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOC, &GPIO_InitStructure);
GPIO_SetBits(GPIOC, GPIO_Pin_7);
GPIO_SetBits(GPIOC, GPIO_Pin_5);
NVIC_InitStructure.NVIC_IRQChannel = DMA1_Channel6_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_TimeBaseStructure.TIM_Period = 11520 / 2;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
TIM_PrescalerConfig(TIM2, 8, TIM_PSCReloadMode_Immediate);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Timing;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 8192;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM2, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_ITConfig(TIM2, TIM_IT_CC1, ENABLE);
DMA_DeInit(DMA1_Channel6);
DMA_InitStructure.DMA_PeripheralBaseAddr = 0;
DMA_InitStructure.DMA_MemoryBaseAddr = (u32)0X6C001000;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC;
DMA_InitStructure.DMA_BufferSize = LED_SCAN_LENGTH;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Enable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Disable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
DMA_InitStructure.DMA_Priority = DMA_Priority_Low;
DMA_InitStructure.DMA_M2M = DMA_M2M_Enable;
DMA_Init(DMA1_Channel6, &DMA_InitStructure);
DMA_ITConfig(DMA1_Channel6, DMA_IT_TC, ENABLE);
}
void pwm_in_init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM3_ICInitStructure;
// EXTI_InitTypeDef EXTI_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //使能TIM3时钟
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE); //使能GPIOC时钟
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_8|GPIO_Pin_9; //PA0 清除之前设置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; //复用功能
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽复用输出
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //上拉
GPIO_Init(GPIOC, &GPIO_InitStructure); //初始化
GPIO_PinAFConfig(GPIOC, GPIO_PinSource6, GPIO_AF_TIM3); //PC复用位定时器
GPIO_PinAFConfig(GPIOC, GPIO_PinSource7, GPIO_AF_TIM3);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource8, GPIO_AF_TIM3);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource9, GPIO_AF_TIM3);
/*--------------------------------------------------配置定时器3输入捕获--------------------------------------------*/
//初始化定时器3 TIM3
TIM_TimeBaseStructure.TIM_Period = 0XFFFF; //设定计数器自动重装值
TIM_TimeBaseStructure.TIM_Prescaler =84-1; //预分频器
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
//初始化TIM3输入捕获参数
TIM3_ICInitStructure.TIM_Channel = TIM_Channel_1; //CC1S=01 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 = 0x01;//IC1F=0000 配置输入滤波器 不滤波
TIM_ICInit(TIM3, &TIM3_ICInitStructure);
TIM3_ICInitStructure.TIM_Channel = TIM_Channel_2; //CC1S=01 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 = 0x01;//IC1F=0000 配置输入滤波器 不滤波
TIM_ICInit(TIM3, &TIM3_ICInitStructure);
TIM3_ICInitStructure.TIM_Channel = TIM_Channel_3; //CC1S=01 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 = 0x01;//IC1F=0000 配置输入滤波器 不滤波
TIM_ICInit(TIM3, &TIM3_ICInitStructure);
TIM3_ICInitStructure.TIM_Channel = TIM_Channel_4; //CC1S=01 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 = 0x01;//IC1F=0000 配置输入滤波器 不滤波
TIM_ICInit(TIM3, &TIM3_ICInitStructure);
TIM_ITConfig(TIM3,TIM_IT_CC1,ENABLE);//允许更新中断 ,允许CC1IE捕获中断
TIM_ITConfig(TIM3,TIM_IT_CC2,ENABLE);//允许更新中断 ,允许CC1IE捕获中断
TIM_ITConfig(TIM3,TIM_IT_CC3,ENABLE);//允许更新中断 ,允许CC1IE捕获中断
TIM_ITConfig(TIM3,TIM_IT_CC4,ENABLE);//允许更新中断 ,允许CC1IE捕获中断
TIM_Cmd(TIM3,ENABLE ); //使能定时器3
}
/**
* @brief Initialize the RC5 decoder module ( Time range)
* @param None
* @retval None
*/
void RC5_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
/* Clock Configuration for TIMER */
RCC_APB1PeriphClockCmd(IR_TIM_CLK , ENABLE);
/* Enable Button GPIO clock */
RCC_AHBPeriphClockCmd(IR_GPIO_PORT_CLK , ENABLE);
/* Pin configuration: input floating */
GPIO_InitStructure.GPIO_Pin = IR_GPIO_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(IR_GPIO_PORT, &GPIO_InitStructure);
GPIO_PinAFConfig( IR_GPIO_PORT,IR_GPIO_SOURCE,GPIO_AF_2);
/* Enable the TIM global Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = IR_TIM_IRQn ;
NVIC_InitStructure.NVIC_IRQChannelPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* TIMER frequency input */
TIM_PrescalerConfig(IR_TIM, TIM_PRESCALER, TIM_PSCReloadMode_Immediate);
TIM_ICStructInit(&TIM_ICInitStructure);
/* TIM configuration */
TIM_ICInitStructure.TIM_Channel = IR_TIM_Channel;
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_PWMIConfig(IR_TIM, &TIM_ICInitStructure);
/* Timer Clock */
TIMCLKValueKHz = TIM_GetCounterCLKValue()/1000;
/* Select the TIM Input Trigger: TI2FP2 */
TIM_SelectInputTrigger(IR_TIM, TIM_TS_TI2FP2);
/* Select the slave Mode: Reset Mode */
TIM_SelectSlaveMode(IR_TIM, TIM_SlaveMode_Reset);
/* Enable the Master/Slave Mode */
TIM_SelectMasterSlaveMode(IR_TIM, TIM_MasterSlaveMode_Enable);
/* Configures the TIM Update Request Interrupt source: counter overflow */
TIM_UpdateRequestConfig(IR_TIM, TIM_UpdateSource_Regular);
RC5TimeOut = TIMCLKValueKHz * RC5_TIME_OUT_US/1000;
/* Set the TIM auto-reload register for each IR protocol */
IR_TIM->ARR = RC5TimeOut;
/* Clear update flag */
TIM_ClearFlag(IR_TIM, TIM_FLAG_Update);
/* Enable TIM Update Event Interrupt Request */
TIM_ITConfig(IR_TIM, TIM_IT_Update, ENABLE);
/* Enable the CC2/CC1 Interrupt Request */
TIM_ITConfig(IR_TIM, TIM_IT_CC2, ENABLE);
/* Enable the CC2/CC1 Interrupt Request */
TIM_ITConfig(IR_TIM, TIM_IT_CC1, ENABLE);
/* Enable the timer */
TIM_Cmd(IR_TIM, ENABLE);
if (CECDemoStatus == 0)
{
/* Set the LCD Back Color */
LCD_SetBackColor(LCD_COLOR_RED);
/* Set the LCD Text Color */
LCD_SetTextColor(LCD_COLOR_GREEN);
LCD_DisplayStringLine(LCD_LINE_0, " STM320518-EVAL ");
LCD_DisplayStringLine(LCD_LINE_1, " RC5 InfraRed Demo ");
LCD_SetBackColor(LCD_COLOR_BLUE);
/* Set the LCD Text Color */
LCD_SetTextColor(LCD_COLOR_WHITE);
}
/* Bit time range */
RC5MinT = (RC5_T_US - RC5_T_TOLERANCE_US) * TIMCLKValueKHz / 1000;
RC5MaxT = (RC5_T_US + RC5_T_TOLERANCE_US) * TIMCLKValueKHz / 1000;
RC5Min2T = (2 * RC5_T_US - RC5_T_TOLERANCE_US) * TIMCLKValueKHz / 1000;
RC5Max2T = (2 * RC5_T_US + RC5_T_TOLERANCE_US) * TIMCLKValueKHz / 1000;
/* Default state */
RC5_ResetPacket();
}
/**
* @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
file (startup_stm32f4xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f4xx.c file
*/
/* TIM Configuration */
TIM_Config();
/* ---------------------------------------------------------------------------
TIM3 Configuration: Output Compare Toggle Mode:
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
To get TIM3 counter clock at 21 MHz, the prescaler is computed as follows:
Prescaler = (TIM3CLK / TIM3 counter clock) - 1
Prescaler = ((SystemCoreClock /2) /21 MHz) - 1
CC1 update rate = TIM3 counter clock / uhCCR1_Val = 512.68 Hz
==> So the TIM3 Channel 1 generates a periodic signal with a
frequency equal to 256.35 Hz.
CC2 update rate = TIM3 counter clock / uhCCR2_Val = 1025.39 Hz
==> So the TIM3 Channel 2 generates a periodic signal with a
frequency equal to 512.7 Hz.
CC3 update rate = TIM3 counter clock / uhCCR3_Val = 2050.8 Hz
==> So the TIM3 Channel 3 generates a periodic signal with a
frequency equal to 1025.4 Hz.
CC4 update rate = TIM3 counter clock / uhCCR4_Val = 4101.56 Hz
==> So the TIM3 Channel 4 generates a periodic signal with a
frequency equal to 2050.78 Hz.
Note:
SystemCoreClock variable holds HCLK frequency and is defined in system_stm32f4xx.c file.
Each time the core clock (HCLK) changes, user had to call SystemCoreClockUpdate()
function to update SystemCoreClock variable value. Otherwise, any configuration
based on this variable will be incorrect.
--------------------------------------------------------------------------- */
/* Compute the prescaler value */
uhPrescalerValue = (uint16_t) ((SystemCoreClock / 2) / 21000000) - 1;
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = 65535;
TIM_TimeBaseStructure.TIM_Prescaler = uhPrescalerValue;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
/* Output Compare Toggle Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Toggle;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = uhCCR1_Val;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OC1Init(TIM3, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Disable);
/* Output Compare Toggle Mode configuration: Channel2 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = uhCCR2_Val;
TIM_OC2Init(TIM3, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Disable);
/* Output Compare Toggle Mode configuration: Channel3 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = uhCCR3_Val;
TIM_OC3Init(TIM3, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Disable);
/* Output Compare Toggle Mode configuration: Channel4 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = uhCCR4_Val;
TIM_OC4Init(TIM3, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Disable);
/* TIM enable counter */
TIM_Cmd(TIM3, ENABLE);
/* TIM IT enable */
TIM_ITConfig(TIM3, TIM_IT_CC1 | TIM_IT_CC2 | TIM_IT_CC3 | TIM_IT_CC4, ENABLE);
while (1)
{
}
}
void motorInit(/*float imotorKp,
float imotorKi,
float imotorKd,*/
float icurrentKp,
float icurrentKi,
uint32_t icpr)
{
// motorKp = imotorKp;
// motorKi = imotorKi;
// motorKd = imotorKd;
cpr = icpr;
currentKp = icurrentKp;
currentKi = icurrentKi;
maxWidthReached = false;
for(int i = 0; i < 2; i++){
cte_int[i] = 0; cte_prev[i] = 0;
prev_enc[i] = 0;
cur_speed[i] = 0;
cur_pos[i] = 0;
motor_width[i] = 0;
motorEnable[i] = false;
motorUpdate[i] = true;
set_speed[i] = 0;
des_set_speed[i] = 0;
set_pos[i] = 0;
maxWidthCoeff[i] = MAX_MAX_WIDTH_COEFF;
currentCteInt[i] = 0;
}
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
GPIO_InitTypeDef gpioInit;
gpioInit.GPIO_Mode = GPIO_Mode_AF_PP;
gpioInit.GPIO_Speed = GPIO_Speed_50MHz;
gpioInit.GPIO_Pin = OUT_FWD_1 | OUT_FWD_2;
GPIO_Init(OUT_PORT_FWD, &gpioInit);
gpioInit.GPIO_Pin = OUT_BCKWD_1 | OUT_BCKWD_2;
GPIO_Init(OUT_PORT_BCKWD, &gpioInit);
gpioInit.GPIO_Mode = GPIO_Mode_IN_FLOATING;
gpioInit.GPIO_Pin = IN_A_1 | IN_B_1;
GPIO_Init(IN_1_PORT, &gpioInit);
gpioInit.GPIO_Mode = GPIO_Mode_IN_FLOATING;
gpioInit.GPIO_Pin = IN_A_2 | IN_B_2;
GPIO_Init(IN_2_PORT, &gpioInit);
//Encoder left
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
TIM_ICInitTypeDef icInit;
icInit.TIM_Channel = TIM_Channel_1;
icInit.TIM_ICPolarity = TIM_ICPolarity_Rising;
icInit.TIM_ICFilter = 0;
icInit.TIM_ICPrescaler = TIM_ICPSC_DIV1;
icInit.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInit(TIM4, &icInit);
icInit.TIM_Channel = TIM_Channel_2;
TIM_ICInit(TIM4, &icInit);
TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_SetAutoreload(TIM4, 0xffff);
TIM_SetCounter(TIM4, 0);
TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);
NVIC_InitTypeDef initNVIC;
initNVIC.NVIC_IRQChannel = TIM4_IRQn;
initNVIC.NVIC_IRQChannelPreemptionPriority = 0;
initNVIC.NVIC_IRQChannelSubPriority = 0;
initNVIC.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&initNVIC);
TIM_Cmd(TIM4, ENABLE);
//Encoder right
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
icInit.TIM_Channel = TIM_Channel_1;
icInit.TIM_ICPolarity = TIM_ICPolarity_Rising;
icInit.TIM_ICFilter = 0;
icInit.TIM_ICPrescaler = TIM_ICPSC_DIV1;
icInit.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInit(TIM3, &icInit);
icInit.TIM_Channel = TIM_Channel_2;
TIM_ICInit(TIM3, &icInit);
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_SetAutoreload(TIM3, 0xffff);
TIM_SetCounter(TIM3, 0);
TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
initNVIC.NVIC_IRQChannel = TIM3_IRQn;
initNVIC.NVIC_IRQChannelPreemptionPriority = 0;
initNVIC.NVIC_IRQChannelSubPriority = 0;
initNVIC.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&initNVIC);
GPIO_PinRemapConfig(GPIO_FullRemap_TIM3, ENABLE);
TIM_Cmd(TIM3, ENABLE);
//PWM
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
TIM_TimeBaseInitTypeDef tim1Init;
TIM_OCInitTypeDef ocInit;
tim1Init.TIM_Period = MAX_WIDTH;
tim1Init.TIM_Prescaler = 1;
tim1Init.TIM_ClockDivision = 0;
tim1Init.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM1, &tim1Init);
/* PWM1 Mode configuration: Channel2 */
ocInit.TIM_OCMode = TIM_OCMode_Inactive;
ocInit.TIM_Pulse = 0;
ocInit.TIM_OCPolarity = TIM_OCPolarity_High;
ocInit.TIM_OCNPolarity = TIM_OCNPolarity_High;
ocInit.TIM_OutputState = TIM_OutputState_Enable;
ocInit.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OC1Init(TIM1, &ocInit);
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
ocInit.TIM_OutputState = TIM_OutputState_Disable;
ocInit.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OC2Init(TIM1, &ocInit);
TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);
ocInit.TIM_OutputState = TIM_OutputState_Disable;
ocInit.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OC3Init(TIM1, &ocInit);
TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);
ocInit.TIM_OutputState = TIM_OutputState_Enable;
ocInit.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OC4Init(TIM1, &ocInit);
TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_CtrlPWMOutputs(TIM1, ENABLE);
TIM_ARRPreloadConfig(TIM1, ENABLE);
/* TIM1 enable counter */
TIM_Cmd(TIM1, ENABLE);
}
void initPWMInput()
{
GPIO_InitTypeDef GPIO_InitStructure;
//TIM3 as PWM input
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;
GPIO_Init(GPIOA, &GPIO_InitStructure);
//PA7 as DIR pin
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;
GPIO_Init(GPIOA, &GPIO_InitStructure);
//PA5 as ENA pin
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;
GPIO_Init(GPIOA, &GPIO_InitStructure);
EXTI_InitTypeDef EXTI_initStructure;
EXTI_initStructure.EXTI_Line = EXTI_Line5;
EXTI_initStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_initStructure.EXTI_Trigger = EXTI_Trigger_Rising_Falling;
EXTI_initStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_initStructure);
NVIC_InitTypeDef nvicStructure;
nvicStructure.NVIC_IRQChannel = EXTI9_5_IRQn;
nvicStructure.NVIC_IRQChannelPreemptionPriority = 0;
nvicStructure.NVIC_IRQChannelSubPriority = 2;
nvicStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&nvicStructure);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = 65535;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_ICInitTypeDef TIM_ICInit;
#if STEP_POLARITY == 1
TIM_ICInit.TIM_ICPolarity = TIM_ICPolarity_Rising;
#else
TIM_ICInit.TIM_ICPolarity = TIM_ICPolarity_Falling;
#endif
TIM_ICInit.TIM_ICFilter = 5;
TIM_ICInit.TIM_Channel = TIM_Channel_1;
TIM_ICInit.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInit.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_PWMIConfig(TIM3, &TIM_ICInit);
TIM_CCxCmd(TIM3, TIM_Channel_1, ENABLE);
TIM_CCxCmd(TIM3, TIM_Channel_2, ENABLE);
TIM_SelectInputTrigger(TIM3,TIM_TS_TI1FP1);
TIM_SelectSlaveMode(TIM3, TIM_SlaveMode_Reset);
TIM_ITConfig(TIM3, TIM_IT_CC1 | TIM_IT_Update, ENABLE);
TIM_Cmd(TIM3,ENABLE);
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x01;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
void initTimeBase(void)
{
uint16_t PrescalerValue = 0;
#if defined(TIMEBASE_INT1_FREQ)
if ((SystemCoreClock/TIMEBASE_CLOCK_PSC / TIMEBASE_INT1_FREQ - 1) < 1)
{
printf("TIMEBASE period 1 is too large. Increase frequency or decrease clock.");
ErrorTrap(ERROR_TIMEBASE_CONFIG);
}
#endif
#if defined(TIMEBASE_INT2_FREQ)
if ((SystemCoreClock/TIMEBASE_CLOCK_PSC / TIMEBASE_INT2_FREQ - 1) < 1)
{
printf("TIMEBASE period 2 is too large. Increase frequency or decrease clock.");
ErrorTrap(ERROR_TIMEBASE_CONFIG);
}
#endif
#if defined(TIMEBASE_INT3_FREQ)
if ((SystemCoreClock/TIMEBASE_CLOCK_PSC / TIMEBASE_INT3_FREQ - 1) < 1)
{
printf("TIMEBASE period 3 is too large. Increase frequency or decrease clock.");
ErrorTrap(ERROR_TIMEBASE_CONFIG);
}
#endif
#if defined(TIMEBASE_INT4_FREQ)
if ((SystemCoreClock/TIMEBASE_CLOCK_PSC / TIMEBASE_INT4_FREQ - 1) < 1)
{
printf("TIMEBASE period 4 is too large. Increase frequency or decrease clock.");
ErrorTrap(ERROR_TIMEBASE_CONFIG);
}
#endif
NVIC_InitTypeDef NVIC_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
/* TIM clock enable */
#if defined(STM32F303xC)
#if TIMEBASE_TIMER == 2 || TIMEBASE_TIMER == 3 || TIMEBASE_TIMER == 4 || TIMEBASE_TIMER == 6 || TIMEBASE_TIMER == 7
RCC_APB1PeriphClockCmd(MAKENAME(RCC_APB1Periph_TIM,TIMEBASE_TIMER), ENABLE);
#elif TIMEBASE_TIMER == 1 || TIMEBASE_TIMER == 8 || TIMEBASE_TIMER == 15 || TIMEBASE_TIMER == 16 || TIMEBASE_TIMER == 17
RCC_APB2PeriphClockCmd(MAKENAME(RCC_APB2Periph_TIM,TIMEBASE_TIMER), ENABLE);
#endif
#elif defined(STM32F37X)
#if TIMEBASE_TIMER == 15 || TIMEBASE_TIMER == 16 || TIMEBASE_TIMER == 17 || TIMEBASE_TIMER == 19
RCC_APB2PeriphClockCmd(MAKENAME(RCC_APB2Periph_TIM,TIMEBASE_TIMER), ENABLE);
#else
RCC_APB1PeriphClockCmd(MAKENAME(RCC_APB1Periph_TIM,TIMEBASE_TIMER), ENABLE);
#endif
#else
#error("Unrecognized target. The Makefile should define one of the following: {STM32F37X, STM32F303xC}")
#endif
/* Enable the TIM gloabal Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = MAKENAME(TIMER_INTERRUPT,n);
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Compute the prescaler value */
PrescalerValue = (uint16_t) (TIMEBASE_CLOCK_PSC - 1);
/* Time base configuration */
#if TIMEBASE_TIMER == 6 || TIMEBASE_TIMER == 7 || TIMEBASE_TIMER == 18
TIM_TimeBaseStructure.TIM_Period = (TIMEBASE_SIZE) (SystemCoreClock/TIMEBASE_CLOCK_PSC / TIMEBASE_INT1_FREQ - 1);
/* TIM Interrupts enable */
TIM_ITConfig(MAKENAME(TIM,TIMEBASE_TIMER), TIM_IT_Update, ENABLE);
#else
#if TIMEBASE_TIMER == 2 || TIMEBASE_TIMER == 5
TIM_TimeBaseStructure.TIM_Period = 4294967295;
#else
TIM_TimeBaseStructure.TIM_Period = 65535;
#endif
#endif
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(MAKENAME(TIM,TIMEBASE_TIMER), &TIM_TimeBaseStructure);
/* Prescaler configuration */
TIM_PrescalerConfig(MAKENAME(TIM,TIMEBASE_TIMER), PrescalerValue, TIM_PSCReloadMode_Immediate);
#if TIMEBASE_TIMER != 6 && TIMEBASE_TIMER != 7 && TIMEBASE_TIMER != 18
/* Output Compare Timing Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Timing;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = (TIMEBASE_SIZE) (SystemCoreClock/TIMEBASE_CLOCK_PSC / TIMEBASE_INT1_FREQ - 1);
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(MAKENAME(TIM,TIMEBASE_TIMER), &TIM_OCInitStructure);
TIM_OC1PreloadConfig(MAKENAME(TIM,TIMEBASE_TIMER), TIM_OCPreload_Disable);
/* TIM Interrupts enable */
TIM_ITConfig(MAKENAME(TIM,TIMEBASE_TIMER), TIM_IT_CC1, ENABLE);
#if defined(TIMEBASE_INT2_FREQ) && TIMEBASE_TIMER != 13 && TIMEBASE_TIMER != 14 && TIMEBASE_TIMER != 16 && TIMEBASE_TIMER != 17
/* Output Compare Timing Mode configuration: Channel2 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = (TIMEBASE_SIZE) (SystemCoreClock/TIMEBASE_CLOCK_PSC / TIMEBASE_INT2_FREQ - 1);
TIM_OC2Init(MAKENAME(TIM,TIMEBASE_TIMER), &TIM_OCInitStructure);
TIM_OC2PreloadConfig(MAKENAME(TIM,TIMEBASE_TIMER), TIM_OCPreload_Disable);
/* TIM Interrupts enable */
TIM_ITConfig(MAKENAME(TIM,TIMEBASE_TIMER), TIM_IT_CC2, ENABLE);
#if defined(TIMEBASE_INT3_FREQ) && TIMEBASE_TIMER != 12 && TIMEBASE_TIMER != 15
/* Output Compare Timing Mode configuration: Channel3 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = (TIMEBASE_SIZE) (SystemCoreClock/TIMEBASE_CLOCK_PSC / TIMEBASE_INT3_FREQ - 1);
TIM_OC3Init(MAKENAME(TIM,TIMEBASE_TIMER), &TIM_OCInitStructure);
TIM_OC3PreloadConfig(MAKENAME(TIM,TIMEBASE_TIMER), TIM_OCPreload_Disable);
/* TIM Interrupts enable */
TIM_ITConfig(MAKENAME(TIM,TIMEBASE_TIMER),TIM_IT_CC3, ENABLE);
#ifdef TIMEBASE_INT4_FREQ
/* Output Compare Timing Mode configuration: Channel4 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = (TIMEBASE_SIZE) (SystemCoreClock/TIMEBASE_CLOCK_PSC / TIMEBASE_INT4_FREQ - 1);
TIM_OC4Init(MAKENAME(TIM,TIMEBASE_TIMER), &TIM_OCInitStructure);
TIM_OC4PreloadConfig(MAKENAME(TIM,TIMEBASE_TIMER), TIM_OCPreload_Disable);
/* TIM Interrupts enable */
TIM_ITConfig(MAKENAME(TIM,TIMEBASE_TIMER),TIM_IT_CC4, ENABLE);
#endif //TIMEBASE_INT4_FREQ
#endif //defined(TIMEBASE_INT3_FREQ) && TIMEBASE_TIMER != 12 && TIMEBASE_TIMER != 15
#endif //defined(TIMEBASE_INT2_FREQ) && TIMEBASE_TIMER != 13 && TIMEBASE_TIMER != 14 && TIMEBASE_TIMER != 16 && TIMEBASE_TIMER != 17
#endif //TIMEBASE_TIMER != 6 || TIMEBASE_TIMER != 7 || TIMEBASE_TIMER != 18
/* TIM enable counter */
//TIM_Cmd(MAKENAME(TIM,TIMEBASE_TIMER), ENABLE); //Don't do this here, require a PlayTimebase call! Everyone loves PlayTime...base. All your base belong to PlayTime?
}
int main()
{
uint16_t PrescalerValue;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
LED_Init();
LED_R_ON();
LED_G_ON();
LLIO_Init(115200);
/* TIM2, GPIOA clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
/* Enable the TIM2 global Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0f;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
// PA0 핀을 TIM2_CH1 input으로 설정
GPIO_PinAFConfig(GPIOA, GPIO_PinSource0, GPIO_AF_TIM2);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* Compute the prescaler value */
SystemCoreClockUpdate();
PrescalerValue = (uint16_t) (SystemCoreClock / 2 / TIMER_PRESCALER_FREQ) - 1; // timer base counter에 1MHz 입력
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = TIMER_PERIOD;
TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
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 = 0;
TIM_ICInit(TIM2, &TIM_ICInitStructure);
/* TIM2 enable counter */
TIM_Cmd(TIM2, ENABLE);
TIM_ITConfig(TIM2, TIM_IT_Update | TIM_IT_CC1, ENABLE);
printf("\r\nTimer Capture example\r\n");
while(1)
{
__WFI();
if (capture_flag)
{
capture_flag = 0;
printf("time diff = %d[us]\r\n", diff);
LED_G_TOGGLE();
}
}
}
void receiverCLI()
{
char rcOrderString[9];
float tempFloat;
uint8_t index;
uint8_t receiverQuery = 'x';
uint8_t validQuery = false;
NVIC_InitTypeDef NVIC_InitStructure;
cliBusy = true;
cliPortPrint("\nEntering Receiver CLI....\n\n");
while(true)
{
cliPortPrint("Receiver CLI -> ");
while ((cliPortAvailable() == false) && (validQuery == false));
if (validQuery == false)
receiverQuery = cliPortRead();
cliPortPrint("\n");
switch(receiverQuery)
{
///////////////////////////
case 'a': // Receiver Configuration
cliPortPrint("\nReceiver Type: ");
switch(systemConfig.receiverType)
{
case PPM:
cliPortPrint("PPM\n");
break;
case SPEKTRUM:
cliPortPrint("Spektrum\n");
break;
}
cliPortPrint("Current RC Channel Assignment: ");
for (index = 0; index < 8; index++)
rcOrderString[systemConfig.rcMap[index]] = rcChannelLetters[index];
rcOrderString[index] = '\0';
cliPortPrint(rcOrderString); cliPortPrint("\n");
cliPortPrintF("Secondary Spektrum: ");
if ((systemConfig.slaveSpektrum == true) && false) // HJI Inhibit Slave Spektrum on Naze32 Pro
cliPortPrintF("Installed\n");
else
cliPortPrintF("Uninstalled\n");
cliPortPrintF("Mid Command: %4ld\n", (uint16_t)systemConfig.midCommand);
cliPortPrintF("Min Check: %4ld\n", (uint16_t)systemConfig.minCheck);
cliPortPrintF("Max Check: %4ld\n", (uint16_t)systemConfig.maxCheck);
cliPortPrintF("Min Throttle: %4ld\n", (uint16_t)systemConfig.minThrottle);
cliPortPrintF("Max Thottle: %4ld\n\n", (uint16_t)systemConfig.maxThrottle);
tempFloat = systemConfig.rollAndPitchRateScaling * 180000.0 / PI;
cliPortPrintF("Max Roll and Pitch Rate Cmd: %6.2f DPS\n", tempFloat);
tempFloat = systemConfig.yawRateScaling * 180000.0 / PI;
cliPortPrintF("Max Yaw Rate Cmd: %6.2f DPS\n", tempFloat);
tempFloat = systemConfig.attitudeScaling * 180000.0 / PI;
cliPortPrintF("Max Attitude Cmd: %6.2f Degrees\n\n", tempFloat);
cliPortPrintF("Arm Delay Count: %3d Frames\n", systemConfig.armCount);
cliPortPrintF("Disarm Delay Count: %3d Frames\n\n", systemConfig.disarmCount);
validQuery = false;
break;
///////////////////////////
case 'x':
cliPortPrint("\nExiting Receiver CLI....\n\n");
cliBusy = false;
return;
break;
///////////////////////////
case 'A': // Toggle PPM/Spektrum Satellite Receiver
if (systemConfig.receiverType == PPM)
{
NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_ITConfig(TIM1, TIM_IT_CC1, DISABLE);
systemConfig.receiverType = SPEKTRUM;
spektrumInit();
}
else
{
NVIC_InitStructure.NVIC_IRQChannel = TIM1_TRG_COM_TIM17_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_ITConfig(TIM17, TIM_IT_Update, DISABLE);
systemConfig.receiverType = PPM;
ppmRxInit();
}
receiverQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'B': // Read RC Control Order
readStringCLI( rcOrderString, 8 );
parseRcChannels( rcOrderString );
receiverQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'C': // Toggle Slave Spektrum State
// HJI Inhibit Slave Spektrum on Naze32 Pro if (systemConfig.slaveSpektrum == true)
systemConfig.slaveSpektrum = false;
// HJI Inhibit Slave Spektrum on Naze32 Pro else
// HJI Inhibit Slave Spektrum on Naze32 Pro systemConfig.slaveSpektrum = true;
receiverQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'D': // Read RC Control Points
systemConfig.midCommand = readFloatCLI();
systemConfig.minCheck = readFloatCLI();
systemConfig.maxCheck = readFloatCLI();
systemConfig.minThrottle = readFloatCLI();
systemConfig.maxThrottle = readFloatCLI();
receiverQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'E': // Read Arm/Disarm Counts
systemConfig.armCount = (uint8_t)readFloatCLI();
systemConfig.disarmCount = (uint8_t)readFloatCLI();
receiverQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'F': // Read Max Rate Value
systemConfig.rollAndPitchRateScaling = readFloatCLI() / 180000.0f * PI;
systemConfig.yawRateScaling = readFloatCLI() / 180000.0f * PI;
receiverQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'G': // Read Max Attitude Value
systemConfig.attitudeScaling = readFloatCLI() / 180000.0f * PI;
receiverQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'W': // Write System EEPROM Parameters
cliPortPrint("\nWriting System EEPROM Parameters....\n\n");
writeSystemEEPROM();
validQuery = false;
break;
///////////////////////////
case '?':
cliPortPrint("\n");
cliPortPrint("'a' Receiver Configuration Data 'A' Toggle PPM/Spektrum Receiver\n");
cliPortPrint(" 'B' Set RC Control Order BTAER1234\n");
cliPortPrint(" 'C' Toggle Slave Spektrum State\n");
cliPortPrint(" 'D' Set RC Control Points DmidCmd;minChk;maxChk;minThrot;maxThrot\n");
cliPortPrint(" 'E' Set Arm/Disarm Counts EarmCount;disarmCount\n");
cliPortPrint(" 'F' Set Maximum Rate Commands FRP;Y RP = Roll/Pitch, Y = Yaw\n");
cliPortPrint(" 'G' Set Maximum Attitude Command\n");
cliPortPrint(" 'W' Write System EEPROM Parameters\n");
cliPortPrint("'x' Exit Receiver CLI '?' Command Summary\n");
cliPortPrint("\n");
break;
///////////////////////////
}
}
}
/*MOTORS*/
void setup_PWM_with_TIM4_NVIC( ){
GPIO_InitTypeDef GPIO_InitStructure;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_TIM4);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource7, GPIO_AF_TIM4);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_TIM4);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_TIM4);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructure.TIM_Period = 500-1;
TIM_TimeBaseStructure.TIM_Prescaler = 84-1;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
/* PWM1 Mode configuration: Channel3 (GPIOB Pin 9)*/
TIM_OC3Init(TIM4, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel4 (GPIOB Pin 8)*/
TIM_OC4Init(TIM4, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel1 (GPIOB Pin 6)*/
TIM_OC1Init(TIM4, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel2 (GPIOB Pin 7)*/
TIM_OC2Init(TIM4, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_SetCompare1(TIM4, 0);
TIM_SetCompare2(TIM4, 0);
TIM_SetCompare3(TIM4, 0);
TIM_SetCompare4(TIM4, 0);
NVIC_InitTypeDef NVIC_InitStruct;
//NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
NVIC_InitStruct.NVIC_IRQChannel = TIM4_IRQn;
NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStruct.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStruct);
TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);
TIM_Cmd(TIM4, 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
file (startup_stm32l1xx_xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32l1xx.c file
*/
/* ------------------------- System Clocks Configuration ------------------------------*/
/* GPIOD clock enable */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOD, ENABLE);
/* TIM3 clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
/* ------------------------- GPIO Configuration ------------------------------*/
/* GPIOD Configuration: PD.00, PD.01, PD.04, PD.05 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1| GPIO_Pin_4 | GPIO_Pin_5 ;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_40MHz;
GPIO_Init(GPIOD, &GPIO_InitStructure);
/* ---------------------------------------------------------------
TIM3 Configuration:
The objective is to get TIM3 counter clock at 1 KHz:
- Prescaler = (TIM3CLK / TIM3 counter clock) - 1
And generate 4 signals with 4 different delays:
TIM3_CH1 delay = CCR1_Val/TIM3 counter clock = 1000 ms
TIM3_CH2 delay = CCR2_Val/TIM3 counter clock = 500 ms
TIM3_CH3 delay = CCR3_Val/TIM3 counter clock = 250 ms
TIM3_CH4 delay = CCR4_Val/TIM3 counter clock = 125 ms
--------------------------------------------------------------- */
PrescalerValue = (uint16_t) (SystemCoreClock / 1000) - 1;
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;
TIM_TimeBaseStructure.TIM_ClockDivision = 0x0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
/* Output Compare Timing Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Inactive;
TIM_OCInitStructure.TIM_Pulse = CCR1_Val;
TIM_OC1Init(TIM3, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Disable);
TIM_ARRPreloadConfig(TIM3, DISABLE);
/* Output Compare Timing Mode configuration: Channel2 */
TIM_OCInitStructure.TIM_Pulse = CCR2_Val;
TIM_OC2Init(TIM3, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Disable);
/* Output Compare Timing Mode configuration: Channel3 */
TIM_OCInitStructure.TIM_Pulse = CCR3_Val;
TIM_OC3Init(TIM3, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Disable);
/* Output Compare Timing Mode configuration: Channel4 */
TIM_OCInitStructure.TIM_Pulse = CCR4_Val;
TIM_OC4Init(TIM3, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Disable);
/* TIM Interrupt configuration */
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);
/* ------------------------- NVIC Configuration ------------------------------ */
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Set PD.00, PD.01, PD.04 and PD.05 pins */
GPIO_SetBits(GPIOD, GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_4 | GPIO_Pin_5);
/* TIM enable counter */
TIM_Cmd(TIM3, ENABLE);
while (1)
{}
}
extern int32_t PIOS_PPM_Init(uint32_t * ppm_id, const struct pios_ppm_cfg * cfg)
{
PIOS_DEBUG_Assert(ppm_id);
PIOS_DEBUG_Assert(cfg);
struct pios_ppm_dev * ppm_dev;
ppm_dev = (struct pios_ppm_dev *) PIOS_PPM_alloc();
if (!ppm_dev) goto out_fail;
/* Bind the configuration to the device instance */
ppm_dev->cfg = cfg;
/* Set up the state variables */
ppm_dev->PulseIndex = 0;
ppm_dev->PreviousTime = 0;
ppm_dev->CurrentTime = 0;
ppm_dev->DeltaTime = 0;
ppm_dev->LargeCounter = 0;
ppm_dev->NumChannels = -1;
ppm_dev->NumChannelsPrevFrame = -1;
ppm_dev->NumChannelCounter = 0;
ppm_dev->Tracking = false;
ppm_dev->Fresh = false;
for (uint8_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS; i++) {
/* Flush counter variables */
ppm_dev->CaptureValue[i] = PIOS_RCVR_TIMEOUT;
ppm_dev->CaptureValueNewFrame[i] = PIOS_RCVR_TIMEOUT;
}
uint32_t tim_id;
if (PIOS_TIM_InitChannels(&tim_id, cfg->channels, cfg->num_channels, &tim_callbacks, (uint32_t)ppm_dev)) {
return -1;
}
/* Configure the channels to be in capture/compare mode */
for (uint8_t i = 0; i < cfg->num_channels; i++) {
const struct pios_tim_channel * chan = &cfg->channels[i];
/* Configure timer for input capture */
TIM_ICInitTypeDef TIM_ICInitStructure = cfg->tim_ic_init;
TIM_ICInitStructure.TIM_Channel = chan->timer_chan;
TIM_ICInit(chan->timer, &TIM_ICInitStructure);
/* Enable the Capture Compare Interrupt Request */
switch (chan->timer_chan) {
case TIM_Channel_1:
TIM_ITConfig(chan->timer, TIM_IT_CC1 | TIM_IT_Update, ENABLE);
break;
case TIM_Channel_2:
TIM_ITConfig(chan->timer, TIM_IT_CC2 | TIM_IT_Update, ENABLE);
break;
case TIM_Channel_3:
TIM_ITConfig(chan->timer, TIM_IT_CC3 | TIM_IT_Update, ENABLE);
break;
case TIM_Channel_4:
TIM_ITConfig(chan->timer, TIM_IT_CC4 | TIM_IT_Update, ENABLE);
break;
}
}
/* Setup local variable which stays in this scope */
/* Doing this here and using a local variable saves doing it in the ISR */
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0;
if (!PIOS_RTC_RegisterTickCallback(PIOS_PPM_Supervisor, (uint32_t)ppm_dev)) {
PIOS_DEBUG_Assert(0);
}
*ppm_id = (uint32_t)ppm_dev;
return(0);
out_fail:
return(-1);
}
/**
* @brief Init Hardware (IPs used) for IR generation
* @param None
* @retval None
*/
void IR_Encode_Init(void)
{
/* TIM16 clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM16, ENABLE);
/* TIM17 clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM17, ENABLE);
/* GPIOB clock enable */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE);
/* Pin configuration: input floating */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
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);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_0);
/* DeInit TIM17 */
TIM_DeInit(TIM17);
/* Time base configuration for timer 2 */
TIM_TimeBaseStructure.TIM_Period = 857; //857 - 56Khz
TIM_TimeBaseStructure.TIM_Prescaler = 0x00;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM17, &TIM_TimeBaseStructure);
/* Prescaler configuration */
TIM_PrescalerConfig(TIM17, 0, TIM_PSCReloadMode_Immediate);
/* Output Compare Timing Mode configuration: Channel 1N */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 429; // 429 Set duty cycle to 50% TIM_Period to be compatible with IR specification
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
//TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set; //TIM_OCIdleState_Reset;
TIM_OC1Init(TIM17, &TIM_OCInitStructure);
/* Timer17 preload enable */
TIM_OC1PreloadConfig(TIM17, TIM_OCPreload_Enable);
/* Timer 17 Enable */
TIM_Cmd(TIM17, ENABLE);
/* Enable the TIM16 channel1 output to be connected internly to the IRTIM */
TIM_CtrlPWMOutputs(TIM17, ENABLE);
/* DeInit TIM16 */
TIM_DeInit(TIM16);
/* Time Base = 56Khz */
/* Time Base configuration for timer 16 */
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = 28799;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM16, &TIM_TimeBaseStructure);
/* Channel 1 Configuration in Timing mode */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Timing;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
//TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = 28799;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
//TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
//TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
//TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
TIM_OC1Init(TIM16, &TIM_OCInitStructure);
/* Enable the TIM16 Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM16_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* TIM16 Main Output Enable */
TIM_CtrlPWMOutputs(TIM16, ENABLE);
/* TIM IT Disable */
TIM_ITConfig(TIM16, TIM_IT_Update, DISABLE);
/* TIM Disable */
TIM_Cmd(TIM16, DISABLE);
//////////////////////////////////
// IR power timer TIM14
/////////////////////////////////
/* TIM14 clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM14, ENABLE);
/* Pin configuration IR power */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource1, GPIO_AF_4);
/* DeInit TIM14 */
TIM_DeInit(TIM14);
/* Time Base configuration for timer 14 */
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = 1000 - 1;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM14, &TIM_TimeBaseStructure);
/* Channel 1 Configuration in PWM mode */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
//TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = 100 - 1;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
//TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
//TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
//TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;
TIM_OC1Init(TIM14, &TIM_OCInitStructure);
/* TIM14 counter enable */
TIM_Cmd(TIM14, ENABLE);
/* TIM14 Main Output Enable */
TIM_CtrlPWMOutputs(TIM14, ENABLE);
}
/**
* @brief Main program.
* @param None
* @retval : None
*/
int main(void)
{
/* System Clocks Configuration */
RCC_Configuration();
/* NVIC configuration */
NVIC_Configuration();
/* Configure the GPIOs */
GPIO_Configuration();
/* RTC Configuration */
RTC_Configuration();
/* Wait until Key Push button is pressed */
while (GPIO_ReadInputDataBit(GPIOG, GPIO_Pin_8) != 0)
{
}
/* Get the Frequency value */
RCC_GetClocksFreq(&RCC_Clocks);
/* Enable TIM5 APB1 clocks */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
/* Connect internally the TM5_CH4 Input Capture to the LSI clock output */
GPIO_PinRemapConfig(GPIO_Remap_TIM5CH4_LSI, ENABLE);
/* TIM5 Time base configuration */
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInit(TIM5, &TIM_TimeBaseStructure);
/* TIM5 Channel4 Input capture Mode configuration */
TIM_ICInitStructure.TIM_Channel = TIM_Channel_4;
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 = 0;
TIM_ICInit(TIM5, &TIM_ICInitStructure);
/* Reinitialize the index for the interrupt */
OperationComplete = 0;
/* Enable the TIM5 Input Capture counter */
TIM_Cmd(TIM5, ENABLE);
/* Reset all TIM5 flags */
TIM5->SR = 0;
/* Enable the TIM5 channel 4 */
TIM_ITConfig(TIM5, TIM_IT_CC4, ENABLE);
/* Wait the TIM5 measuring operation to be completed */
while (OperationComplete != 2)
{}
/* Compute the actual frequency of the LSI. (TIM5_CLK = 2 * PCLK1) */
if (PeriodValue != 0)
{
LsiFreq = (uint32_t)((uint32_t)(RCC_Clocks.PCLK1_Frequency * 2) / (uint32_t)PeriodValue);
}
/* Adjust the RTC prescaler value */
RTC_SetPrescaler(LsiFreq - 1);
/* Wait until last write operation on RTC registers has finished */
RTC_WaitForLastTask();
/* Set GPIOF pin 7 */
GPIO_SetBits(GPIOF, GPIO_Pin_7);
while (1)
{
/* Inifinite loop */
}
}
void TIM4_Cap_Init(u16 arr, u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); //使能TIM4时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); //使能GPIOB时钟
// GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 ;
// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD; //PD12 下拉输入
// GPIO_Init(GPIOD, &GPIO_InitStructure);
// GPIO_ResetBits(GPIOD, GPIO_Pin_12);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7| GPIO_Pin_8
| GPIO_Pin_9; //PB6,8,9 清除之前设置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD; //PB6,7,8,9 输入
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_ResetBits(GPIOB, GPIO_Pin_6 | GPIO_Pin_7| GPIO_Pin_8 | GPIO_Pin_9);//PB6,8,9 下拉
//初始化定时器4 TIM4，该部分配置主要是为PWM输出服务
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:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
//初始化TIM4输入捕获参数 通道1
TIM4_ICInitStructure.TIM_Channel = TIM_Channel_1; //CC1S=01 选择输入端 IC1映射到TI1上
TIM4_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕获
TIM4_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
TIM4_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //配置输入分频,不分频
TIM4_ICInitStructure.TIM_ICFilter = 0x00; //IC1F=0000 配置输入滤波器 不滤波
TIM_ICInit(TIM4, &TIM4_ICInitStructure);
//初始化TIM4输入捕获参数 通道2
TIM4_ICInitStructure.TIM_Channel = TIM_Channel_2; //CC1S=01 选择输入端 IC1映射到TI1上
TIM4_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕获
TIM4_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
TIM4_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //配置输入分频,不分频
TIM4_ICInitStructure.TIM_ICFilter = 0x00; //IC1F=0000 配置输入滤波器 不滤波
TIM_ICInit(TIM4, &TIM4_ICInitStructure);
//初始化TIM4输入捕获参数 通道3
TIM4_ICInitStructure.TIM_Channel = TIM_Channel_3; //CC1S=01 选择输入端 IC1映射到TI1上
TIM4_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕获
TIM4_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
TIM4_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //配置输入分频,不分频
TIM4_ICInitStructure.TIM_ICFilter = 0x00; //IC1F=0000 配置输入滤波器 不滤波
TIM_ICInit(TIM4, &TIM4_ICInitStructure);
//初始化TIM4输入捕获参数 通道4
TIM4_ICInitStructure.TIM_Channel = TIM_Channel_4; //CC1S=01 选择输入端 IC1映射到TI1上
TIM4_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕获
TIM4_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
TIM4_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //配置输入分频,不分频
TIM4_ICInitStructure.TIM_ICFilter = 0x00; //IC1F=0000 配置输入滤波器 不滤波
TIM_ICInit(TIM4, &TIM4_ICInitStructure);
//中断分组初始化
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn; //TIM4中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //先占优先级1级
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //从优先级0级
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
NVIC_Init(&NVIC_InitStructure); //根据NVIC_InitStruct中指定的参数初始化外设NVIC寄存器
TIM_ITConfig(TIM4, TIM_IT_CC1 | TIM_IT_CC2 | TIM_IT_CC3 | TIM_IT_CC4,
ENABLE); //不允许更新中断，允许CC1IE,CC2IE,CC3IE,CC4IE捕获中断
TIM_Cmd(TIM4, ENABLE); //使能定时器4
}
/**
* @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
file (startup_stm32f2xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f2xx.c file
*/
/* SysTick Configuration */
SysTickConfig();
/* TIM1 Configuration */
TIM_Config();
/*----------------------------------------------------------------------------
The STM32F2xx TIM1 peripheral offers the possibility to program in advance the
configuration for the next TIM1 outputs behaviour (step) and change the configuration
of all the channels at the same time. This operation is possible when the COM
(commutation) event is used.
The COM event can be generated by software by setting the COM bit in the TIM1_EGR
register or by hardware (on TRC rising edge).
In this example, a software COM event is generated each 100 ms: using the SysTick
interrupt.
The TIM1 is configured in Timing Mode, each time a COM event occurs, a new TIM1
configuration will be set in advance.
The following Table describes the TIM1 Channels states:
-----------------------------------------------
| Step1 | Step2 | Step3 | Step4 | Step5 | Step6 |
----------------------------------------------------------
|Channel1 | 1 | 0 | 0 | 0 | 0 | 1 |
----------------------------------------------------------
|Channel1N | 0 | 0 | 1 | 1 | 0 | 0 |
----------------------------------------------------------
|Channel2 | 0 | 0 | 0 | 1 | 1 | 0 |
----------------------------------------------------------
|Channel2N | 1 | 1 | 0 | 0 | 0 | 0 |
----------------------------------------------------------
|Channel3 | 0 | 1 | 1 | 0 | 0 | 0 |
----------------------------------------------------------
|Channel3N | 0 | 0 | 0 | 0 | 1 | 1 |
----------------------------------------------------------
----------------------------------------------------------------------------*/
/* Time Base configuration */
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = 4095;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
/* Channel 1, 2,3 and 4 Configuration in PWM mode */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Timing;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = 2047;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Set;
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse = 1023;
TIM_OC2Init(TIM1, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse = 511;
TIM_OC3Init(TIM1, &TIM_OCInitStructure);
/* Automatic Output enable, Break, dead time and lock configuration*/
TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;
TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_OFF;
TIM_BDTRInitStructure.TIM_DeadTime = 1;
TIM_BDTRInitStructure.TIM_Break = TIM_Break_Enable;
TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_High;
TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Enable;
TIM_BDTRConfig(TIM1, &TIM_BDTRInitStructure);
TIM_CCPreloadControl(TIM1, ENABLE);
TIM_ITConfig(TIM1, TIM_IT_COM, ENABLE);
/* TIM1 counter enable */
TIM_Cmd(TIM1, ENABLE);
/* Main Output Enable */
TIM_CtrlPWMOutputs(TIM1, ENABLE);
while (1)
{}
}
/**
* @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
file (startup_stm32f10x_xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f10x.c file
*/
/* System Clocks Configuration */
RCC_Configuration();
/* NVIC Configuration */
NVIC_Configuration();
/* GPIO Configuration */
GPIO_Configuration();
/* ---------------------------------------------------------------
TIM2 Configuration:
TIM2CLK = SystemCoreClock / 2,
The objective is to get TIM2 counter clock at 1 KHz:
- Prescaler = (TIM2CLK / TIM2 counter clock) - 1
And generate 4 signals with 4 different delays:
TIM2_CH1 delay = CCR1_Val/TIM2 counter clock = 1000 ms
TIM2_CH2 delay = CCR2_Val/TIM2 counter clock = 500 ms
TIM2_CH3 delay = CCR3_Val/TIM2 counter clock = 250 ms
TIM2_CH4 delay = CCR4_Val/TIM2 counter clock = 125 ms
* SystemCoreClock is set to 72 MHz for Low-density, Medium-density, High-density
and Connectivity line devices and to 24 MHz for Low-Density Value line and
Medium-Density Value line devices
--------------------------------------------------------------- */
/* Compute the prescaler value */
PrescalerValue = (uint16_t) (SystemCoreClock / 2000) - 1;
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = 65535;
TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
/* Output Compare Active Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Inactive;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR1_Val;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM2, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Disable);
/* Output Compare Active Mode configuration: Channel2 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR2_Val;
TIM_OC2Init(TIM2, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Disable);
/* Output Compare Active Mode configuration: Channel3 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR3_Val;
TIM_OC3Init(TIM2, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Disable);
/* Output Compare Active Mode configuration: Channel4 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR4_Val;
TIM_OC4Init(TIM2, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM2, TIM_OCPreload_Disable);
TIM_ARRPreloadConfig(TIM2, ENABLE);
/* TIM IT enable */
TIM_ITConfig(TIM2, TIM_IT_CC1 | TIM_IT_CC2 | TIM_IT_CC3 | TIM_IT_CC4, ENABLE);
/* Set PC.06, PC.07, PC.08 and PC.09 pins */
GPIO_SetBits(GPIOC, GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9);
/* TIM2 enable counter */
TIM_Cmd(TIM2, ENABLE);
while (1)
{}
}
/* Need to change Tim8 for Tim2 since TIM8 is needed for dma2 request*/
void TIM_Configuration(void){
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
int TimerPeriod, Channel1Pulse, Channel2Pulse, Channel3Pulse;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3 ,ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1 ,ENABLE);
/* Pins GPIO A 1 and 8 for Control Signals*/
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_High_Speed;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL ;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_Init(GPIOE, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource11 ,GPIO_AF_TIM1);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
GPIO_Init(GPIOC, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource7 ,GPIO_AF_TIM3);
/*
VGA
800x600 50hz
Clock Tick = 1/72Mhz = 0.0138us
Timer Frequency = 35.15625kHz
TimerPeriod = (1/35.15625kHz)/0.006944us = 4096 (/2)
Channel 1 pulse / HSYNC Pulse Time= 2us
2us/0.006944us = 288 ticks (/2)
Channel 2 pulse / HSYNC+BackPorch
2us+3,55us-800ns(dma)/0,00694us = 704 ticks
*/
TimerPeriod = 4096;
Channel1Pulse = 288;
Channel2Pulse = 800;//785
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = TimerPeriod;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter=0;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
TIM_OCStructInit(&TIM_OCInitStructure);
//Channel 1
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = Channel1Pulse;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
TIM_OC2Init(TIM1, &TIM_OCInitStructure);
//Channel 2
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Inactive; // Dont actualize pin
TIM_OCInitStructure.TIM_Pulse = Channel2Pulse;
TIM_OC3Init(TIM1, &TIM_OCInitStructure);
TIM_CtrlPWMOutputs(TIM1, ENABLE);
/* Select TIM1 as Master */
TIM_SelectMasterSlaveMode(TIM1, TIM_MasterSlaveMode_Enable);
TIM_SelectOutputTrigger(TIM1, TIM_TRGOSource_Update);
/*
VSYNC
Lines
------------------------------
Visible area 600
Front porch 1
Sync pulse 2
Back porch 22
Whole frame 625
*/
TIM_SelectSlaveMode(TIM3, TIM_SlaveMode_Gated);//! was gated
TIM_SelectInputTrigger(TIM3, TIM_TS_ITR0);
TimerPeriod = 625; /* Vertical lines */
Channel2Pulse = 2; /* Sync pulse */
Channel3Pulse = 24; /* Sync pulse + Back porch */
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = TimerPeriod;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = Channel2Pulse;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
TIM_OC2Init(TIM3, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Inactive;
TIM_OCInitStructure.TIM_Pulse = Channel3Pulse;
TIM_OC3Init(TIM3, &TIM_OCInitStructure);
/* TIM8 counter enable and output enable */
TIM_CtrlPWMOutputs(TIM3, ENABLE);
/* Interrupt TIM8 */
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_ITConfig(TIM3, TIM_IT_CC3, ENABLE);
/* Interrupt TIM1 */
NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_ITConfig(TIM1, TIM_IT_CC3, ENABLE); // Enable only interrupt for CC2
/* Enable Timers */
TIM_Cmd(TIM3, ENABLE);
TIM_Cmd(TIM1, ENABLE);
//TIMER 5 --- UPDATE
}
void TMER_Iinitialization(void)
{
//GPIO
GPIO_InitTypeDef GPIO_InitStructure;
//Interrupt
NVIC_InitTypeDef NVIC_InitStructure;
//Tmer
TIM_BDTRInitTypeDef TIM_BDTRInitStructure; //死区刹车结构体变量定义
TIM_OCInitTypeDef TIM_OCInitStructure;
// TIM_ICInitTypeDef TIM_ICInitStructure; //定义结构体变量
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
/**************************************************************************
//---------------------------------TMER1 PWM-------------------------------
***************************************************************************/
PWM_Period=((SystemCoreClock / (2*PWM_FREQ) ) - 1);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1 , ENABLE);
/* TIM2 Configuration */
TIM_DeInit(TIM1);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_OCStructInit(&TIM_OCInitStructure);
/* GPIOA Configuration: Channel 1, 2, 3, 4 and Channel 1N as alternate function push-pull */
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10;
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_UP ;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* GPIOB Configuration: Channel 2N and 3N as alternate function push-pull */
GPIO_InitStructure.GPIO_Pin =GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14| GPIO_Pin_15;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource8, GPIO_AF_2);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource9, GPIO_AF_2);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource10, GPIO_AF_2);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource12, GPIO_AF_2); //TRIP
GPIO_PinAFConfig(GPIOB, GPIO_PinSource13, GPIO_AF_2);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource14, GPIO_AF_2);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource15, GPIO_AF_2);
/*----------------------------------------------------------------------- */
/* Compute the value to be set in ARR regiter to generate signal frequency at 12 Khz */
TIM_TimeBaseStructure.TIM_Prescaler = 0; //TIM基本初始化
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_CenterAligned1;//中央对齐计数模式
TIM_TimeBaseStructure.TIM_Period = PWM_PERIOD;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 1;
TIM_TimeBaseInit(TIM1,&TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //TIM输出通道初始化
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse =200;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
TIM_OC1Init(TIM1,&TIM_OCInitStructure);
TIM_OC2Init(TIM1,&TIM_OCInitStructure);
TIM_OC3Init(TIM1,&TIM_OCInitStructure);
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //TIM输出通道4初始化，用来触发AD采样
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 24; //100; //
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC4Init(TIM1,&TIM_OCInitStructure);
TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable; //死区刹车初始化
TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_OFF;
TIM_BDTRInitStructure.TIM_DeadTime = DEADTIME; //96-2us
TIM_BDTRInitStructure.TIM_Break = TIM_Break_Enable; // TIM_Break_Disable;//
TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_Low;
TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Disable;
TIM_BDTRConfig(TIM1,&TIM_BDTRInitStructure);
TIM_OC1PreloadConfig(TIM1,TIM_OCPreload_Enable); //使能捕获比较寄存器预装载（通道1）
TIM_OC2PreloadConfig(TIM1,TIM_OCPreload_Enable); //使能捕获比较寄存器预装载（通道2）
TIM_OC3PreloadConfig(TIM1,TIM_OCPreload_Enable); //使能捕获比较寄存器预装载（通道3）
/* Enable the TIM1 Trigger and commutation interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM1_BRK_UP_TRG_COM_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_ClearITPendingBit(TIM1, TIM_IT_Break);
TIM_ITConfig(TIM1, TIM_IT_Update, ENABLE);
TIM_ITConfig(TIM1, TIM_IT_Break, ENABLE);
TIM_ClearFlag(TIM1, TIM_FLAG_Update); // 清除TIM2的更新标志位 ；
TIM_ClearFlag(TIM1, TIM_FLAG_Break);
TIM_ClearFlag(TIM1, TIM_FLAG_COM);
/* TIM1 counter enable */
TIM_Cmd(TIM1, ENABLE);
/* TIM1 Main Output Enable */
TIM_CtrlPWMOutputs(TIM1, ENABLE);
}
/*
void Give_Motor_Velocity(void)
{
int16_t i;
for(i = 0; i < 2; i++)
{
if(Kp_Divider[i] != 0 && Kd_Divider[i] != 0)
{
Fault[i] = ((Error[i] *Kp_Multiplier[i]) / Kp_Divider[i]);
Fault[i] += ((D_Error[i] * Kd_Multiplier[i]) / Kd_Divider[i]);
}
Motor_Velocity[i] += Fault[i];
}
if(Motor_Velocity[1] < 0)
{
if(Motor_Velocity[1] <-Top)
{
Motor_Velocity[1] = -Top;
}
TIM_SetCompare3(TIM4,-Motor_Velocity[1]);
TIM_SetCompare4(TIM4,0);
}
else
{
if(Motor_Velocity[1] >Top)
{
Motor_Velocity[1] = Top;
}
TIM_SetCompare4(TIM4,Motor_Velocity[1]);
TIM_SetCompare3(TIM4,0);
}
if(Motor_Velocity[0] < 0)
{
if(Motor_Velocity[0] < -Top)
{
Motor_Velocity[0] = -Top;
}
TIM_SetCompare2(TIM4,-Motor_Velocity[0]);
TIM_SetCompare1(TIM4,0);
}
else
{
if(Motor_Velocity[0] > Top)
{
Motor_Velocity[0] = Top;
}
TIM_SetCompare1(TIM4,Motor_Velocity[0]);
TIM_SetCompare2(TIM4,0);
}
}
*/
int main()
{
int i=0,j=0;
Initialise_Clock();
Initialise_GPIO();
Initialise_TimerPWM();
Initialise_UART();
Initialise_ExternalInterrupt();
Initialise_TimerInterrupt();
enable_timer_int=0;
if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_11))
{
TeamID=Team_Id_2;
}
else
{
TeamID=Team_Id_1;
}
Bot_Id=GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_0)*4+GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_1)*2+GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_10);
/*
if(TeamID==126)
{
GPIO_SetBits(GPIOB,GPIO_Pin_14);
}
else if(TeamID=127)
{
GPIO_SetBits(GPIOB,GPIO_Pin_15);
}
*/
if(Bot_Id==0)
{
GPIO_SetBits(GPIOB,GPIO_Pin_14);
}
else if (Bot_Id==1)
{
GPIO_SetBits(GPIOB,GPIO_Pin_15);
}
else if(Bot_Id==4)
{
GPIO_SetBits(GPIOB,GPIO_Pin_14);
GPIO_SetBits(GPIOB,GPIO_Pin_15);
}
Ticks[0] = Ticks[1] = 0;
while(1)
{
if(enable_timer_int)
{
//TIM_SetCounter(TIM2,0);
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
enable_timer_int=0;
}
if(Cycle_Complete_Flag == 1)
{
Cycle_Complete_Flag = 0;
//GPIO_ResetBits(GPIOB,GPIO_Pin_14);
Error_Fuzzification();
Create_Fuzzy_Matrix();
Determine_Weights();
Give_Motor_Velocity();
}
if(Send_Back_Flag==1)
{
Send_Back_Flag=0;
Target[0]=0;
Target[1]=0;
Count = 0;
for(i=(StoreIdx - NumStored + STORE_SIZE)%STORE_SIZE; Count<NumStored; i++, Count++)
{
i = i % STORE_SIZE;
USART_SendData(USART2,122);
while(USART_GetFlagStatus(USART2,USART_FLAG_TXE)==RESET);
USART_SendData(USART2,Bot_Id);
while(USART_GetFlagStatus(USART2,USART_FLAG_TXE)==RESET);
USART_SendData(USART2,Store[i][0]);
while(USART_GetFlagStatus(USART2,USART_FLAG_TXE)==RESET);
USART_SendData(USART2,Store[i][1]);
while(USART_GetFlagStatus(USART2,USART_FLAG_TXE)==RESET);
USART_SendData(USART2,Store[i][2]);
while(USART_GetFlagStatus(USART2,USART_FLAG_TXE)==RESET);
USART_SendData(USART2,Store[i][3]);
while(USART_GetFlagStatus(USART2,USART_FLAG_TXE)==RESET);
USART_SendData(USART2,Store[i][4]);
while(USART_GetFlagStatus(USART2,USART_FLAG_TXE)==RESET);
}
// Send 123 to indicate end of data
USART_SendData(USART2,123);
while(USART_GetFlagStatus(USART2,USART_FLAG_TXE)==RESET);
StoreIdx = 0;
NumStored = 0;
}
/*if(loop>100)
{
Target[0]=0;
Target[1]=0;
p=0;
loop=0;
enable_timer_int=0;
for(i=0;i<100;i++)
{
USART_SendData(USART2,Ticks_Array_L[i]);
while(!USART_GetFlagStatus(USART2,USART_FLAG_TXE));
}
for(i=0;i<100;i++)
{
USART_SendData(USART2,Ticks_Array_R[i]);
while(!USART_GetFlagStatus(USART2,USART_FLAG_TXE));
}
Reset_Handler();
}*/
}
}
void disableTimer(void)
{
TIM_ITConfig(TIM14, TIM_IT_Update, DISABLE);
/* TIMx counter enable */
TIM_Cmd(TIM14, DISABLE);
}
void Tim::configureIT(uint16_t it, FunctionalState enable) {
TIM_ITConfig(_tim, it, enable);
}
void enable_frt(){
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
}
/**
* @brief Configures TIM5 to measure the LSI oscillator frequency.
* @param None
* @retval LSI Frequency
*/
uint32_t GetLSIFrequency(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
RCC_ClocksTypeDef RCC_ClockFreq;
/* Enable the LSI oscillator ************************************************/
RCC_LSICmd(ENABLE);
/* Wait till LSI is ready */
while (RCC_GetFlagStatus(RCC_FLAG_LSIRDY) == RESET)
{}
/* TIM5 configuration *******************************************************/
/* Enable TIM5 clock */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
/* Connect internally the TIM5_CH4 Input Capture to the LSI clock output */
TIM_RemapConfig(TIM5, TIM5_LSI);
/* Configure TIM5 presclaer */
TIM_PrescalerConfig(TIM5, 0, TIM_PSCReloadMode_Immediate);
/* TIM5 configuration: Input Capture mode ---------------------
The LSI oscillator is connected to TIM5 CH4
The Rising edge is used as active edge,
The TIM5 CCR4 is used to compute the frequency value
------------------------------------------------------------ */
TIM_ICInitStructure.TIM_Channel = TIM_Channel_4;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV8;
TIM_ICInitStructure.TIM_ICFilter = 0;
TIM_ICInit(TIM5, &TIM_ICInitStructure);
/* Enable TIM5 Interrupt channel */
NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Enable TIM5 counter */
TIM_Cmd(TIM5, ENABLE);
/* Reset the flags */
TIM5->SR = 0;
/* Enable the CC4 Interrupt Request */
TIM_ITConfig(TIM5, TIM_IT_CC4, ENABLE);
/* Wait until the TIM5 get 2 LSI edges (refer to TIM5_IRQHandler() in
stm32f4xx_it.c file) ******************************************************/
while(CaptureNumber != 2)
{
}
/* Deinitialize the TIM5 peripheral registers to their default reset values */
TIM_DeInit(TIM5);
/* Compute the LSI frequency, depending on TIM5 input clock frequency (PCLK1)*/
/* Get SYSCLK, HCLK and PCLKx frequency */
RCC_GetClocksFreq(&RCC_ClockFreq);
/* Get PCLK1 prescaler */
if ((RCC->CFGR & RCC_CFGR_PPRE1) == 0)
{
/* PCLK1 prescaler equal to 1 => TIMCLK = PCLK1 */
return ((RCC_ClockFreq.PCLK1_Frequency / PeriodValue) * 8);
}
else
{ /* PCLK1 prescaler different from 1 => TIMCLK = 2 * PCLK1 */
return (((2 * RCC_ClockFreq.PCLK1_Frequency) / PeriodValue) * 8) ;
}
}
void disable_frt(){
TIM_ITConfig(TIM2, TIM_IT_Update, DISABLE);
}
/**
* @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
file (startup_stm32f10x_xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f10x.c file
*/
/* Configure TIM9 pins */
GPIO_Configuration();
/* NVIC Configuration */
NVIC_Configuration();
/* ---------------------------------------------------------------------------
TIM9 Configuration: Output Compare Toggle Mode:
TIM9CLK = SystemCoreClock (72MHz),
The objective is to get TIM9 counter clock at 24 MHz:
- Prescaler = (TIM9CLK / TIM9 counter clock) - 1
CC1 update rate = TIM9 counter clock / CCR1Val = 732.4 Hz
CC2 update rate = TIM9 counter clock / CCR2Val = 1464.8 Hz
----------------------------------------------------------------------------*/
/* Compute the prescaler value */
PrescalerValue = (uint16_t) (SystemCoreClock / 24000000) - 1;
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = 65535;
TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM9, &TIM_TimeBaseStructure);
/* Output Compare Toggle Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Toggle;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR1Val;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OC1Init(TIM9, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM9, TIM_OCPreload_Disable);
/* Output Compare Toggle Mode configuration: Channel2 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR2Val;
TIM_OC2Init(TIM9, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM9, TIM_OCPreload_Disable);
/* TIM enable counter */
TIM_Cmd(TIM9, ENABLE);
/* TIM IT enable */
TIM_ITConfig(TIM9, TIM_IT_CC1 | TIM_IT_CC2, ENABLE);
while (1)
{
}
}
/**
* @brief Configure the TIM3 Pins.
* @param None
* @retval None
*/
void TIM_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
/* TIM3 clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
/* GPIOA and GPIOB clock enable */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB, ENABLE);
/* GPIOA Configuration: TIM3 CH1 (PA6) and TIM3 CH2 (PA7) */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
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_UP ;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* GPIOB Configuration: TIM3 CH2 (PB0) and TIM3 CH4 (PB1) */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* Connect TIM Channels to AF1 */
GPIO_PinAFConfig(GPIOA, GPIO_PinSource6, GPIO_AF_1);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource7, GPIO_AF_1);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource0, GPIO_AF_1);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource1, GPIO_AF_1);
/* Enable the TIM3 global Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* ---------------------------------------------------------------------------
TIM3 Configuration: Output Compare Toggle Mode:
In this example TIM3 input clock (TIM3CLK) is set to APB1 clock (PCLK1).
=> TIM3CLK = PCLK1 = 48 MHz
CC1 update rate = TIM3 counter clock / CCR1_Val = 1171.8 Hz
==> So the TIM3 Channel 1 generates a periodic signal with a
frequency equal to 585.9 Hz.
CC2 update rate = TIM3 counter clock / CCR2_Val = 2343.75 Hz
==> So the TIM3 Channel 2 generates a periodic signal with a
frequency equal to 1171.8 Hz.
CC3 update rate = TIM3 counter clock / CCR3_Val = 4687.5 Hz
==> So the TIM3 Channel 3 generates a periodic signal with a
frequency equal to 2343.75 Hz.
CC4 update rate = TIM3 counter clock / CCR4_Val = 9375 Hz
==> So the TIM3 Channel 4 generates a periodic signal with a
frequency equal to 4687.5 Hz.
--------------------------------------------------------------------------- */
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = 65535;
TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
/* Output Compare Toggle Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Toggle;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR1_Val;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OC1Init(TIM3, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Disable);
/* Output Compare Toggle Mode configuration: Channel2 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR2_Val;
TIM_OC2Init(TIM3, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Disable);
/* Output Compare Toggle Mode configuration: Channel3 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR3_Val;
TIM_OC3Init(TIM3, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Disable);
/* Output Compare Toggle Mode configuration: Channel4 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR4_Val;
TIM_OC4Init(TIM3, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Disable);
/* TIM enable counter */
TIM_Cmd(TIM3, ENABLE);
/* TIM IT enable */
TIM_ITConfig(TIM3, TIM_IT_CC1 | TIM_IT_CC2 | TIM_IT_CC3 | TIM_IT_CC4, ENABLE);
}
void TIMERONE::interrupt(FunctionalState enable)
{
TIM_ClearITPendingBit(TIM1 , TIM_FLAG_Update);
TIM_ITConfig(TIM1,TIM_IT_Update,enable);
}
/* Private functions ---------------------------------------------------------*/
void voltage_Init()
{
//PE5,PB14
//TIM9 -CH1 Voltage Battery
//TIM12-CH1 Voltage Capacitor
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM9,ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM12,ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE,ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB,ENABLE);
/* GPIOE5 use as TIM9-CC1 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_Init(GPIOE,&GPIO_InitStructure);
/* GPIOB14 use as TIM12-CC1 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_14;
GPIO_Init(GPIOB,&GPIO_InitStructure);
GPIO_PinAFConfig(GPIOE,GPIO_PinSource5,GPIO_AF_TIM9);
GPIO_PinAFConfig(GPIOB,GPIO_PinSource14,GPIO_AF_TIM12);
/* Enable the TIM5,12 global Interrupt */
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_InitStructure.NVIC_IRQChannel = TIM1_BRK_TIM9_IRQn;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = TIM8_BRK_TIM12_IRQn;
NVIC_Init(&NVIC_InitStructure);
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_ICInitStructure.TIM_Channel = TIM_Channel_1;
TIM_ICInit(TIM9, &TIM_ICInitStructure);
TIM_ICInit(TIM12, &TIM_ICInitStructure);
#if 0
/* TIM5 TimeBase Configuration : generate Center Align */
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_Prescaler = 15; //Switching 10MHz
TIM_TimeBaseStructure.TIM_Period = 0xffffffff;
TIM_TimeBaseInit(TIM5,&TIM_TimeBaseStructure);
#endif
/* Enable the CC1,2 Interrupt Request */
TIM_ITConfig(TIM9, TIM_IT_CC1, ENABLE);
TIM_ITConfig(TIM12, TIM_IT_CC1, ENABLE);
/* TIM enable counter */
TIM_Cmd(TIM9, ENABLE);
TIM_Cmd(TIM12, ENABLE);
}
