void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim) { GPIO_InitTypeDef GPIO_InitStruct = {0}; if(htim->Instance==TIM3) { /* USER CODE BEGIN TIM3_MspPostInit 0 */ /* USER CODE END TIM3_MspPostInit 0 */ __HAL_RCC_GPIOB_CLK_ENABLE(); /**TIM3 GPIO Configuration PB0 ------> TIM3_CH3 PB1 ------> TIM3_CH4 PB5 ------> TIM3_CH2 */ GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_5; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); __HAL_AFIO_REMAP_TIM3_PARTIAL(); /* USER CODE BEGIN TIM3_MspPostInit 1 */ /* USER CODE END TIM3_MspPostInit 1 */ } }
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* htim_pwm) { GPIO_InitTypeDef GPIO_InitStruct; if(htim_pwm->Instance==TIM3) { /* USER CODE BEGIN TIM3_MspInit 0 */ /* USER CODE END TIM3_MspInit 0 */ /* Peripheral clock enable */ __TIM3_CLK_ENABLE(); /**TIM3 GPIO Configuration PB4 ------> TIM3_CH1 */ GPIO_InitStruct.Pin = PWM_1_Pin; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Speed = GPIO_SPEED_LOW; HAL_GPIO_Init(PWM_1_GPIO_Port, &GPIO_InitStruct); __HAL_AFIO_REMAP_TIM3_PARTIAL(); /* USER CODE BEGIN TIM3_MspInit 1 */ /* USER CODE END TIM3_MspInit 1 */ } else if(htim_pwm->Instance==TIM4) { /* USER CODE BEGIN TIM4_MspInit 0 */ /* USER CODE END TIM4_MspInit 0 */ /* Peripheral clock enable */ __TIM4_CLK_ENABLE(); /**TIM4 GPIO Configuration PB9 ------> TIM4_CH4 */ GPIO_InitStruct.Pin = PWM_2_Pin; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Speed = GPIO_SPEED_LOW; HAL_GPIO_Init(PWM_2_GPIO_Port, &GPIO_InitStruct); /* USER CODE BEGIN TIM4_MspInit 1 */ /* USER CODE END TIM4_MspInit 1 */ } }
/** * Configure pin (input, output, alternate function or analog) + output speed + AF */ void pin_function(PinName pin, int data) { MBED_ASSERT(pin != (PinName)NC); // Get the pin informations uint32_t mode = STM_PIN_MODE(data); uint32_t pupd = STM_PIN_PUPD(data); uint32_t afnum = STM_PIN_AFNUM(data); uint32_t port_index = STM_PORT(pin); uint32_t pin_index = STM_PIN(pin); // Enable GPIO clock uint32_t gpio_add = Set_GPIO_Clock(port_index); GPIO_TypeDef *gpio = (GPIO_TypeDef *)gpio_add; // Enable AFIO clock __HAL_RCC_AFIO_CLK_ENABLE(); // Configure Alternate Function // Warning: Must be done before the GPIO is initialized if (afnum > 0) { switch (afnum) { case 1: // Remap SPI1 __HAL_AFIO_REMAP_SPI1_ENABLE(); break; case 2: // Remap I2C1 __HAL_AFIO_REMAP_I2C1_ENABLE(); break; case 3: // Remap USART1 __HAL_AFIO_REMAP_USART1_ENABLE(); break; case 4: // Remap USART2 __HAL_AFIO_REMAP_USART2_ENABLE(); break; case 5: // Partial Remap USART3 __HAL_AFIO_REMAP_USART3_PARTIAL(); break; case 6: // Partial Remap TIM1 __HAL_AFIO_REMAP_TIM1_PARTIAL(); break; case 7: // Partial Remap TIM3 __HAL_AFIO_REMAP_TIM3_PARTIAL(); break; case 8: // Full Remap TIM2 __HAL_AFIO_REMAP_TIM2_ENABLE(); break; case 9: // Full Remap TIM3 __HAL_AFIO_REMAP_TIM3_ENABLE(); break; default: break; } } // Configure GPIO GPIO_InitTypeDef GPIO_InitStructure; GPIO_InitStructure.Pin = (uint32_t)(1 << pin_index); GPIO_InitStructure.Mode = gpio_mode[mode]; GPIO_InitStructure.Pull = pupd; GPIO_InitStructure.Speed = GPIO_SPEED_HIGH; HAL_GPIO_Init(gpio, &GPIO_InitStructure); // Disconnect JTAG-DP + SW-DP signals. // Warning: Need to reconnect under reset if ((pin == PA_13) || (pin == PA_14)) { __HAL_AFIO_REMAP_SWJ_DISABLE(); // JTAG-DP Disabled and SW-DP Disabled } if ((pin == PA_15) || (pin == PB_3) || (pin == PB_4)) { __HAL_AFIO_REMAP_SWJ_NOJTAG(); // JTAG-DP Disabled and SW-DP enabled } }
void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle) { GPIO_InitTypeDef GPIO_InitStruct; if(tim_encoderHandle->Instance==TIM2) { /* USER CODE BEGIN TIM2_MspInit 0 */ /* USER CODE END TIM2_MspInit 0 */ /* Peripheral clock enable */ __HAL_RCC_TIM2_CLK_ENABLE(); /**TIM2 GPIO Configuration PA15 ------> TIM2_CH1 PB3 ------> TIM2_CH2 */ GPIO_InitStruct.Pin = MOTOR1_ENCODER_A_Pin; GPIO_InitStruct.Mode = GPIO_MODE_INPUT; GPIO_InitStruct.Pull = GPIO_NOPULL; HAL_GPIO_Init(MOTOR1_ENCODER_A_GPIO_Port, &GPIO_InitStruct); GPIO_InitStruct.Pin = MOTOR1_ENCODER_B_Pin; GPIO_InitStruct.Mode = GPIO_MODE_INPUT; GPIO_InitStruct.Pull = GPIO_NOPULL; HAL_GPIO_Init(MOTOR1_ENCODER_B_GPIO_Port, &GPIO_InitStruct); __HAL_AFIO_REMAP_TIM2_PARTIAL_1(); /* Peripheral interrupt init */ HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0); HAL_NVIC_EnableIRQ(TIM2_IRQn); /* USER CODE BEGIN TIM2_MspInit 1 */ /* USER CODE END TIM2_MspInit 1 */ } else if(tim_encoderHandle->Instance==TIM3) { /* USER CODE BEGIN TIM3_MspInit 0 */ /* USER CODE END TIM3_MspInit 0 */ /* Peripheral clock enable */ __HAL_RCC_TIM3_CLK_ENABLE(); /**TIM3 GPIO Configuration PB4 ------> TIM3_CH1 PB5 ------> TIM3_CH2 */ GPIO_InitStruct.Pin = MOTOR2_ENCODER_A_Pin|MOTOR2_ENCODER_B_Pin; GPIO_InitStruct.Mode = GPIO_MODE_INPUT; GPIO_InitStruct.Pull = GPIO_NOPULL; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); __HAL_AFIO_REMAP_TIM3_PARTIAL(); /* Peripheral interrupt init */ HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0); HAL_NVIC_EnableIRQ(TIM3_IRQn); /* USER CODE BEGIN TIM3_MspInit 1 */ /* USER CODE END TIM3_MspInit 1 */ } }