void pwmout_init(pwmout_t* obj, PinName pin)
{
// Get the peripheral name from the pin and assign it to the object
obj->pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
MBED_ASSERT(obj->pwm != (PWMName)NC);
// Get the functions (timer channel, (non)inverted) from the pin and assign it to the object
uint32_t function = pinmap_function(pin, PinMap_PWM);
MBED_ASSERT(function != (uint32_t)NC);
obj->channel = STM_PIN_CHANNEL(function);
obj->inverted = STM_PIN_INVERTED(function);
// Enable TIM clock
if (obj->pwm == PWM_1) __HAL_RCC_TIM1_CLK_ENABLE();
if (obj->pwm == PWM_2) __HAL_RCC_TIM2_CLK_ENABLE();
if (obj->pwm == PWM_3) __HAL_RCC_TIM3_CLK_ENABLE();
if (obj->pwm == PWM_4) __HAL_RCC_TIM4_CLK_ENABLE();
if (obj->pwm == PWM_8) __HAL_RCC_TIM8_CLK_ENABLE();
if (obj->pwm == PWM_9) __HAL_RCC_TIM9_CLK_ENABLE();
if (obj->pwm == PWM_10) __HAL_RCC_TIM10_CLK_ENABLE();
if (obj->pwm == PWM_11) __HAL_RCC_TIM11_CLK_ENABLE();
if (obj->pwm == PWM_12) __HAL_RCC_TIM12_CLK_ENABLE();
if (obj->pwm == PWM_13) __HAL_RCC_TIM13_CLK_ENABLE();
if (obj->pwm == PWM_14) __HAL_RCC_TIM14_CLK_ENABLE();
// Configure GPIO
pinmap_pinout(pin, PinMap_PWM);
obj->pin = pin;
obj->period = 0;
obj->pulse = 0;
obj->prescaler = 1;
pwmout_period_us(obj, 20000); // 20 ms per default
}
/**
* @brief 编码器初始化.
* @param None
* @retval None
*/
void Encoder_Init(void){
//A8 A9引脚定义
GPIO_InitTypeDef GPIO_InitStruct;
__HAL_RCC_TIM9_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
GPIO_InitStruct.Pin = GPIO_PIN_2 | GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF3_TIM9;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
//A0 A1引脚定义
__HAL_RCC_TIM5_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
//设置TIM1为编码器读数功能
TIM_Encoder_InitTypeDef encoderConfig;
TimHandleT9.Instance = TIM9;
TimHandleT9.Init.Period = 0xFFFF;
TimHandleT9.Init.Prescaler = 0;
TimHandleT9.Init.ClockDivision = 0;
TimHandleT9.Init.CounterMode = TIM_COUNTERMODE_UP;
encoderConfig.EncoderMode =TIM_ENCODERMODE_TI12;
encoderConfig.IC1Polarity =TIM_ICPOLARITY_RISING;
encoderConfig.IC1Selection=TIM_ICSELECTION_DIRECTTI;
encoderConfig.IC1Prescaler=0;
encoderConfig.IC1Filter =6;
encoderConfig.IC2Polarity =TIM_ICPOLARITY_RISING;
encoderConfig.IC2Selection=TIM_ICSELECTION_DIRECTTI;
encoderConfig.IC2Prescaler=0;
encoderConfig.IC2Filter =6;
HAL_TIM_Encoder_Init(&TimHandleT9, &encoderConfig);
HAL_TIM_Encoder_Start(&TimHandleT9,TIM_CHANNEL_1);
//设置TIM5为编码器读数功能
TimHandleT5.Instance = TIM5;
TimHandleT5.Init.Period = 0xFFFF;
TimHandleT5.Init.Prescaler = 0;
TimHandleT5.Init.ClockDivision = 0;
TimHandleT5.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_Encoder_Init(&TimHandleT5, &encoderConfig);
HAL_TIM_Encoder_Start(&TimHandleT5,TIM_CHANNEL_1);
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
{
if(tim_baseHandle->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM2_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM2_IRQn, 2, 0);
HAL_NVIC_EnableIRQ(TIM2_IRQn);
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
else if(tim_baseHandle->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspInit 0 */
/* USER CODE END TIM3_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM3_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM3_IRQn, 2, 0);
HAL_NVIC_EnableIRQ(TIM3_IRQn);
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
}
else if(tim_baseHandle->Instance==TIM9)
{
/* USER CODE BEGIN TIM9_MspInit 0 */
/* USER CODE END TIM9_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM9_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM1_BRK_TIM9_IRQn, 3, 0);
HAL_NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn);
/* USER CODE BEGIN TIM9_MspInit 1 */
/* USER CODE END TIM9_MspInit 1 */
}
}
void enableGPIOPowerUsageAndNoiseReductions(void)
{
// AHB1
__HAL_RCC_BKPSRAM_CLK_ENABLE();
__HAL_RCC_DTCMRAMEN_CLK_ENABLE();
__HAL_RCC_DMA2_CLK_ENABLE();
__HAL_RCC_USB_OTG_HS_CLK_ENABLE();
__HAL_RCC_USB_OTG_HS_ULPI_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
__HAL_RCC_GPIOF_CLK_ENABLE();
__HAL_RCC_GPIOG_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOI_CLK_ENABLE();
#ifndef STM32F722xx
__HAL_RCC_DMA2D_CLK_ENABLE();
__HAL_RCC_GPIOJ_CLK_ENABLE();
__HAL_RCC_GPIOK_CLK_ENABLE();
#endif
//APB1
__HAL_RCC_TIM2_CLK_ENABLE();
__HAL_RCC_TIM3_CLK_ENABLE();
__HAL_RCC_TIM4_CLK_ENABLE();
__HAL_RCC_TIM5_CLK_ENABLE();
__HAL_RCC_TIM6_CLK_ENABLE();
__HAL_RCC_TIM7_CLK_ENABLE();
__HAL_RCC_TIM12_CLK_ENABLE();
__HAL_RCC_TIM13_CLK_ENABLE();
__HAL_RCC_TIM14_CLK_ENABLE();
__HAL_RCC_LPTIM1_CLK_ENABLE();
__HAL_RCC_SPI2_CLK_ENABLE();
__HAL_RCC_SPI3_CLK_ENABLE();
__HAL_RCC_USART2_CLK_ENABLE();
__HAL_RCC_USART3_CLK_ENABLE();
__HAL_RCC_UART4_CLK_ENABLE();
__HAL_RCC_UART5_CLK_ENABLE();
__HAL_RCC_I2C1_CLK_ENABLE();
__HAL_RCC_I2C2_CLK_ENABLE();
__HAL_RCC_I2C3_CLK_ENABLE();
__HAL_RCC_CAN1_CLK_ENABLE();
__HAL_RCC_DAC_CLK_ENABLE();
__HAL_RCC_UART7_CLK_ENABLE();
__HAL_RCC_UART8_CLK_ENABLE();
#ifndef STM32F722xx
__HAL_RCC_I2C4_CLK_ENABLE();
__HAL_RCC_CAN2_CLK_ENABLE();
__HAL_RCC_CEC_CLK_ENABLE();
#endif
//APB2
__HAL_RCC_TIM1_CLK_ENABLE();
__HAL_RCC_TIM8_CLK_ENABLE();
__HAL_RCC_USART1_CLK_ENABLE();
__HAL_RCC_USART6_CLK_ENABLE();
__HAL_RCC_ADC1_CLK_ENABLE();
__HAL_RCC_ADC2_CLK_ENABLE();
__HAL_RCC_ADC3_CLK_ENABLE();
__HAL_RCC_SDMMC1_CLK_ENABLE();
__HAL_RCC_SPI1_CLK_ENABLE();
__HAL_RCC_SPI4_CLK_ENABLE();
__HAL_RCC_TIM9_CLK_ENABLE();
__HAL_RCC_TIM10_CLK_ENABLE();
__HAL_RCC_TIM11_CLK_ENABLE();
__HAL_RCC_SPI5_CLK_ENABLE();
__HAL_RCC_SAI1_CLK_ENABLE();
__HAL_RCC_SAI2_CLK_ENABLE();
#ifndef STM32F722xx
__HAL_RCC_SPI6_CLK_ENABLE();
#endif
//
// GPIO_InitTypeDef GPIO_InitStructure;
// GPIO_StructInit(&GPIO_InitStructure);
// GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; // default is un-pulled input
//
// GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
// GPIO_InitStructure.GPIO_Pin &= ~(GPIO_Pin_11 | GPIO_Pin_12); // leave USB D+/D- alone
//
// GPIO_InitStructure.GPIO_Pin &= ~(GPIO_Pin_13 | GPIO_Pin_14); // leave JTAG pins alone
// GPIO_Init(GPIOA, &GPIO_InitStructure);
//
// GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
// GPIO_Init(GPIOB, &GPIO_InitStructure);
//
// GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
// GPIO_Init(GPIOC, &GPIO_InitStructure);
// GPIO_Init(GPIOD, &GPIO_InitStructure);
// GPIO_Init(GPIOE, &GPIO_InitStructure);
}
