void
vMBPortTimersDisable( )
{
/* Disable any pending timers. */
__HAL_TIM_DISABLE(&htim6);
__HAL_TIM_SetCounter(&htim6,0);
__HAL_TIM_DISABLE_IT(&htim6,TIM_IT_UPDATE);
__HAL_TIM_CLEAR_IT(&htim6,TIM_IT_UPDATE);
}
// Clear timer counter to 0, and then start the timer
int timer_reset_n_go(hacs_timer_t tim)
{
TIM_HandleTypeDef *htim = &tim_handles[tim];
__HAL_TIM_DISABLE(htim);
__HAL_TIM_SetCounter(htim, 0);
__HAL_TIM_ENABLE(htim);
return HACS_NO_ERROR;
}
void
vMBPortTimersEnable( )
{
/* Enable the timer with the timeout passed to xMBPortTimersInit( ) */
/* Enable the timer with the timeout passed to xMBPortTimersInit( ) */
__HAL_TIM_CLEAR_IT(&htim6,TIM_IT_UPDATE);
__HAL_TIM_ENABLE_IT(&htim6,TIM_IT_UPDATE);
__HAL_TIM_SetCounter(&htim6,0);
__HAL_TIM_ENABLE(&htim6);
}
void encoder2_init(void) {
GPIO_InitTypeDef gpio_init;
gpio_init.Pin = GPIO_PIN_12;
gpio_init.Pull = GPIO_PULLUP;
gpio_init.Speed = GPIO_SPEED_HIGH;
gpio_init.Mode = GPIO_MODE_AF_PP;
gpio_init.Alternate = GPIO_AF2_TIM4;
__GPIOD_CLK_ENABLE();
HAL_GPIO_Init(GPIOD, &gpio_init);
gpio_init.Pin = GPIO_PIN_13;
HAL_GPIO_Init(GPIOD, &gpio_init);
__TIM4_CLK_ENABLE();
hTIM4.Instance = TIM4;
// hTIM4.Init.Prescaler = (SystemCoreClock/65535) - 1; // 1s
// hTIM4.Init.CounterMode = TIM_COUNTERMODE_UP;
// hTIM4.Init.ClockDivision = 0;
hTIM4.Init.Period = 65535;
//hTIM4.Channel = HAL_TIM_ACTIVE_CHANNEL_1 | HAL_TIM_ACTIVE_CHANNEL_2;
//HAL_TIM_Base_Init(&hTIM4);
TIM_Encoder_InitTypeDef enc_init;
enc_init.EncoderMode = TIM_ENCODERMODE_TI12;
enc_init.IC1Polarity = TIM_INPUTCHANNELPOLARITY_RISING;
enc_init.IC2Polarity = TIM_INPUTCHANNELPOLARITY_RISING;
enc_init.IC1Selection = TIM_ICSELECTION_DIRECTTI;
enc_init.IC2Selection = TIM_ICSELECTION_DIRECTTI;
enc_init.IC1Prescaler = TIM_ICPSC_DIV1;
enc_init.IC2Prescaler = TIM_ICPSC_DIV1;
enc_init.IC1Filter = 0;
enc_init.IC2Filter = 0;
HAL_TIM_Encoder_Init(&hTIM4, &enc_init);
__HAL_TIM_SetCounter(&hTIM4,0);
HAL_TIM_Encoder_Start(&hTIM4, TIM_CHANNEL_1 | TIM_CHANNEL_2);
}
/**********************************************************
* @brief Encoder init timer 8
* @param None
* @retval None
**********************************************************/
static void encoder_iniTimer8(void)
{
TIM_HandleTypeDef timer8_initStruct;
TIM_Encoder_InitTypeDef t8Encod_initStruct;
// TIM8 Clock Enable
__TIM8_CLK_ENABLE();
// Timer 8 init structure
timer8_initStruct.Instance = TIM8;
timer8_initStruct.Init.Prescaler = 0;
timer8_initStruct.Init.CounterMode = TIM_COUNTERMODE_UP;
timer8_initStruct.Init.Period = 0xFFFF;
timer8_initStruct.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
t8Encod_initStruct.EncoderMode = TIM_ENCODERMODE_TI12;
t8Encod_initStruct.IC1Polarity = TIM_INPUTCHANNELPOLARITY_RISING;
t8Encod_initStruct.IC2Polarity = TIM_INPUTCHANNELPOLARITY_RISING;
t8Encod_initStruct.IC1Selection = TIM_ICSELECTION_DIRECTTI;
t8Encod_initStruct.IC2Selection = TIM_ICSELECTION_DIRECTTI;
t8Encod_initStruct.IC1Prescaler = TIM_ICPSC_DIV1;
t8Encod_initStruct.IC2Prescaler = TIM_ICPSC_DIV1;
t8Encod_initStruct.IC1Filter = 8;// digital filter
t8Encod_initStruct.IC2Filter = 8;// digital filter
// Init timer
HAL_TIM_Encoder_Init(&timer8_initStruct,&t8Encod_initStruct);
__HAL_TIM_SetCounter(&timer8_initStruct,0);
HAL_TIM_Encoder_Start(&timer8_initStruct, TIM_CHANNEL_1 | TIM_CHANNEL_2);
}
void TickTock_Start(void)
{
__HAL_TIM_SetCounter(&TIM_Handle,0);
}
/**
* @brief Initialize encoder reader.
*/
void encoder_init(void)
{
HAL_TIM_Encoder_Start(&htim2, TIM_CHANNEL_1 | TIM_CHANNEL_2);
__HAL_TIM_SetCounter(&htim2, 0x7FFFFFFF);
}
void ClearCMX7262TimerCounter(void)
{
__HAL_TIM_SetCounter(&htim5,0);
}
void ClearHighPrecisionCounter(void)
{
__HAL_TIM_SetCounter(&htim2,0);
__HAL_TIM_SetCounter(&htim3,0);
}
/**
* @brief SYSTICK callback.
* @param None
* @retval None
*/
void HAL_SYSTICK_Callback(void)
{
uint8_t *buf;
uint16_t Temp_X, Temp_Y = 0x00;
uint16_t NewARR_X, NewARR_Y = 0x00;
if (DemoEnterCondition != 0x00)
{
buf = USBD_HID_GetPos();
if((buf[1] != 0) ||(buf[2] != 0))
{
USBD_HID_SendReport (&hUSBDDevice,
buf,
4);
}
Counter ++;
if (Counter == 10)
{
/* Reset Buffer used to get accelerometer values */
Buffer[0] = 0;
Buffer[1] = 0;
/* Disable All TIM4 Capture Compare Channels */
HAL_TIM_PWM_Stop(&htim4, TIM_CHANNEL_1);
HAL_TIM_PWM_Stop(&htim4, TIM_CHANNEL_2);
HAL_TIM_PWM_Stop(&htim4, TIM_CHANNEL_3);
HAL_TIM_PWM_Stop(&htim4, TIM_CHANNEL_4);
/* Read Acceleration*/
BSP_ACCELERO_GetXYZ(Buffer);
/* Set X and Y positions */
X_Offset = Buffer[0];
Y_Offset = Buffer[1];
/* Update New autoreload value in case of X or Y acceleration*/
/* Basic accelration X_Offset and Y_Offset are divide by 40 to fir with ARR range */
NewARR_X = TIM_ARR - ABS(X_Offset/3);
NewARR_Y = TIM_ARR - ABS(Y_Offset/3);
/* Calculation of Max acceleration detected on X or Y axis */
Temp_X = ABS(X_Offset/3);
Temp_Y = ABS(Y_Offset/3);
MaxAcceleration = MAX_AB(Temp_X, Temp_Y);
if(MaxAcceleration != 0)
{
/* Reset CNT to a lowest value (equal to min CCRx of all Channels) */
__HAL_TIM_SetCounter(&htim4,(TIM_ARR-MaxAcceleration)/2);
if (X_Offset < ThreadholdAcceleroLow)
{
/* Sets the TIM4 Capture Compare for Channel1 Register value */
/* Equal to NewARR_X/2 to have duty cycle equal to 50% */
__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_1, NewARR_X/2);
/* Time base configuration */
__HAL_TIM_SetAutoreload(&htim4, NewARR_X);
/* Enable TIM4 Capture Compare Channel1 */
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_1);
}
else if (X_Offset > ThreadholdAcceleroHigh)
{
/* Sets the TIM4 Capture Compare for Channel3 Register value */
/* Equal to NewARR_X/2 to have duty cycle equal to 50% */
__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_3, NewARR_X/2);
/* Time base configuration */
__HAL_TIM_SetAutoreload(&htim4, NewARR_X);
/* Enable TIM4 Capture Compare Channel3 */
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3);
}
if (Y_Offset > ThreadholdAcceleroHigh)
{
/* Sets the TIM4 Capture Compare for Channel2 Register value */
/* Equal to NewARR_Y/2 to have duty cycle equal to 50% */
__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_2,NewARR_Y/2);
/* Time base configuration */
__HAL_TIM_SetAutoreload(&htim4, NewARR_Y);
/* Enable TIM4 Capture Compare Channel2 */
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_2);
}
else if (Y_Offset < ThreadholdAcceleroLow)
{
/* Sets the TIM4 Capture Compare for Channel4 Register value */
/* Equal to NewARR_Y/2 to have duty cycle equal to 50% */
__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, NewARR_Y/2);
/* Time base configuration */
__HAL_TIM_SetAutoreload(&htim4, NewARR_Y);
/* Enable TIM4 Capture Compare Channel4 */
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_4);
}
}
Counter = 0x00;
}
}
}
void TIMER5_Reset(void)
{
TIMER5_Stop();
__HAL_TIM_SetCounter(&timer_hd, 0);
}
