void lp_ticker_init(void) {
if (!lp_ticker_inited) {
lp_ticker_inited = 1;
__TIM2_CLK_ENABLE();
__TIM2_FORCE_RESET();
__TIM2_RELEASE_RESET();
// Update the SystemCoreClock variable
SystemCoreClockUpdate();
// Configure time base
TimMasterHandle.Instance = TIM2;
TimMasterHandle.Init.Period = 0xFFFFFFFF;
TimMasterHandle.Init.Prescaler = (uint32_t)(SystemCoreClock / 1000000000) - 1; // 1 ms tick
TimMasterHandle.Init.ClockDivision = 0;
TimMasterHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimMasterHandle.Init.RepetitionCounter = 0;
HAL_TIM_OC_Init(&TimMasterHandle);
vIRQ_SetVector(TIM2_IRQn, (uint32_t)lp_handler);
vIRQ_EnableIRQ(TIM2_IRQn);
HAL_TIM_OC_Start(&TimMasterHandle, TIM_CHANNEL_1);
}
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(htim_base->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* Peripheral clock enable */
__TIM2_CLK_ENABLE();
/**TIM2 GPIO Configuration
PA0 ------> TIM2_CH1
PA1 ------> TIM2_CH2
PA2 ------> TIM2_CH3
PA3 ------> TIM2_CH4
*/
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
}
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);
if (obj->pwm == (PWMName)NC) {
error("PWM error: pinout mapping failed.");
}
// Enable TIM clock
if (obj->pwm == PWM_1) __TIM1_CLK_ENABLE();
if (obj->pwm == PWM_2) __TIM2_CLK_ENABLE();
if (obj->pwm == PWM_3) __TIM3_CLK_ENABLE();
if (obj->pwm == PWM_4) __TIM4_CLK_ENABLE();
if (obj->pwm == PWM_9) __TIM9_CLK_ENABLE();
if (obj->pwm == PWM_10) __TIM10_CLK_ENABLE();
if (obj->pwm == PWM_11) __TIM11_CLK_ENABLE();
// Configure GPIO
pinmap_pinout(pin, PinMap_PWM);
obj->pin = pin;
obj->period = 0;
obj->pulse = 0;
pwmout_period_us(obj, 20000); // 20 ms per default
}
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) __TIM1_CLK_ENABLE();
if (obj->pwm == PWM_2) __TIM2_CLK_ENABLE();
if (obj->pwm == PWM_3) __TIM3_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 TIM MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* - Peripheral's GPIO Configuration
* @param htim: TIM handle pointer
* @retval None
*/
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef *htim)
{
GPIO_InitTypeDef GPIO_InitStruct;
/* Enable TIM1, TIM3 & TIM4 clocks */
__TIM2_CLK_ENABLE();
__TIM3_CLK_ENABLE();
__TIM4_CLK_ENABLE();
/* Enable GPIOA, GPIOB & GPIOC Clocks */
__GPIOA_CLK_ENABLE();
__GPIOB_CLK_ENABLE();
/* Configure PA.8 (TIM1_Channel1), PC.6 (TIM3_Channel1) and PB.6 (TIM4_Channel1),
in push-pull, alternate function mode */
GPIO_InitStruct.Pin = GPIO_PIN_0;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
GPIO_InitStruct.Pin = GPIO_PIN_4;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
GPIO_InitStruct.Pin = GPIO_PIN_6;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}
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 pin function and assign the used channel 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_2) __TIM2_CLK_ENABLE();
#if defined(TIM3_BASE)
if (obj->pwm == PWM_3) __TIM3_CLK_ENABLE();
#endif
if (obj->pwm == PWM_21) __TIM21_CLK_ENABLE();
#if defined(TIM22_BASE)
if (obj->pwm == PWM_22) __TIM22_CLK_ENABLE();
#endif
// Configure GPIO
pinmap_pinout(pin, PinMap_PWM);
obj->pin = pin;
obj->period = 0;
obj->pulse = 0;
pwmout_period_us(obj, 20000); // 20 ms per default
}
void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* htim_encoder)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(htim_encoder->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* Peripheral clock enable */
__TIM2_CLK_ENABLE();
/**TIM2 GPIO Configuration
PA0-WKUP ------> TIM2_CH1
PA1 ------> TIM2_CH2
*/
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
}
void HAL_TIMEx_HallSensor_MspInit(TIM_HandleTypeDef* htimex_hallsensor)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(htimex_hallsensor->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* Peripheral clock enable */
__TIM2_CLK_ENABLE();
/**TIM2 GPIO Configuration
PA0-WKUP ------> TIM2_CH1
PA1 ------> TIM2_CH2
PA2 ------> TIM2_CH3
PA3 ------> TIM2_CH4
*/
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
}
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);
if (obj->pwm == (PWMName)NC) {
error("PWM error: pinout mapping failed.");
}
// Enable TIM clock
#if defined(TIM1_BASE)
if (obj->pwm == PWM_1) __TIM1_CLK_ENABLE();
#endif
#if defined(TIM2_BASE)
if (obj->pwm == PWM_2) __TIM2_CLK_ENABLE();
#endif
if (obj->pwm == PWM_3) __TIM3_CLK_ENABLE();
if (obj->pwm == PWM_14) __TIM14_CLK_ENABLE();
if (obj->pwm == PWM_15) __TIM15_CLK_ENABLE();
if (obj->pwm == PWM_16) __TIM16_CLK_ENABLE();
if (obj->pwm == PWM_17) __TIM17_CLK_ENABLE();
// Configure GPIO
pinmap_pinout(pin, PinMap_PWM);
obj->pin = pin;
obj->period = 0;
obj->pulse = 0;
pwmout_period_us(obj, 20000); // 20 ms per default
}
/**
* @brief TIM MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* - Peripheral's GPIO Configuration
* @param htim: TIM handle pointer
* @retval None
*/
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef *htim)
{
GPIO_InitTypeDef GPIO_InitStruct;
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* TIM2 Peripheral clock enable */
__TIM2_CLK_ENABLE();
/* Enable GPIO Channels Clock */
__GPIOA_CLK_ENABLE();
__GPIOB_CLK_ENABLE();
/*##-2- Configure I/Os #####################################################*/
/* Configure PA.0 (TIM2_Channel1), PA.1 (TIM2_Channel2), PB.10 (TIM2_Channel3),
PB.11 (TIM2_Channel4) in output, push-pull, alternate function mode
*/
/* Common configuration for all channels */
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM2;
GPIO_InitStruct.Pin = GPIO_PIN_0;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_10;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_11;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}
void CAM_TIM_init(CLOCKSPEED speed)
{
/*
* Enable TIM2 clock
*/
__TIM2_CLK_ENABLE();
/* Variables */
uint32_t prescaler, period;
TIM_MasterConfigTypeDef sMasterConfig;
/*
* Workout TIM parameters based on given clock speed
*/
if (speed == FAST) {
prescaler = 84;
period = 8;
} else {
prescaler = 84;
period = 12;
}
/*
* Time Base configuration and initialization
*/
htim.Instance = TIM2;
htim.Init.Period = period - 1;
htim.Init.Prescaler = prescaler - 1;
htim.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim.Init.CounterMode = TIM_COUNTERMODE_UP;
htim.Init.RepetitionCounter = 0x0;
HAL_TIM_Base_Init(&htim);
/*
* Configure TIM2 to trig ADC using the TRG0 internal trigger
*/
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim, &sMasterConfig);
/*
* Initialize PWM
*/
HAL_TIM_PWM_Init(&htim);
/*
* Configure PWM channel
*/
TIM_OC_InitTypeDef sPWMConfig;
sPWMConfig.OCMode = TIM_OCMODE_PWM1;
sPWMConfig.Pulse = period / 2;
sPWMConfig.OCPolarity = TIM_OCPOLARITY_LOW;
sPWMConfig.OCFastMode = TIM_OCFAST_DISABLE;
HAL_TIM_PWM_ConfigChannel(&htim, &sPWMConfig, TIM_CHANNEL_2);
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(htim_base->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* Peripheral clock enable */
__TIM2_CLK_ENABLE();
/**TIM2 GPIO Configuration
PA0-WKUP ------> TIM2_CH1
*/
GPIO_InitStruct.Pin = GPIO_PIN_0;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
else if(htim_base->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspInit 0 */
/* USER CODE END TIM3_MspInit 0 */
/* Peripheral clock enable */
__TIM3_CLK_ENABLE();
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
}
else if(htim_base->Instance==TIM8)
{
/* USER CODE BEGIN TIM8_MspInit 0 */
/* USER CODE END TIM8_MspInit 0 */
/* Peripheral clock enable */
__TIM8_CLK_ENABLE();
/**TIM8 GPIO Configuration
PC6 ------> TIM8_CH1
*/
GPIO_InitStruct.Pin = GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* USER CODE BEGIN TIM8_MspInit 1 */
/* USER CODE END TIM8_MspInit 1 */
}
}
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* htim_pwm)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(htim_pwm->Instance==TIM2)
{
/* Peripheral clock enable */
__TIM2_CLK_ENABLE();
/**TIM2 GPIO Configuration
PB10 ------> TIM2_CH3
PA15 ------> TIM2_CH1
*/
GPIO_InitStruct.Pin = GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_15;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}
else if(htim_pwm->Instance==TIM3)
{
/* Peripheral clock enable */
__TIM3_CLK_ENABLE();
/**TIM3 GPIO Configuration
PC6 ------> TIM3_CH1
PB5 ------> TIM3_CH2
*/
GPIO_InitStruct.Pin = GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_5;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}
}
//------------------------------------------------------------------------------
void timer_init(void)
{
__TIM2_CLK_ENABLE();
timer2Handle.Instance = TIM2;
timer2Handle.Init.Prescaler = 271;
timer2Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
timer2Handle.Init.Period = 62499;
timer2Handle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
HAL_TIM_Base_Init(&timer2Handle); // Init timer
HAL_TIM_Base_Start_IT(&timer2Handle); // start timer interrupts
HAL_NVIC_SetPriority(TIM2_IRQn, 0, 1);
HAL_NVIC_EnableIRQ(TIM2_IRQn);
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
if(htim_base->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* Peripheral clock enable */
__TIM2_CLK_ENABLE();
/* Peripheral interrupt init*/
HAL_NVIC_SetPriority(TIM2_IRQn, 7, 0);
HAL_NVIC_EnableIRQ(TIM2_IRQn);
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
else if(htim_base->Instance==TIM6)
{
/* USER CODE BEGIN TIM6_MspInit 0 */
/* USER CODE END TIM6_MspInit 0 */
/* Peripheral clock enable */
__TIM6_CLK_ENABLE();
/* Peripheral interrupt init*/
HAL_NVIC_SetPriority(TIM6_DAC_IRQn, 10, 0);
HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
/* USER CODE BEGIN TIM6_MspInit 1 */
/* USER CODE END TIM6_MspInit 1 */
}
else if(htim_base->Instance==TIM7)
{
/* USER CODE BEGIN TIM7_MspInit 0 */
/* USER CODE END TIM7_MspInit 0 */
/* Peripheral clock enable */
__TIM7_CLK_ENABLE();
/* Peripheral interrupt init*/
HAL_NVIC_SetPriority(TIM7_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(TIM7_IRQn);
/* USER CODE BEGIN TIM7_MspInit 1 */
/* USER CODE END TIM7_MspInit 1 */
}
}
/**
* @brief TIM MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* - Peripheral's GPIO Configuration
* - DMA configuration for transmission request by peripheral
* @param htim: TIM handle pointer
* @retval None
*/
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef *htim)
{
GPIO_InitTypeDef GPIO_InitStruct;
static DMA_HandleTypeDef hdma_tim;
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* TIM2 clock enable */
__TIM2_CLK_ENABLE();
/* Enable GPIO TIM2_Channel3 (PORTB) Clock */
__GPIOA_CLK_ENABLE();
/* Enable DMA1 clock */
__DMA1_CLK_ENABLE();
/*##-2- Configure peripheral GPIO ##########################################*/
/* Configure TIM2_Channel3 in output, push-pull & alternate function mode */
GPIO_InitStruct.Pin = GPIO_PIN_0;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*##-3- Configure the DMA stream ###########################################*/
/* Set the parameters to be configured */
hdma_tim.Init.Request = DMA_REQUEST_8;
hdma_tim.Instance = DMA1_Channel2;
hdma_tim.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_tim.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_tim.Init.MemInc = DMA_MINC_ENABLE;
hdma_tim.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
hdma_tim.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
hdma_tim.Init.Mode = DMA_NORMAL;
hdma_tim.Init.Priority = DMA_PRIORITY_HIGH;
/* Link hdma_tim to hdma[TIM_DMA_ID_CC3] (channel3) */
__HAL_LINKDMA(htim, hdma[TIM_DMA_ID_UPDATE], hdma_tim);
/* Initialize TIMx DMA handle */
HAL_DMA_Init(htim->hdma[TIM_DMA_ID_UPDATE]);
/*##-4- Configure the NVIC for DMA #########################################*/
/* NVIC configuration for DMA transfer complete interrupt */
HAL_NVIC_SetPriority(DMA1_Channel2_3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel2_3_IRQn);
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
if(htim_base->Instance==TIM2)
{
/* Peripheral clock enable */
__TIM2_CLK_ENABLE();
/*##-2- Configure the NVIC for TIMx ########################################*/
/* Set Interrupt Group Priority */
HAL_NVIC_SetPriority(TIMx_IRQn, 4, 0);
/* Enable the TIMx global Interrupt */
HAL_NVIC_EnableIRQ(TIMx_IRQn);
}
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
if(htim_base->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* Peripheral clock enable */
__TIM2_CLK_ENABLE();
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
}
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* htim_base) {
GPIO_InitTypeDef GPIO_InitStruct;
if (htim_base->Instance == TIM2) {
__TIM2_CLK_ENABLE();
/**TIM2 GPIO Configuration
PA5 ------> TIM3_CH1
*/
GPIO_InitStruct.Pin = GPIO_PIN_5;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(htim_base->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* Peripheral clock enable */
__TIM2_CLK_ENABLE();
/**TIM2 GPIO Configuration
PA5 ------> TIM2_CH1
*/
GPIO_InitStruct.Pin = GPIO_PIN_5;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* Peripheral DMA init*/
hdma_tim2_ch1.Instance = DMA1_Stream5;
hdma_tim2_ch1.Init.Channel = DMA_CHANNEL_3;
hdma_tim2_ch1.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_tim2_ch1.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_tim2_ch1.Init.MemInc = DMA_MINC_ENABLE;
hdma_tim2_ch1.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
hdma_tim2_ch1.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
hdma_tim2_ch1.Init.Mode = DMA_NORMAL;
hdma_tim2_ch1.Init.Priority = DMA_PRIORITY_LOW;
hdma_tim2_ch1.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
HAL_DMA_Init(&hdma_tim2_ch1);
__HAL_LINKDMA(htim_base,hdma[TIM_DMA_ID_CC1],hdma_tim2_ch1);
/* Peripheral interrupt init*/
HAL_NVIC_SetPriority(TIM2_IRQn, 3, 0);
HAL_NVIC_EnableIRQ(TIM2_IRQn);
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base) {
GPIO_InitTypeDef GPIO_InitStruct;
if(htim_base->Instance==TIM2) {
/* Peripheral clock enable */
__TIM2_CLK_ENABLE();
/**TIM2 GPIO Configuration
PA1 ------> TIM2_CH2
*/
GPIO_InitStruct.Pin = GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}
}
void ClockEnable (void)
{
__GPIOA_CLK_ENABLE();
__GPIOB_CLK_ENABLE();
__GPIOC_CLK_ENABLE();
__GPIOD_CLK_ENABLE();
__GPIOE_CLK_ENABLE();
__GPIOF_CLK_ENABLE();
__GPIOG_CLK_ENABLE();
__GPIOH_CLK_ENABLE();
__ADC1_CLK_ENABLE();
__ADC2_CLK_ENABLE();
__DAC_CLK_ENABLE();
__FSMC_CLK_ENABLE();
__SPI2_CLK_ENABLE();
__DMA2_CLK_ENABLE();
__TIM1_CLK_ENABLE();
__TIM2_CLK_ENABLE();
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base) {
GPIO_InitTypeDef GPIO_InitStruct;
if(htim_base->Instance==TIM2) {
__TIM2_CLK_ENABLE();
/**TIM1 GPIO Configuration
PA0 ------> TIM2_CH1
*/
GPIO_InitStruct.Pin = GPIO_PIN_0;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}
if(htim_base->Instance==TIM21)
__TIM21_CLK_ENABLE();
}
void Timer_Init(void)
{
#ifndef _MS_VS
__TIM6_CLK_ENABLE(); // Для отсчёта миллисекунд
__TIM2_CLK_ENABLE(); // Для тиков
__TIM5_CLK_ENABLE();
#endif
HAL_TIM_Base_Init((TIM_HandleTypeDef*)&handleTIM6);
HAL_TIM_Base_Start_IT((TIM_HandleTypeDef*)&handleTIM6);
TIM_HandleTypeDef handleTIM2 =
{
TIM2,
{
0,
TIM_COUNTERMODE_UP,
0xffffffff,
TIM_CLOCKDIVISION_DIV4
}
};
HAL_TIM_Base_Init((TIM_HandleTypeDef*)&handleTIM2);
HAL_TIM_Base_Start((TIM_HandleTypeDef*)&handleTIM2);
TIM_HandleTypeDef handleTIM5 =
{
TIM5,
{
8999, // WARN Так и не разобрался, как настроить таймер на 1мс. При 8999 период счета - 10мс.
TIM_COUNTERMODE_UP,
0xffffffff,
TIM_CLOCKDIVISION_DIV1
}
};
HAL_TIM_Base_Init((TIM_HandleTypeDef*)&handleTIM5);
HAL_TIM_Base_Start((TIM_HandleTypeDef*)&handleTIM5);
}
extern void claw_init(){
uint16_t PrescalerValue = 0;
GPIO_InitTypeDef GPIO_InitStructure;
TIM_OC_InitTypeDef PWMConfig;
__TIM2_CLK_ENABLE();
__BRD_D3_GPIO_CLK();
GPIO_InitStructure.Pin = BRD_D3_PIN; //Pin
GPIO_InitStructure.Mode = GPIO_MODE_AF_PP; //Set mode to be output alternate
GPIO_InitStructure.Pull = GPIO_NOPULL; //Enable Pull up, down or no pull resister
GPIO_InitStructure.Speed = GPIO_SPEED_MEDIUM; //Pin latency
GPIO_InitStructure.Alternate = GPIO_AF1_TIM2; //Set alternate function to be timer 3
HAL_GPIO_Init(BRD_D3_GPIO_PORT, &GPIO_InitStructure); //Initialise Pin
/* Compute the prescaler value. SystemCoreClock = 168000000 - set for 500Khz clock */
PrescalerValue = (uint16_t) ((SystemCoreClock /2) / 500000) - 1;
/* Configure Timer settings */
TIM_Init.Instance = TIM2; //Enable Timer 3
TIM_Init.Init.Period = 20000; //Set for 200ms (5Hz) period
TIM_Init.Init.Prescaler = PrescalerValue; //Set presale value
TIM_Init.Init.ClockDivision = 0; //Set clock division
TIM_Init.Init.RepetitionCounter = 0; // Set Reload Value
TIM_Init.Init.CounterMode = TIM_COUNTERMODE_UP; //Set timer to count up.
/* PWM Mode configuration for Channel 2 - set pulse width*/
PWMConfig.OCMode = TIM_OCMODE_PWM1; //Set PWM MODE (1 or 2 - NOT CHANNEL)
PWMConfig.Pulse = 100; //1ms pulse width to 10ms
PWMConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
PWMConfig.OCNPolarity = TIM_OCNPOLARITY_HIGH;
PWMConfig.OCFastMode = TIM_OCFAST_DISABLE;
PWMConfig.OCIdleState = TIM_OCIDLESTATE_RESET;
PWMConfig.OCNIdleState = TIM_OCNIDLESTATE_RESET;
/* Enable PWM for Timer 2, channel 2 */
HAL_TIM_PWM_Init(&TIM_Init);
HAL_TIM_PWM_ConfigChannel(&TIM_Init, &PWMConfig, TIM_CHANNEL_2);
/* Start PWM */
HAL_TIM_PWM_Start(&TIM_Init, TIM_CHANNEL_2);
}
void vInitialiseTimerForIntQueueTest( void )
{
TIM_HandleTypeDef xTimHandle;
const uint32_t ulPrescale = 0; /* No prescale. */
/* Clock the utilised timers. */
__TIM2_CLK_ENABLE();
__TIM3_CLK_ENABLE();
__TIM4_CLK_ENABLE();
/* Configure TIM2 to generate an interrupt at the required frequency. */
xTimHandle.Instance = TIM2;
xTimHandle.Init.Period = ( SystemCoreClock / 2UL ) / ( tmrTIMER_2_FREQUENCY - 1 );
xTimHandle.Init.Prescaler = ulPrescale;
xTimHandle.Init.ClockDivision = 0;
xTimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_Base_Init( &xTimHandle );
HAL_TIM_Base_Start_IT( &xTimHandle );
/* Configure and enable TIM2 interrupt. */
NVIC_SetPriority( TIM2_IRQn, tmrLOWER_PRIORITY );
NVIC_ClearPendingIRQ( TIM2_IRQn );
NVIC_EnableIRQ( TIM2_IRQn );
/* Repeat for TIM3 and TIM4. */
xTimHandle.Instance = TIM3;
xTimHandle.Init.Period = ( SystemCoreClock / 2UL ) / ( tmrTIMER_3_FREQUENCY - 1 );
HAL_TIM_Base_Init( &xTimHandle );
HAL_TIM_Base_Start_IT( &xTimHandle );
NVIC_SetPriority( TIM3_IRQn, tmrMEDIUM_PRIORITY );
NVIC_ClearPendingIRQ( TIM3_IRQn );
NVIC_EnableIRQ( TIM3_IRQn );
xTimHandle.Instance = TIM4;
xTimHandle.Init.Period = ( SystemCoreClock / 2UL ) / ( tmrTIMER_4_FREQUENCY - 1 );
HAL_TIM_Base_Init( &xTimHandle );
HAL_TIM_Base_Start_IT( &xTimHandle );
NVIC_SetPriority( TIM4_IRQn, tmrHIGHER_PRIORITY );
NVIC_ClearPendingIRQ( TIM4_IRQn );
NVIC_EnableIRQ( TIM4_IRQn );
}
Cpwm::Cpwm(TIM_TypeDef* TIMx, UInt32 TIM_CHANNEL_x, GPIO_TypeDef* GPIOx, UInt16 GPIO_PIN_x, UInt8 GPIO_AFx_TIMx):mPrescaler(205), mPeriod(8191), mTIM_CHANNEL_x(0) //mFrequenz(0)
{
mTIM_CHANNEL_x = TIM_CHANNEL_x;
switch (reinterpret_cast<UInt32>(TIMx))
{
case reinterpret_cast<UInt32>(TIM1):
__TIM1_CLK_ENABLE();
break;
case reinterpret_cast<UInt32>(TIM2):
__TIM2_CLK_ENABLE();
break;
case reinterpret_cast<UInt32>(TIM3):
__TIM3_CLK_ENABLE();
break;
default:
break;
}
switch(reinterpret_cast<UInt32>(GPIOx))
{
case reinterpret_cast<UInt32>(GPIOA):
__GPIOA_CLK_ENABLE();
break;
case reinterpret_cast<UInt32>(GPIOB):
__GPIOB_CLK_ENABLE();
break;
case reinterpret_cast<UInt32>(GPIOC):
__GPIOC_CLK_ENABLE();
break;
case reinterpret_cast<UInt32>(GPIOD):
__GPIOD_CLK_ENABLE();
break;
default:
break;
}
Timer_PWM_Init(TIMx, TIM_OCMODE_PWM1);
GPIO_Init(GPIOx, GPIO_PIN_x, GPIO_AFx_TIMx);
}
/* TIM2 init function - periodic event timebase 32-bit */
void MX_TIM2_Init(void)
{
TIM_MasterConfigTypeDef sMasterConfig;
/* Peripheral clock enable */
__TIM2_CLK_ENABLE();
htim2.Instance = TIM2;
htim2.Init.Prescaler = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 48;
HAL_TIM_Base_Init(&htim2);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig);
/* Peripheral interrupt init*/
HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM2_IRQn);
}
void pwmout_init_ex(pwmout_t* obj, PinName pin, uint32_t freq)
{
HAL_RCC_DeInit();
if (!HSE_SystemClock_Config_72Mhz()) {
error("PWM error: switch to 72Mhz failed.");;
}
// Update the SystemCoreClock variable
SystemCoreClockUpdate();
if (freq > SystemCoreClock) {
error("PWM error: clock is too high.");
}
if ( (SystemCoreClock / 2) % freq) {
error("PWM error: unsupported clock.");
}
// Get the peripheral name from the pin and assign it to the object
obj->pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
if (obj->pwm == (PWMName)NC) {
error("PWM error: pinout mapping failed.");
}
// Enable TIM clock
if (obj->pwm == PWM_1) __TIM1_CLK_ENABLE();
if (obj->pwm == PWM_2) __TIM2_CLK_ENABLE();
if (obj->pwm == PWM_3) __TIM3_CLK_ENABLE();
// Configure GPIO
pinmap_pinout(pin, PinMap_PWM);
obj->pin = pin;
obj->period = 0;
obj->pulse = 0;
pwmout_period_ns(obj, (SystemCoreClock / 2) / freq); // 20 ms per default
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(htim_base->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspInit 0 */
/* USER CODE END TIM1_MspInit 0 */
/* Peripheral clock enable */
__TIM1_CLK_ENABLE();
/**TIM1 GPIO Configuration
PE9 ------> TIM1_CH1
PE11 ------> TIM1_CH2
PE13 ------> TIM1_CH3
*/
GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_13;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/* Peripheral interrupt init*/
HAL_NVIC_SetPriority(TIM1_CC_IRQn, 0, 9);
HAL_NVIC_EnableIRQ(TIM1_CC_IRQn);
/* USER CODE BEGIN TIM1_MspInit 1 */
/* USER CODE END TIM1_MspInit 1 */
}
else if(htim_base->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* Peripheral clock enable */
__TIM2_CLK_ENABLE();
/* Peripheral interrupt init*/
HAL_NVIC_SetPriority(TIM2_IRQn, 0, 5);
HAL_NVIC_EnableIRQ(TIM2_IRQn);
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
else if(htim_base->Instance==TIM5)
{
/* USER CODE BEGIN TIM5_MspInit 0 */
/* USER CODE END TIM5_MspInit 0 */
/* Peripheral clock enable */
__TIM5_CLK_ENABLE();
/**TIM5 GPIO Configuration
PA1 ------> TIM5_CH2
*/
GPIO_InitStruct.Pin = GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* Peripheral interrupt init*/
HAL_NVIC_SetPriority(TIM5_IRQn, 0, 13);
HAL_NVIC_EnableIRQ(TIM5_IRQn);
/* USER CODE BEGIN TIM5_MspInit 1 */
/* USER CODE END TIM5_MspInit 1 */
}
else if(htim_base->Instance==TIM9)
{
/* USER CODE BEGIN TIM9_MspInit 0 */
/* USER CODE END TIM9_MspInit 0 */
/* Peripheral clock enable */
__TIM9_CLK_ENABLE();
/**TIM9 GPIO Configuration
PE5 ------> TIM9_CH1
PE6 ------> TIM9_CH2
*/
GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF3_TIM9;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/* USER CODE BEGIN TIM9_MspInit 1 */
/* USER CODE END TIM9_MspInit 1 */
}
else if(htim_base->Instance==TIM10)
{
/* USER CODE BEGIN TIM10_MspInit 0 */
/* USER CODE END TIM10_MspInit 0 */
/* Peripheral clock enable */
__TIM10_CLK_ENABLE();
/**TIM10 GPIO Configuration
PF6 ------> TIM10_CH1
*/
GPIO_InitStruct.Pin = GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF3_TIM10;
HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
/* USER CODE BEGIN TIM10_MspInit 1 */
/* USER CODE END TIM10_MspInit 1 */
}
else if(htim_base->Instance==TIM11)
{
/* USER CODE BEGIN TIM11_MspInit 0 */
/* USER CODE END TIM11_MspInit 0 */
/* Peripheral clock enable */
__TIM11_CLK_ENABLE();
/**TIM11 GPIO Configuration
PF7 ------> TIM11_CH1
*/
GPIO_InitStruct.Pin = GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF3_TIM11;
HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
/* USER CODE BEGIN TIM11_MspInit 1 */
/* USER CODE END TIM11_MspInit 1 */
}
else if(htim_base->Instance==TIM13)
{
/* USER CODE BEGIN TIM13_MspInit 0 */
/* USER CODE END TIM13_MspInit 0 */
/* Peripheral clock enable */
__TIM13_CLK_ENABLE();
/**TIM13 GPIO Configuration
PF8 ------> TIM13_CH1
*/
GPIO_InitStruct.Pin = GPIO_PIN_8;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF9_TIM13;
HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
/* USER CODE BEGIN TIM13_MspInit 1 */
/* USER CODE END TIM13_MspInit 1 */
}
}