void pwmout_free(pwmout_t* obj) {
TimHandle.Instance = (TIM_TypeDef *)(obj->pwm);
HAL_TIM_PWM_DeInit(&TimHandle);
pin_function(obj->pin, STM_PIN_DATA(STM_MODE_INPUT, GPIO_NOPULL, 0));
}
Status_t xMotorDeInit(TIM_HandleTypeDef* pxTIMHandle)
{
if(HAL_TIM_PWM_DeInit(pxTIMHandle) != HAL_OK)
{
/* Initialization Error */
return STATUS_ERROR;
}
/* Enable MOTOR_TIMx Clock */
MOTOR_TIMx_CLK_DISABLE();
/* Return OK */
return STATUS_OK;
}
void CAM_changeClockSpeed(CLOCKSPEED speed)
{
/* Wait for clock falling edge */
CAM_waitClockFalling();
/* Stop the timer */
HAL_TIM_PWM_Stop_IT(&htim, TIM_CHANNEL_2);
HAL_TIM_Base_Stop_IT(&htim);
/* De-initialize the timer */
HAL_TIM_PWM_DeInit(&htim);
HAL_TIM_Base_DeInit(&htim);
/* Re-initialize the timer */
CAM_TIM_init(speed);
/* And finally restart it along with PWM */
HAL_TIM_Base_Start_IT(&htim); // Providing PeriodElapsed Callback
HAL_TIM_PWM_Start_IT(&htim, TIM_CHANNEL_2); // Providing PulseFinished Callback
}
/**
* @brief This function will disable the PWM
* @param port : the gpio port to use
* @param pin : the gpio pin to use
* @retval None
*/
void pwm_stop(PinName pin)
{
TIM_HandleTypeDef timHandle;
uint32_t timChannel;
timHandle.Instance = pinmap_peripheral(pin, PinMap_PWM);
if (timHandle.Instance == NP) return;
timChannel = get_pwm_channel(pin);
if (!IS_TIM_CHANNELS(timChannel)) return;
#if !defined(STM32L0xx) && !defined(STM32L1xx)
if (STM_PIN_INVERTED(pinmap_function(pin, PinMap_PWM))) {
HAL_TIMEx_PWMN_Stop(&timHandle, timChannel);
} else
#endif
{
HAL_TIM_PWM_Stop(&timHandle, timChannel);
}
HAL_TIM_PWM_DeInit(&timHandle);
}
void ultrasound_generator( uint32_t chanel ){
/* ##-1- Configure the TIM peripheral ****************************************************************************
TIM2 Configuration: generate 4 PWM signals with 4 different duty cycles.
In this example TIM2 input clock (TIM2CLK) is set to APB1 clock (PCLK1),
since APB1 prescaler is equal to 1.
TIM2CLK = PCLK1
PCLK1 = HCLK
=> TIM2CLK = HCLK = SystemCoreClock
To get TIM2 counter clock at 16 MHz, the prescaler is computed as follows:
Prescaler = (TIM2CLK / TIM2 counter clock) - 1
Prescaler = ((SystemCoreClock) /16 MHz) - 1
To get TIM2 output clock at 24 KHz, the period (ARR)) is computed as follows:
ARR = (TIM2 counter clock / TIM2 output clock) - 1
= 665
TIM2 Channel1 duty cycle = (TIM2_CCR1/ TIM2_ARR + 1)* 100 = 50%
**************************
20KHz-> Prescaler = ( (48MHz) / 20KHz) - 1=799
30KHz-> Prescaler = ( (48MHz) / 30KHz) - 1=399
*/
SystemClock_Config_48MHz();
MX_TIM3_Init();
HAL_TIM_PWM_Init(&htim3);
sConfigOC.Pulse=0;
HAL_GPIO_WritePin( DCDC_EN_GPIO_Port , DCDC_EN_Pin , 1 ); ///DCDC konverter engedélyezése (+15V)
HAL_TIM_PWM_ConfigChannel( &htim3 , &sConfigOC , TIM_CHANNEL_1);
HAL_TIM_PWM_ConfigChannel( &htim3 , &sConfigOC , TIM_CHANNEL_2);
HAL_TIM_PWM_ConfigChannel( &htim3 , &sConfigOC , TIM_CHANNEL_3);
HAL_TIM_PWM_ConfigChannel( &htim3 , &sConfigOC , TIM_CHANNEL_4);
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4);
for(int i=400; i < 700; i++){
//HAL_TIM_PWM_Stop(&htim3,chanel);
__HAL_TIM_SetAutoreload(&htim3,i*2);
__HAL_TIM_SetCompare(&htim3,chanel, i);
//HAL_TIM_OC_Init(&htim3);
//TIM_OC2_SetConfig( TIM3, &sConfigOC);
//HAL_TIM_PWM_Start( &htim3 , chanel );
HAL_Delay(30);
}
__HAL_TIM_SetCompare(&htim3,chanel, 0);
HAL_TIM_PWM_Stop( &htim3 , chanel );
HAL_TIM_PWM_DeInit( &htim3 );
HAL_TIM_Base_DeInit(&htim3);
GPIO_TIM3_OFF();
HAL_GPIO_WritePin( DCDC_EN_GPIO_Port , DCDC_EN_Pin , 0);
SystemClock_Config_8MHz();
}
void ultrasound (uint8_t bridge){ //ez a fv egyszerre csak egy hidat hajt meg!
uint16_t i,old_i,temp_i,f;
uint32_t CH1,CH2,CHx,CHy,tim,tim_now;
//bridge1=0,bridge2=1-> hogy melyik hidat hajtsa meg
if(bridge){ //bridge1
CH1=(uint32_t)TIM_CHANNEL_1;
CH2=(uint32_t)TIM_CHANNEL_2;
CHx=(uint32_t)TIM_CHANNEL_3;
CHy=(uint32_t)TIM_CHANNEL_4;
}else{ //bridge2
CH1=(uint32_t)TIM_CHANNEL_3;
CH2=(uint32_t)TIM_CHANNEL_4;
CHx=(uint32_t)TIM_CHANNEL_1;
CHy=(uint32_t)TIM_CHANNEL_2;
}
SystemClock_Config_48MHz();
HAL_Delay(20);
MX_TIM3_Init();
HAL_TIM_PWM_Init(&htim3);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_LOW;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
HAL_TIM_PWM_ConfigChannel( &htim3 , &sConfigOC , CH1);
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
HAL_TIM_PWM_ConfigChannel( &htim3 , &sConfigOC , CH2);
HAL_TIM_PWM_ConfigChannel( &htim3 , &sConfigOC , CHx);
HAL_TIM_PWM_ConfigChannel( &htim3 , &sConfigOC , CHy);
HAL_TIM_PWM_Start(&htim3, CH1);
HAL_TIM_PWM_Start(&htim3, CH2);
HAL_TIM_PWM_Start(&htim3, CHx);
HAL_TIM_PWM_Start(&htim3, CHy);
//csattanás csökkentés, 19khz kiadás eloszor
HAL_GPIO_WritePin( DCDC_EN_GPIO_Port , DCDC_EN_Pin , 0 );
// HAL_GPIO_WritePin( DCDC_PWR_GPIO_Port , DCDC_PWR_Pin , 0 ); //open drain kimenet,pch fet,
//*****************************************
/*for( i=900 ; i >= 620 ; i-=3){
__HAL_TIM_SetAutoreload(&htim3,i*2);
__HAL_TIM_SetCompare(&htim3,CH1, i);
__HAL_TIM_SetCompare(&htim3,CH2, i);
HAL_Delay(1);
}*/
/***********************************
HAL_Delay(100);
__HAL_TIM_SetAutoreload(&htim3,i*2);
__HAL_TIM_SetCompare(&htim3,CH1, i);
__HAL_TIM_SetCompare(&htim3,CH2, i);
HAL_Delay(1000);*/
HAL_GPIO_WritePin( DCDC_EN_GPIO_Port , DCDC_EN_Pin , 1 );
HAL_Delay(100);
//19KHz-620 // 27KHz-440
old_i=i;
for(uint8_t x=0; x < soundNum; x++){
// a következo hanghoz kis lépésenként jutunk, ígty nincs csattanás
srand(HAL_GetTick());
i=(rand()%210)+440;
//i=210+440;
/*
if( old_i < i){
// ha az új hang kissebb frekvenciájó -> nagyobb i
for( temp_i=old_i ; i >= temp_i; temp_i++){
__HAL_TIM_SetAutoreload(&htim3,temp_i*2);
__HAL_TIM_SetCompare(&htim3,CH1, temp_i);
__HAL_TIM_SetCompare(&htim3,CH2, temp_i);
HAL_Delay(1);
}
}else{
//ha az uj hang nagypbb frekvenciáju-> kisebb i
for( temp_i=old_i ; i <= temp_i; temp_i--){
__HAL_TIM_SetAutoreload(&htim3,temp_i*2);
__HAL_TIM_SetCompare(&htim3,CH1, temp_i);
__HAL_TIM_SetCompare(&htim3,CH2, temp_i);
HAL_Delay(1);
}
}
*/
__HAL_TIM_SetAutoreload(&htim3,i*2);
__HAL_TIM_SetCompare(&htim3,CH1, i);
__HAL_TIM_SetCompare(&htim3,CH2, i);
old_i=i;
tim=HAL_GetTick(); //jelenlegi ido lekérdezés
tim_now=HAL_GetTick();
f=i%5;
while( sDelay >= (tim_now-tim) && tim <= tim_now ){ ///késleltetés
if(f==3){
for(temp_i=0 ; temp_i < 10 ;temp_i++){ //itt nagyobb lesz a frekvencia
i+=1;
__HAL_TIM_SetAutoreload(&htim3,i*2);
__HAL_TIM_SetCompare(&htim3,CH1, i);
__HAL_TIM_SetCompare(&htim3,CH2, i);
HAL_Delay(1);
}
for(temp_i=0 ; temp_i < 10 ;temp_i++){ //itt kissebb lesz a frekvencia
i-=1;
__HAL_TIM_SetAutoreload(&htim3,i*2);
__HAL_TIM_SetCompare(&htim3,CH1, i);
__HAL_TIM_SetCompare(&htim3,CH2, i);
HAL_Delay(1);
}
}
tim_now=HAL_GetTick();
}
// HAL_Delay(sDelay);
randCount++;
}
//csattanás csökkentés, 19khz kiadás eloszor
HAL_GPIO_WritePin( DCDC_EN_GPIO_Port , DCDC_EN_Pin , 0);
for( i=i ; i <= 900 ; i+=3){
__HAL_TIM_SetAutoreload(&htim3,i*2);
__HAL_TIM_SetCompare(&htim3,CH1, i);
__HAL_TIM_SetCompare(&htim3,CH2, i);
HAL_Delay(1);
}
HAL_Delay(100);
HAL_TIM_PWM_Stop( &htim3 , CH1 );
HAL_TIM_PWM_Stop( &htim3 , CH2 );
HAL_TIM_PWM_Stop( &htim3 , CHx );
HAL_TIM_PWM_Stop( &htim3 , CHy );
HAL_TIM_PWM_DeInit( &htim3 );
// HAL_GPIO_WritePin( DCDC_PWR_GPIO_Port , DCDC_PWR_Pin , 1); //open drain kimenet,pch fet,
HAL_Delay(100);
SystemClock_Config_8MHz();
GPIO_TIM3_OFF();
HAL_Delay(100);
}
void beeps (uint8_t num,uint8_t bridge){
uint16_t temp1;
uint32_t CH1,CH2,CHx,CHy;
// HAL_GPIO_WritePin( DCDC_PWR_GPIO_Port , DCDC_PWR_Pin , 0 ); //open drain kimenet,pch fet,
HAL_Delay(100);
HAL_GPIO_WritePin( DCDC_EN_GPIO_Port , DCDC_EN_Pin , 1 ); //open drain kimenet,pch fet,
//bridge1=0,bridge2=1-> hogy melyik hidat hajtsa meg
if(bridge){ //bridge1
CH1=(uint32_t)TIM_CHANNEL_1;
CH2=(uint32_t)TIM_CHANNEL_2;
CHx=(uint32_t)TIM_CHANNEL_3;
CHy=(uint32_t)TIM_CHANNEL_4;
}else{ //bridge2
CH1=(uint32_t)TIM_CHANNEL_3;
CH2=(uint32_t)TIM_CHANNEL_4;
CHx=(uint32_t)TIM_CHANNEL_1;
CHy=(uint32_t)TIM_CHANNEL_2;
}
//SystemClock_Config_48MHz();
MX_TIM3_Init();
HAL_TIM_PWM_Init(&htim3);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_LOW;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
HAL_TIM_PWM_ConfigChannel( &htim3 , &sConfigOC , CH1);
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
HAL_TIM_PWM_ConfigChannel( &htim3 , &sConfigOC , CH2);
HAL_TIM_PWM_ConfigChannel( &htim3 , &sConfigOC , CHx);
HAL_TIM_PWM_ConfigChannel( &htim3 , &sConfigOC , CHy);
HAL_TIM_PWM_Start(&htim3, CH1);
HAL_TIM_PWM_Start(&htim3, CH2);
HAL_TIM_PWM_Start(&htim3, CHx);
HAL_TIM_PWM_Start(&htim3, CHy);
__HAL_TIM_SetCompare(&htim3,CH2,0);
for( uint8_t i=0 ; i<num ; i++){
temp1=3500;
for(uint8_t ii=0; ii<10 ; ii++){
__HAL_TIM_SetAutoreload(&htim3,temp1*2);
__HAL_TIM_SetCompare(&htim3,CH1, temp1);
//__HAL_TIM_SetCompare(&htim3,CH2,temp1);
temp1 -=6;
HAL_Delay(18);
}/*
for(uint8_t ii=0; ii<10 ; ii++){
__HAL_TIM_SetAutoreload(&htim3,temp1*2);
__HAL_TIM_SetCompare(&htim3,CH1, temp1);
// __HAL_TIM_SetCompare(&htim3,CH2,temp1);
temp1 +=15;
HAL_Delay(9);
}*/
__HAL_TIM_SetCompare(&htim3,CH1, 0);
// __HAL_TIM_SetCompare(&htim3,CH2,0);
HAL_Delay(340);
}
__HAL_TIM_SetCompare(&htim3,CH1, 0);
HAL_TIM_PWM_Stop( &htim3 , CH1 );
HAL_TIM_PWM_Stop( &htim3 , CH2 );
HAL_TIM_PWM_Stop( &htim3 , CHx );
HAL_TIM_PWM_Stop( &htim3 , CHy );
HAL_TIM_PWM_DeInit( &htim3 );
HAL_TIM_Base_DeInit(&htim3);
GPIO_TIM3_OFF();
HAL_GPIO_WritePin( DCDC_EN_GPIO_Port , DCDC_EN_Pin , 0 ); //open drain kimenet,pch fet,
HAL_Delay(100);
// HAL_GPIO_WritePin( DCDC_PWR_GPIO_Port , DCDC_PWR_Pin , 0 );
HAL_Delay(1000);
}
void uartTester(){
//UART fogadás, teszteléshez ---------------------------------------------------------
uint8_t pData;
PutString("S");
HAL_UART_Receive(&huart1,&pData,1,100);
if(pData=='O'){
HAL_GPIO_TogglePin(Kimenet_GPIO_Port,Kimenet_Pin);
PutString("R");
HAL_UART_Receive(&huart1,&pData,1,1000);
while(pData != 'A')
HAL_UART_Receive(&huart1,&pData,1,1000);
HAL_GPIO_WritePin( DCDC_EN_GPIO_Port , DCDC_EN_Pin , 1 );
PutString("R");
HAL_UART_Receive(&huart1,&pData,8,1000);
while(pData != 'B')
HAL_UART_Receive(&huart1,&pData,8,1000);
soundNum=1;
sounDelay=10;
SystemClock_Config_48MHz();
HAL_Delay(2);
MX_TIM3_Init();
HAL_TIM_PWM_Init(&htim3);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_LOW;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
HAL_TIM_PWM_ConfigChannel( &htim3 , &sConfigOC , TIM_CHANNEL_1);
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
HAL_TIM_PWM_ConfigChannel( &htim3 , &sConfigOC , TIM_CHANNEL_2);
HAL_GPIO_TogglePin(Kimenet_GPIO_Port,Kimenet_Pin);
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
uint16_t i=630;
__HAL_TIM_SetAutoreload(&htim3,i*2);
__HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_1, i);
__HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_2, i);
HAL_Delay(500);
PutString("R");
HAL_UART_Receive(&huart1,&pData,8,1000);
while(pData != 'C')
HAL_UART_Receive(&huart1,&pData,8,1000);
HAL_GPIO_WritePin( DCDC_EN_GPIO_Port , DCDC_EN_Pin , 0);
HAL_TIM_PWM_Stop( &htim3 , TIM_CHANNEL_1 );
HAL_TIM_PWM_Stop( &htim3 , TIM_CHANNEL_2 );
HAL_TIM_PWM_DeInit( &htim3 );
SystemClock_Config_8MHz();
HAL_ADC_MspDeInit(&hadc);
HAL_UART_MspDeInit(&huart1);
HAL_TIM_Base_DeInit(&htim3);
while(1){
HAL_GPIO_TogglePin(Kimenet_GPIO_Port,Kimenet_Pin);
HAL_Delay(200);
}
}
}
/**
* @brief Execute the demo application.
* @param None
* @retval None
*/
static void Demo_Exec(void)
{
uint8_t togglecounter = 0x00;
/* Initialize Accelerometer MEMS*/
if(BSP_ACCELERO_Init() != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
while(1)
{
DemoEnterCondition = 0x00;
/* Reset UserButton_Pressed variable */
UserButtonPressed = 0x00;
/* Configure LEDs to be managed by GPIO */
BSP_LED_Init(LED3);
BSP_LED_Init(LED4);
BSP_LED_Init(LED5);
BSP_LED_Init(LED6);
/* SysTick end of count event each 10ms */
SystemCoreClock = HAL_RCC_GetHCLKFreq();
SysTick_Config(SystemCoreClock / 100);
/* Turn OFF all LEDs */
BSP_LED_Off(LED4);
BSP_LED_Off(LED3);
BSP_LED_Off(LED5);
BSP_LED_Off(LED6);
/* Waiting User Button is pressed */
while (UserButtonPressed == 0x00)
{
/* Toggle LED4 */
BSP_LED_Toggle(LED4);
HAL_Delay(10);
/* Toggle LED4 */
BSP_LED_Toggle(LED3);
HAL_Delay(10);
/* Toggle LED4 */
BSP_LED_Toggle(LED5);
HAL_Delay(10);
/* Toggle LED4 */
BSP_LED_Toggle(LED6);
HAL_Delay(10);
togglecounter ++;
if (togglecounter == 0x10)
{
togglecounter = 0x00;
while (togglecounter < 0x10)
{
BSP_LED_Toggle(LED4);
BSP_LED_Toggle(LED3);
BSP_LED_Toggle(LED5);
BSP_LED_Toggle(LED6);
HAL_Delay(10);
togglecounter ++;
}
togglecounter = 0x00;
}
}
/* Waiting User Button is Released */
while (BSP_PB_GetState(BUTTON_KEY) != KEY_NOT_PRESSED)
{}
UserButtonPressed = 0x00;
/* TIM4 channels configuration */
TIM4_Config();
DemoEnterCondition = 0x01;
/* USB configuration */
Demo_USBConfig();
/* Waiting User Button is pressed */
while (UserButtonPressed == 0x00)
{}
/* Waiting User Button is Released */
while (BSP_PB_GetState(BUTTON_KEY) != KEY_NOT_PRESSED)
{}
/* Disconnect the USB device */
USBD_Stop(&hUSBDDevice);
USBD_DeInit(&hUSBDDevice);
if(HAL_TIM_PWM_DeInit(&htim4) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
}
}
/**
* @brief Deintialize the buzzer
* @param None
* @retval None
*/
void BUZZER_DeInit()
{
HAL_GPIO_DeInit(BUZZER_PORT, BUZZER_PIN);
HAL_TIM_PWM_Stop(&prvTimerHandle, BUZZER_TIMER_CHANNEL);
HAL_TIM_PWM_DeInit(&prvTimerHandle);
}