/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Configure the Systick to generate an interrupt each 1 msec
- Set NVIC Group Priority to 4
- Global MSP (MCU Support Package) initialization
*/
HAL_Init();
/* Configure the system clock to 180 Mhz */
SystemClock_Config();
/* Configure LED3 */
BSP_LED_Init(LED3);
/* Compute the prescaler value to have TIM1 counter clock equal to 18 MHz */
uwPrescalerValue = (uint32_t) (SystemCoreClock / 18000000) - 1;
/*##-1- Configure the TIM peripheral #######################################*/
/* Initialize TIM peripheral as follow:
+ Prescaler = SystemCoreClock/18000000
+ Period = 1799 (to have an output frequency equal to 10 KHz)
+ ClockDivision = 0
+ Counter direction = Up
*/
/* Select the Timer instance */
TimHandle.Instance = TIM1;
TimHandle.Init.Prescaler = uwPrescalerValue;
TimHandle.Init.Period = PERIOD_VALUE;
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
if(HAL_TIM_PWM_Init(&TimHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/*##-2- Configure the PWM channels #########################################*/
/* Common configuration for all channels */
sPWMConfig.OCMode = TIM_OCMODE_PWM1;
sPWMConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sPWMConfig.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sPWMConfig.OCIdleState = TIM_OCIDLESTATE_SET;
sPWMConfig.OCNIdleState = TIM_OCNIDLESTATE_RESET;
/* Set the pulse value for channel 1 */
sPWMConfig.Pulse = PULSE1_VALUE;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sPWMConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Set the pulse value for channel 2 */
sPWMConfig.Pulse = PULSE2_VALUE;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sPWMConfig, TIM_CHANNEL_2) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Set the pulse value for channel 3 */
sPWMConfig.Pulse = PULSE3_VALUE;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sPWMConfig, TIM_CHANNEL_3) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Set the Break feature & Dead time */
sBreakConfig.BreakState = TIM_BREAK_ENABLE;
sBreakConfig.DeadTime = 11;
sBreakConfig.OffStateRunMode = TIM_OSSR_ENABLE;
sBreakConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;
sBreakConfig.LockLevel = TIM_LOCKLEVEL_1;
sBreakConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
sBreakConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_ENABLE;
if(HAL_TIMEx_ConfigBreakDeadTime(&TimHandle, &sBreakConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*##-3- Start PWM signals generation #######################################*/
/* Start channel 1 */
if(HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Start channel 1N */
if(HAL_TIMEx_PWMN_Start(&TimHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Start channel 2 */
if(HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_2) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Start channel 2N */
if(HAL_TIMEx_PWMN_Start(&TimHandle, TIM_CHANNEL_2) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Start channel 3 */
if(HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_3) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Start channel 3N */
if(HAL_TIMEx_PWMN_Start(&TimHandle, TIM_CHANNEL_3) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Infinite loop */
while (1)
{
}
}
/* TIM4 init function */
void SC_TIM4_Init(SERVO_CONTROLLER_Frequency frequency)
{
TIM_ClockConfigTypeDef sClockSourceConfig;
TIM_MasterConfigTypeDef sMasterConfig;
TIM_OC_InitTypeDef sConfigOC;
htim4.Instance = TIM4;
htim4.Init.Prescaler = CORE_FCLK / TIM_FCLK - 1;;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = (uint16_t)(TIM_FCLK / frequency); //should not exceed 0xFFFF
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
HAL_TIM_Base_Init(&htim4);
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig);
HAL_TIM_PWM_Init(&htim4);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1);
HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2);
HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3);
HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4);
}
/* TIM2 init function */
void MX_TIM2_Init(void)
{
TIM_ClockConfigTypeDef sClockSourceConfig;
TIM_MasterConfigTypeDef sMasterConfig;
TIM_OC_InitTypeDef sConfigOC;
htim2.Instance = TIM2;
htim2.Init.Prescaler = 24;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 200;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
HAL_TIM_Base_Init(&htim2);
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig);
HAL_TIM_PWM_Init(&htim2);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1);
HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2);
HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3);
HAL_TIM_MspPostInit(&htim2);
}
/* TIM4 init function */
void MX_TIM4_Init(void)
{
TIM_OC_InitTypeDef sConfigOC;
TIM_MasterConfigTypeDef sMasterConfig;
htim4.Instance = TIM4;
htim4.Init.Prescaler = 1800;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 10;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
HAL_TIM_PWM_Init(&htim4);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 5;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig);
}
void pwmout_period_us(pwmout_t* obj, int us)
{
TimHandle.Instance = (TIM_TypeDef *)(obj->pwm);
float dc = pwmout_read(obj);
__HAL_TIM_DISABLE(&TimHandle);
SystemCoreClockUpdate();
TimHandle.Init.Period = us - 1;
TimHandle.Init.Prescaler = (uint16_t)(SystemCoreClock / 1000000) - 1; // 1 us tick
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_PWM_Init(&TimHandle);
// Set duty cycle again
pwmout_write(obj, dc);
// Save for future use
obj->period = us;
__HAL_TIM_ENABLE(&TimHandle);
}
void Time3Enable(unsigned int timvalue)
{
uwPrescalerValue = ((SystemCoreClock ) / 16000000) - 1;
TimHandle.Instance = TIM3;
TimHandle.Init.Prescaler = uwPrescalerValue;
TimHandle.Init.Period = 600;
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
if(HAL_TIM_PWM_Init(&TimHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/*##-2- Configure the PWM channels #########################################*/
/* Common configuration for all channels */
sConfig.OCMode = TIM_OCMODE_PWM1;
sConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfig.OCFastMode = TIM_OCFAST_DISABLE;
/* Set the pulse value for channel 3 */
sConfig.Pulse = timvalue;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_3) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Start channel 3 */
if(HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_3) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/* STM32F3xx HAL library initialization:
- Configure the Flash prefetch
- Systick timer is configured by default as source of time base, but user
can eventually implement his proper time base source (a general purpose
timer for example or other time source), keeping in mind that Time base
duration should be kept 1ms since PPP_TIMEOUT_VALUEs are defined and
handled in milliseconds basis.
- Set NVIC Group Priority to 4
- Low Level Initialization
*/
HAL_Init();
/* Configure LED3 */
BSP_LED_Init(LED3);
/* Configure the system clock to have a system clock = 72 Mhz */
SystemClock_Config();
/* Compute the value of ARR regiter to generate signal frequency at 17.57 Khz */
uhTimerPeriod = (uint32_t) ((SystemCoreClock / 17570 ) - 1);
/* Compute CCR1 value to generate a duty cycle at 75% */
aCCValue_Buffer[0] = (uint32_t)(((uint32_t) 75 * (uhTimerPeriod - 1)) / 100);
/* Compute CCR2 value to generate a duty cycle at 50% */
aCCValue_Buffer[1] = (uint32_t)(((uint32_t) 50 * (uhTimerPeriod - 1)) / 100);
/* Compute CCR3 value to generate a duty cycle at 25% */
aCCValue_Buffer[2] = (uint32_t)(((uint32_t) 25 * (uhTimerPeriod - 1)) / 100);
/*##-1- Configure the TIM peripheral #######################################*/
/* ---------------------------------------------------------------------------
TIM1 input clock (TIM1CLK) is set to APB2 clock (PCLK2), since APB2
prescaler is 1.
TIM1CLK = PCLK2
PCLK2 = HCLK
=> TIM1CLK = HCLK = SystemCoreClock
TIM1CLK = SystemCoreClock, Prescaler = 0, TIM1 counter clock = SystemCoreClock
SystemCoreClock is set to 72 MHz for STM32F3xx devices.
The objective is to configure TIM1 channel 2 to generate complementary PWM
signal with a frequency equal to 17.57 KHz:
- TIM1_Period = (SystemCoreClock / 17570) - 1
and a variable duty cycle that is changed by the DMA after a specific number of
Update DMA request.
The number of this repetitive requests is defined by the TIM1 Repetion counter,
each 4 Update Requests, the TIM1 Channel 2 Duty Cycle changes to the next new
value defined by the aCCValue_Buffer.
Note:
SystemCoreClock variable holds HCLK frequency and is defined in system_stm32f3xx.c file.
Each time the core clock (HCLK) changes, user had to update SystemCoreClock
variable value. Otherwise, any configuration based on this variable will be incorrect.
This variable is updated in three ways:
1) by calling CMSIS function SystemCoreClockUpdate()
2) by calling HAL API function HAL_RCC_GetSysClockFreq()
3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
-----------------------------------------------------------------------------*/
/* Initialize TIM1 peripheral as follows:
+ Period = TimerPeriod (To have an output frequency equal to 17.570 KHz)
+ Repetition Counter = 3
+ Prescaler = 0
+ ClockDivision = 0
+ Counter direction = Up
*/
TimHandle.Instance = TIMx;
TimHandle.Init.Period = uhTimerPeriod;
TimHandle.Init.RepetitionCounter = 3;
TimHandle.Init.Prescaler = 0;
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
if(HAL_TIM_PWM_Init(&TimHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/*##-2- Configure the PWM channel 2 ########################################*/
sConfig.OCMode = TIM_OCMODE_PWM1;
sConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfig.Pulse = aCCValue_Buffer[0];
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_2) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*##-3- Start PWM signal generation in DMA mode ############################*/
if(HAL_TIM_PWM_Start_DMA(&TimHandle, TIM_CHANNEL_2, aCCValue_Buffer, 3) != HAL_OK)
{
/* Starting PWM generation Error */
Error_Handler();
}
while (1)
{
}
}
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 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);
}
}
}
extern void tracks_init(){
GPIO_InitTypeDef GPIO_InitStructure;
TIM_OC_InitTypeDef PWMConfig;
uint32_t PrescalerValue;
__BRD_D4_GPIO_CLK();
__BRD_D5_GPIO_CLK();
__BRD_D6_GPIO_CLK();
__BRD_D7_GPIO_CLK();
//Track direction pins
GPIO_InitStructure.Pin = BRD_D4_PIN; //Pin
GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_PP; //Output Mode
GPIO_InitStructure.Pull = GPIO_PULLDOWN; //Enable Pull up, down or no pull resister
GPIO_InitStructure.Speed = GPIO_SPEED_MEDIUM; //Pin latency
HAL_GPIO_Init(BRD_D4_GPIO_PORT, &GPIO_InitStructure); //Initialise Pin
GPIO_InitStructure.Pin = BRD_D7_PIN; //Pin
GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_PP; //Input Mode
GPIO_InitStructure.Pull = GPIO_PULLDOWN; //Enable Pull up, down or no pull resister
GPIO_InitStructure.Speed = GPIO_SPEED_MEDIUM; //Pin latency
HAL_GPIO_Init(BRD_D7_GPIO_PORT, &GPIO_InitStructure); //Initialise Pin
//Track ENABLE pins
__TIM2_CLK_ENABLE();
__TIM3_CLK_ENABLE();
/* Compute the prescaler value. SystemCoreClock = 168000000 - set for 50Khz clock */
PrescalerValue = (uint16_t) ((SystemCoreClock /2) / 1000000) - 1;
//Track speed pins (PWM)
GPIO_InitStructure.Pin = BRD_D5_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_AF2_TIM3; //Set alternate function to be timer 3
HAL_GPIO_Init(BRD_D5_GPIO_PORT, &GPIO_InitStructure); //Initialise Pin
/* Configure Timer settings */
TIM_Init5.Instance = TIM3; //Enable Timer 3
TIM_Init5.Init.Period = 10000; //Set for 200ms (5Hz) period
TIM_Init5.Init.Prescaler = PrescalerValue; //Set presale value
TIM_Init5.Init.ClockDivision = 0; //Set clock division
TIM_Init5.Init.RepetitionCounter = 0; // Set Reload Value
TIM_Init5.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 = 7500; //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 3, channel 2 */
HAL_TIM_PWM_Init(&TIM_Init5);
HAL_TIM_PWM_ConfigChannel(&TIM_Init5, &PWMConfig, TIM_CHANNEL_1);
/* Start PWM */
HAL_TIM_PWM_Start(&TIM_Init5, TIM_CHANNEL_1);
GPIO_InitStructure.Pin = BRD_D6_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_D6_GPIO_PORT, &GPIO_InitStructure); //Initialise Pin
/* Configure Timer settings */
TIM_Init6.Instance = TIM2; //Enable Timer 3
TIM_Init6.Init.Period = 10000; //Set for 200ms (5Hz) period
TIM_Init6.Init.Prescaler = PrescalerValue; //Set presale value
TIM_Init6.Init.ClockDivision = 0; //Set clock division
TIM_Init6.Init.RepetitionCounter = 0; // Set Reload Value
TIM_Init6.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 = 7500; //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 3, channel 2 */
HAL_TIM_PWM_Init(&TIM_Init6);
HAL_TIM_PWM_ConfigChannel(&TIM_Init6, &PWMConfig, TIM_CHANNEL_3);
/* Start PWM */
HAL_TIM_PWM_Start(&TIM_Init6, TIM_CHANNEL_3);
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Configure the Systick to generate an interrupt each 1 msec
- Set NVIC Group Priority to 4
- Global MSP (MCU Support Package) initialization
*/
HAL_Init();
/* Configure the system clock to 168 MHz */
SystemClock_Config();
/* Configure LED3 */
BSP_LED_Init(LED3);
/*##-1- Configure the TIM peripheral #######################################*/
/* -----------------------------------------------------------------------
TIM1 Configuration: generate 1 PWM signal using the DMA burst mode:
TIM1 input clock (TIM1CLK) is set to 2 * APB2 clock (PCLK2),
since APB2 prescaler is different from 1.
TIM1CLK = 2 * PCLK2
PCLK2 = HCLK / 2
=> TIM1CLK = 2 * (HCLK / 2) = HCLK = SystemCoreClock
To get TIM1 counter clock at 24 MHz, the prescaler is computed as follows:
Prescaler = (TIM1CLK / TIM1 counter clock) - 1
Prescaler = (SystemCoreClock /24 MHz) - 1
The TIM1 period is 5.8 KHz: TIM1 Frequency = TIM1 counter clock/(ARR + 1)
= 24 MHz / 4096 = 5.85 KHz
TIM1 Channel1 duty cycle = (TIM1_CCR1/ TIM1_ARR)* 100 = 33.33%
Note:
SystemCoreClock variable holds HCLK frequency and is defined in system_stm32f4xx.c file.
Each time the core clock (HCLK) changes, user had to update SystemCoreClock
variable value. Otherwise, any configuration based on this variable will be incorrect.
This variable is updated in three ways:
1) by calling CMSIS function SystemCoreClockUpdate()
2) by calling HAL API function HAL_RCC_GetSysClockFreq()
3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
----------------------------------------------------------------------- */
TimHandle.Instance = TIMx;
TimHandle.Init.Period = 0xFFFF;
TimHandle.Init.RepetitionCounter = 0;
TimHandle.Init.Prescaler = (uint16_t) ((SystemCoreClock / 24000000) - 1);
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
if(HAL_TIM_PWM_Init(&TimHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/*##-2- Configure the PWM channel 3 ########################################*/
sConfig.OCMode = TIM_OCMODE_PWM1;
sConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfig.Pulse = 0xFFF;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*##-3- Start PWM signal generation in DMA mode ############################*/
if( HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* Starting PWM generation Error */
Error_Handler();
}
/*##-4- Start DMA Burst transfer ###########################################*/
HAL_TIM_DMABurst_WriteStart(&TimHandle, TIM_DMABASE_ARR, TIM_DMA_UPDATE,
(uint32_t*)aSRC_Buffer, TIM_DMABURSTLENGTH_3TRANSFERS);
/* Infinite loop */
while (1)
{
}
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/* STM32F2xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Configure the Systick to generate an interrupt each 1 msec
- Set NVIC Group Priority to 4
- Global MSP (MCU Support Package) initialization
*/
HAL_Init();
/* Configure the system clock to 120 MHz */
SystemClock_Config();
/* Configure LED3 */
BSP_LED_Init(LED3);
/* Timers Configuration */
/* ---------------------------------------------------------------------------
TIM1 and Timers(TIM3 and TIM4) synchronisation in parallel mode.
1/TIM1 is configured as Master Timer:
- PWM Mode is used
- The TIM1 Update event is used as Trigger Output
2/TIM3 and TIM4 are slaves for TIM1,
- PWM Mode is used
- The ITR0(TIM1) is used as input trigger for both slaves
- Gated mode is used, so starts and stops of slaves counters
are controlled by the Master trigger output signal(update event).
In this example TIM1 input clock (TIM1CLK) is set to 2 * APB2 clock (PCLK2),
since APB2 prescaler is different from 1.
TIM1CLK = 2 * PCLK2
PCLK2 = HCLK / 2
=> TIM1CLK = HCLK = SystemCoreClock
The TIM1 counter clock is equal to SystemCoreClock = 120 MHz.
The Master Timer TIM1 is running at:
TIM1 frequency = TIM1 counter clock / (TIM1_Period + 1) = 469 KHz
TIM1_Period = (TIM1 counter clock / TIM1 frequency) - 1 = 255
and the duty cycle is equal to: TIM1_CCR1/(TIM1_ARR + 1) = 50%
The TIM3 is running at:
(TIM1 frequency)/ ((TIM3 period +1)* (Repetition_Counter+1)) = 31.25 KHz and
a duty cycle equal to TIM3_CCR1/(TIM3_ARR + 1) = 33.3%
The TIM4 is running at:
(TIM1 frequency)/ ((TIM4 period +1)* (Repetition_Counter+1)) = 46.9 KHz and
a duty cycle equal to TIM4_CCR1/(TIM4_ARR + 1) = 50%
Note:
SystemCoreClock variable holds HCLK frequency and is defined in system_stm32f2xx.c file.
Each time the core clock (HCLK) changes, user had to update SystemCoreClock
variable value. Otherwise, any configuration based on this variable will be incorrect.
This variable is updated in three ways:
1) by calling CMSIS function SystemCoreClockUpdate()
2) by calling HAL API function HAL_RCC_GetSysClockFreq()
3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
--------------------------------------------------------------------------- */
/* Set Timers instance */
TimMasterHandle.Instance = TIM1;
TimSlave1Handle.Instance = TIM3;
TimSlave2Handle.Instance = TIM4;
/*====================== Master configuration : TIM1 =======================*/
/* Initialize TIM1 peripheral in PWM mode*/
TimMasterHandle.Init.Period = 255;
TimMasterHandle.Init.Prescaler = 0;
TimMasterHandle.Init.ClockDivision = 0;
TimMasterHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimMasterHandle.Init.RepetitionCounter = 4;
if(HAL_TIM_PWM_Init(&TimMasterHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the PWM_channel_1 */
sOCConfig.OCMode = TIM_OCMODE_PWM1;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sOCConfig.Pulse = 127;
if(HAL_TIM_PWM_ConfigChannel(&TimMasterHandle, &sOCConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM1 as master & use the update event as Trigger Output (TRGO) */
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
if( HAL_TIMEx_MasterConfigSynchronization(&TimMasterHandle,&sMasterConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*================== End of Master configuration : TIM1 ====================*/
/*====================== Slave1 configuration : TIM3 =======================*/
/* Initialize TIM3 peripheral in PWM mode*/
TimSlave1Handle.Init.Period = 2;
TimSlave1Handle.Init.Prescaler = 0;
TimSlave1Handle.Init.ClockDivision = 0;
TimSlave1Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimSlave1Handle.Init.RepetitionCounter = 0;
if(HAL_TIM_PWM_Init(&TimSlave1Handle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the PWM_channel_1 */
sOCConfig.OCMode = TIM_OCMODE_PWM1;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sOCConfig.Pulse = 1;
if(HAL_TIM_PWM_ConfigChannel(&TimSlave1Handle, &sOCConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM3 in Gated slave mode &
use the Internal Trigger 0 (ITR0) as trigger source */
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_GATED;
sSlaveConfig.InputTrigger = TIM_TS_ITR0;
if(HAL_TIM_SlaveConfigSynchronization(&TimSlave1Handle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*================== End of Slave1 configuration : TIM3 ====================*/
/*====================== Slave2 configuration : TIM4 =======================*/
/* Initialize TIM4 peripheral in PWM mode*/
TimSlave2Handle.Init.Period = 1;
TimSlave2Handle.Init.Prescaler = 0;
TimSlave2Handle.Init.ClockDivision = 0;
TimSlave2Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimSlave2Handle.Init.RepetitionCounter = 0;
if(HAL_TIM_PWM_Init(&TimSlave2Handle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the PWM_channel_1 */
sOCConfig.OCMode = TIM_OCMODE_PWM1;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sOCConfig.Pulse = 1;
if(HAL_TIM_PWM_ConfigChannel(&TimSlave2Handle, &sOCConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM3 in Gated slave mode &
use the Internal Trigger 0 (ITR0) as trigger source */
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_GATED;
sSlaveConfig.InputTrigger = TIM_TS_ITR0;
if(HAL_TIM_SlaveConfigSynchronization(&TimSlave2Handle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*================== End of Slave2 configuration : TIM4 ====================*/
/* Start Master PWM generation */
if(HAL_TIM_PWM_Start(&TimMasterHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* PWM generation Error */
Error_Handler();
}
/* Start Slave1 PWM generation */
if(HAL_TIM_PWM_Start(&TimSlave1Handle, TIM_CHANNEL_1) != HAL_OK)
{
/* PWM generation Error */
Error_Handler();
}
/* Start Slave2 PWM generation */
if(HAL_TIM_PWM_Start(&TimSlave2Handle, TIM_CHANNEL_1) != HAL_OK)
{
/* PWM generation Error */
Error_Handler();
}
/* Infinite loop */
while (1)
{
}
}
/**
* @brief TIM3, TIM4, TIM8 configuration
* @param None
* @retval None
*/
static void TIM_Config(void) {
TIM_MasterConfigTypeDef sMasterConfig;
/*########## TIM3 peripheral - PING (1 Hz) ##########*/
TimHandle3.Instance = TIM3;
TimHandle3.Init.Period = 10000;
TimHandle3.Init.Prescaler = (uint32_t)(((SystemCoreClock / 2) / 10000) - 1); //10kHz
// T = 1/f = 1/10k = 0,0001 ; time = Period * T = 1s
TimHandle3.Init.ClockDivision = 0;
TimHandle3.Init.CounterMode = TIM_COUNTERMODE_UP;
if(HAL_TIM_OC_Init(&TimHandle3) != HAL_OK) {
Error_Handler();
}
// Configure the Output Compare channel:
sConfig.OCMode = TIM_OCMODE_TOGGLE;
sConfig.Pulse = 100;
sConfig.OCPolarity = TIM_OCPOLARITY_LOW;
if(HAL_TIM_OC_ConfigChannel(&TimHandle3, &sConfig, TIM_CHANNEL_1) != HAL_OK) {
Error_Handler();
}
if(HAL_TIM_OC_Start_IT(&TimHandle3, TIM_CHANNEL_1) != HAL_OK) {
Error_Handler();
}
/*########## TIM4 peripheral - UDP (10 Hz) ##########*/
TimHandle4.Instance = TIM4;
TimHandle4.Init.Period = 10000;
TimHandle4.Init.Prescaler = (uint32_t)(((SystemCoreClock / 2) / 100000) - 1); //100kHz
// T = 1/f = 1/100k = 0,00001 ; time = Period * T = 0,1s
TimHandle4.Init.ClockDivision = 0;
TimHandle4.Init.CounterMode = TIM_COUNTERMODE_UP;
if(HAL_TIM_OC_Init(&TimHandle4) != HAL_OK) {
Error_Handler();
}
if(HAL_TIM_OC_ConfigChannel(&TimHandle4, &sConfig, TIM_CHANNEL_2) != HAL_OK) {
Error_Handler();
}
if(HAL_TIM_OC_Start_IT(&TimHandle4, TIM_CHANNEL_2) != HAL_OK) {
Error_Handler();
}
/*########## TIM8 peripheral - ADC ##########*/
TimHandle8.Instance = TIM8;
TimHandle8.Init.Period = 0x3C;
TimHandle8.Init.Prescaler = 0;
TimHandle8.Init.ClockDivision = 0;
TimHandle8.Init.CounterMode = TIM_COUNTERMODE_UP;
TimHandle8.Init.RepetitionCounter = 0x0;
if(HAL_TIM_Base_Init(&TimHandle8) != HAL_OK) {
Error_Handler();
}
// TIM8 TRGO selection:
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if(HAL_TIMEx_MasterConfigSynchronization(&TimHandle8, &sMasterConfig) != HAL_OK) {
Error_Handler(); //TIM8 TRGO selection Error
}
if(HAL_TIM_Base_Start(&TimHandle8) != HAL_OK) {
Error_Handler(); //Counter Enable Error
}
/*########## TIM1 peripheral - PWM ##########*/
TimHandle1.Instance = TIM1;
TimHandle1.Init.Period = uhTimerPeriod;
TimHandle1.Init.RepetitionCounter = 3;
TimHandle1.Init.Prescaler = 0;
TimHandle1.Init.ClockDivision = 0;
TimHandle1.Init.CounterMode = TIM_COUNTERMODE_UP;
if(HAL_TIM_PWM_Init(&TimHandle1) != HAL_OK) {
Error_Handler();
}
// Configure the PWM channel 3:
sConfig.OCMode = TIM_OCMODE_PWM1;
sConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfig.Pulse = aCCValue_Buffer;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle1, &sConfig, TIM_CHANNEL_3) != HAL_OK) {
Error_Handler();
}
// Start PWM signal generation in DMA mode:
if(HAL_TIM_PWM_Start_DMA(&TimHandle1, TIM_CHANNEL_3, &aCCValue_Buffer, 1) != HAL_OK) {
Error_Handler();
}
}
void ws2811LedStripHardwareInit(void)
{
TimHandle.Instance = WS2811_TIMER;
TimHandle.Init.Prescaler = 1;
TimHandle.Init.Period = 135; // 800kHz
TimHandle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
if(HAL_TIM_PWM_Init(&TimHandle) != HAL_OK)
{
/* Initialization Error */
return;
}
static DMA_HandleTypeDef hdma_tim;
ws2811IO = IOGetByTag(IO_TAG(WS2811_PIN));
/* GPIOA Configuration: TIM5 Channel 1 as alternate function push-pull */
IOInit(ws2811IO, OWNER_LED_STRIP, RESOURCE_OUTPUT, 0);
IOConfigGPIOAF(ws2811IO, IO_CONFIG(GPIO_MODE_AF_PP, GPIO_SPEED_FREQ_VERY_HIGH, GPIO_PULLUP), WS2811_TIMER_GPIO_AF);
__DMA1_CLK_ENABLE();
/* Set the parameters to be configured */
hdma_tim.Init.Channel = WS2811_DMA_CHANNEL;
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;
hdma_tim.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
hdma_tim.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
hdma_tim.Init.MemBurst = DMA_MBURST_SINGLE;
hdma_tim.Init.PeriphBurst = DMA_PBURST_SINGLE;
/* Set hdma_tim instance */
hdma_tim.Instance = WS2811_DMA_STREAM;
uint32_t channelAddress = 0;
switch (WS2811_TIMER_CHANNEL) {
case TIM_CHANNEL_1:
timDMASource = TIM_DMA_ID_CC1;
channelAddress = (uint32_t)(&WS2811_TIMER->CCR1);
break;
case TIM_CHANNEL_2:
timDMASource = TIM_DMA_ID_CC2;
channelAddress = (uint32_t)(&WS2811_TIMER->CCR2);
break;
case TIM_CHANNEL_3:
timDMASource = TIM_DMA_ID_CC3;
channelAddress = (uint32_t)(&WS2811_TIMER->CCR3);
break;
case TIM_CHANNEL_4:
timDMASource = TIM_DMA_ID_CC4;
channelAddress = (uint32_t)(&WS2811_TIMER->CCR4);
break;
}
/* Link hdma_tim to hdma[x] (channelx) */
__HAL_LINKDMA(&TimHandle, hdma[timDMASource], hdma_tim);
dmaSetHandler(WS2811_DMA_HANDLER_IDENTIFER, WS2811_DMA_IRQHandler, NVIC_PRIO_WS2811_DMA, timDMASource);
/* Initialize TIMx DMA handle */
if(HAL_DMA_Init(TimHandle.hdma[timDMASource]) != HAL_OK)
{
/* Initialization Error */
return;
}
TIM_OC_InitTypeDef TIM_OCInitStructure;
/* PWM1 Mode configuration: Channel1 */
TIM_OCInitStructure.OCMode = TIM_OCMODE_PWM1;
TIM_OCInitStructure.Pulse = 0;
TIM_OCInitStructure.OCPolarity = TIM_OCPOLARITY_HIGH;
TIM_OCInitStructure.OCIdleState = TIM_OCIDLESTATE_RESET;
TIM_OCInitStructure.OCNIdleState = TIM_OCNIDLESTATE_RESET;
TIM_OCInitStructure.OCFastMode = TIM_OCFAST_DISABLE;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &TIM_OCInitStructure, WS2811_TIMER_CHANNEL) != HAL_OK)
{
/* Configuration Error */
return;
}
const hsvColor_t hsv_white = { 0, 255, 255};
ws2811Initialised = true;
setStripColor(&hsv_white);
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Configure the Systick to generate an interrupt each 1 msec
- Set NVIC Group Priority to 4
- Global MSP (MCU Support Package) initialization
*/
HAL_Init();
/* Configure the system clock to 180 MHz */
SystemClock_Config();
/* Configure LED3 */
BSP_LED_Init(LED3);
/* Compute the Timer period to generate a signal frequency at 17.57 Khz */
uwPeriod = (SystemCoreClock / 17570 ) - 1;
/* Compute Pulse1 value to generate a duty cycle at 50% for channel 1 and 1N */
uwPulse1 = (5 * (uwPeriod - 1)) / 10;
/* Compute Pulse2 value to generate a duty cycle at 37.5% for channel 2 and 2N */
uwPulse2 = (375 * (uwPeriod - 1)) / 1000;
/* Compute Pulse3 value to generate a duty cycle at 25% for channel 3 and 3N */
uwPulse3 = (25 * (uwPeriod - 1)) / 100;
/* Compute Pulse4 value to generate a duty cycle at 12.5% for channel 4 */
uwPulse4 = (125 * (uwPeriod- 1)) / 1000;
/*##-1- Configure the TIM peripheral #######################################*/
/* Initialize TIMx peripheral as follow:
+ Prescaler = 0
+ Period = uwPeriod (to have an output frequency equal to 17.57 KHz)
+ ClockDivision = 0
+ Counter direction = Up
*/
TimHandle.Instance = TIM1;
TimHandle.Init.Period = uwPeriod;
TimHandle.Init.Prescaler = 0;
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimHandle.Init.RepetitionCounter = 0;
if(HAL_TIM_PWM_Init(&TimHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/*##-2- Configure the PWM channels #########################################*/
/* Common configuration for all channels */
sConfig.OCMode = TIM_OCMODE_PWM2;
sConfig.OCFastMode = TIM_OCFAST_DISABLE;
sConfig.OCPolarity = TIM_OCPOLARITY_LOW;
sConfig.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sConfig.OCIdleState = TIM_OCIDLESTATE_SET;
sConfig.OCNIdleState= TIM_OCNIDLESTATE_RESET;
/* Set the pulse value for channel 1 */
sConfig.Pulse = uwPulse1;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Set the pulse value for channel 2 */
sConfig.Pulse = uwPulse2;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_2) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Set the pulse value for channel 3 */
sConfig.Pulse = uwPulse3;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_3) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Set the pulse value for channel 4 */
sConfig.Pulse = uwPulse4;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_4) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*##-3- Start PWM signals generation #######################################*/
/* Start channel 1 */
if(HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Start channel 1N */
if(HAL_TIMEx_PWMN_Start(&TimHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Start channel 2 */
if(HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_2) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Start channel 2N */
if(HAL_TIMEx_PWMN_Start(&TimHandle, TIM_CHANNEL_2) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Start channel 3 */
if(HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_3) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Start channel 3N */
if(HAL_TIMEx_PWMN_Start(&TimHandle, TIM_CHANNEL_3) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Start channel 4 */
if(HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_4) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Infinite loop */
while (1)
{
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/* Enable the CPU Cache */
CPU_CACHE_Enable();
/* STM32F7xx HAL library initialization:
- Configure the Flash ART accelerator on ITCM interface
- Systick timer is configured by default as source of time base, but user
can eventually implement his proper time base source (a general purpose
timer for example or other time source), keeping in mind that Time base
duration should be kept 1ms since PPP_TIMEOUT_VALUEs are defined and
handled in milliseconds basis.
- Set NVIC Group Priority to 4
- Low Level Initialization
*/
HAL_Init();
/* Configure the system clock to 216 MHz */
SystemClock_Config();
/* Configure LED3 */
BSP_LED_Init(LED3);
/*##-1- Configure the TIM peripheral #######################################*/
/* -----------------------------------------------------------------------
TIM2 Configuration: generate 1 PWM signal using the DMA burst mode:
TIM2 input clock (TIM2CLK) is set to APB1 clock (PCLK1)x2, since APB1
prescaler is 4.
TIM1CLK = PCLK1/2
PCLK1 = HCLK/4
=> TIM1CLK = HCLK/2 = SystemCoreClock/2
To get TIM2 counter clock at 20 MHz, the prescaler is computed as follows:
Prescaler = (TIM2CLK / TIM2 counter clock) - 1
Prescaler = ((SystemCoreClock/2) /20 MHz) - 1
The TIM2 Frequency = TIM2 counter clock/(ARR + 1)
= 20 MHz / 4096 = 4.88 KHz
TIM2 Channel1 duty cycle = (TIM2_CCR1/ TIM2_ARR)* 100 = 33.33%
Note:
SystemCoreClock variable holds HCLK frequency and is defined in stm32f7xxxx.c file.
Each time the core clock (HCLK) changes, user had to update SystemCoreClock
variable value. Otherwise, any configuration based on this variable will be incorrect.
This variable is updated in three ways:
1) by calling CMSIS function SystemCoreClockUpdate()
2) by calling HAL API function HAL_RCC_GetSysClockFreq()
3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
----------------------------------------------------------------------- */
TimHandle.Instance = TIM2;
TimHandle.Init.Period = 0xFFFF;
TimHandle.Init.Prescaler = ((SystemCoreClock/2) / (20 * 1000000)) - 1;
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
if(HAL_TIM_PWM_Init(&TimHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/*##-2- Configure the PWM channel 1 ########################################*/
sConfig.OCMode = TIM_OCMODE_PWM1;
sConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfig.Pulse = 0xFFF;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*##-3- Start PWM signal generation in DMA mode ############################*/
if( HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* Starting PWM generation Error */
Error_Handler();
}
/*##-4- Start DMA Burst transfer ###########################################*/
HAL_TIM_DMABurst_WriteStart(&TimHandle, TIM_DMABASE_ARR, TIM_DMA_UPDATE,
(uint32_t*)aSRC_Buffer, TIM_DMABURSTLENGTH_3TRANSFERS);
/* Infinite loop */
while (1)
{
}
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/* STM32F103xG HAL library initialization:
- Configure the Flash prefetch
- Systick timer is configured by default as source of time base, but user
can eventually implement his proper time base source (a general purpose
timer for example or other time source), keeping in mind that Time base
duration should be kept 1ms since PPP_TIMEOUT_VALUEs are defined and
handled in milliseconds basis.
- Set NVIC Group Priority to 4
- Low Level Initialization
*/
HAL_Init();
/* Configure the system clock to 72 MHz */
SystemClock_Config();
/* Configure LED2 */
BSP_LED_Init(LED2);
/* Compute the prescaler value to have TIM1 counter clock equal to 12MHz */
uwPrescalerValue = (uint32_t) ((SystemCoreClock / 12000000) - 1);
/*##-1- Configure the TIM peripheral #######################################*/
/* ---------------------------------------------------------------------------
1/ Generate 3 complementary PWM signals with 3 different duty cycles:
TIM1 input clock (TIM1CLK) is set to APB2 clock (PCLK2), since APB2
prescaler is 1.
TIM1CLK = PCLK2
PCLK2 = HCLK
=> TIM1CLK = HCLK = SystemCoreClock
TIM1CLK is fixed to SystemCoreClock, the TIM1 Prescaler is set to have
TIM1 counter clock = 12MHz.
The objective is to generate PWM signal at 10 KHz:
- TIM1_Period = (TIM1 counter clock / 10000) - 1
The Three Duty cycles are computed as the following description:
The channel 1 duty cycle is set to 50% so channel 1N is set to 50%.
The channel 2 duty cycle is set to 25% so channel 2N is set to 75%.
The channel 3 duty cycle is set to 12.5% so channel 3N is set to 87.5%.
The Timer pulse is calculated as follows:
- ChannelxPulse = DutyCycle * (TIM1_Period - 1) / 100
2/ Insert a dead time equal to (100/SystemCoreClock) us
3/ Configure the break feature, active at High level, and using the automatic
output enable feature
4/ Use the Locking parameters level1.
Note:
SystemCoreClock variable holds HCLK frequency and is defined in system_stm32f1xx.c file.
Each time the core clock (HCLK) changes, user had to update SystemCoreClock
variable value. Otherwise, any configuration based on this variable will be incorrect.
This variable is updated in three ways:
1) by calling CMSIS function SystemCoreClockUpdate()
2) by calling HAL API function HAL_RCC_GetSysClockFreq()
3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
--------------------------------------------------------------------------- */
/* Initialize TIM peripheral as follows:
+ Prescaler = (SystemCoreClock/12000000) - 1
+ Period = (1200 - 1) (to have an output frequency equal to 10 KHz)
+ ClockDivision = 0
+ Counter direction = Up
*/
/* Select the Timer instance */
TimHandle.Instance = TIM1;
TimHandle.Init.Prescaler = uwPrescalerValue;
TimHandle.Init.Period = PERIOD_VALUE;
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimHandle.Init.RepetitionCounter = 0;
if(HAL_TIM_PWM_Init(&TimHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/*##-2- Configure the PWM channels #########################################*/
/* Common configuration for all channels */
sPWMConfig.OCMode = TIM_OCMODE_PWM1;
sPWMConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sPWMConfig.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sPWMConfig.OCIdleState = TIM_OCIDLESTATE_SET;
sPWMConfig.OCNIdleState = TIM_OCNIDLESTATE_RESET;
sPWMConfig.OCFastMode = TIM_OCFAST_DISABLE;
/* Set the pulse value for channel 1 */
sPWMConfig.Pulse = PULSE1_VALUE;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sPWMConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Set the pulse value for channel 2 */
sPWMConfig.Pulse = PULSE2_VALUE;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sPWMConfig, TIM_CHANNEL_2) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Set the pulse value for channel 3 */
sPWMConfig.Pulse = PULSE3_VALUE;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sPWMConfig, TIM_CHANNEL_3) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Set the Break feature & Dead time */
sBreakConfig.BreakState = TIM_BREAK_ENABLE;
sBreakConfig.DeadTime = 100;
sBreakConfig.OffStateRunMode = TIM_OSSR_ENABLE;
sBreakConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;
sBreakConfig.LockLevel = TIM_LOCKLEVEL_1;
sBreakConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
sBreakConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_ENABLE;
if(HAL_TIMEx_ConfigBreakDeadTime(&TimHandle, &sBreakConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*##-3- Start PWM signals generation #######################################*/
/* Start channel 1 */
if(HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Start channel 1N */
if(HAL_TIMEx_PWMN_Start(&TimHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Start channel 2 */
if(HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_2) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Start channel 2N */
if(HAL_TIMEx_PWMN_Start(&TimHandle, TIM_CHANNEL_2) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Start channel 3 */
if(HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_3) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Start channel 3N */
if(HAL_TIMEx_PWMN_Start(&TimHandle, TIM_CHANNEL_3) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
while (1)
{
}
}
/**
* @brief TIM1 Configuration 2 and channel 5 in PWM mode
* @note TIM1 configuration is based on APB1 frequency
* @note TIM1 Update event occurs each SystemCoreClock/FREQ
* @param None
* @retval None
*/
void TIM1_Config(void)
{
TIM_OC_InitTypeDef TIMPWM_Config;
/*##-1- Configure the TIM peripheral #######################################*/
/* Configure TIM1 */
/* PWM configuration */
PWM_Handle.Instance = TIM1;
/* Time Base configuration: Channel 2 and channel 5 frequency is
APB2 clock / period = 72000000 / 50000 = 1440 Hz */
PWM_Handle.Init.Period = 50000;
PWM_Handle.Init.Prescaler = 0;
PWM_Handle.Init.ClockDivision = 0;
PWM_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
PWM_Handle.Init.RepetitionCounter = 0;
HAL_TIM_PWM_Init(&PWM_Handle);
/*##-2- Configure the PWM Output Capture ########################################*/
/* PWM Output Capture configuration of TIM1 channel 2 */
/* Duty cycle is pulse/period = 100 * (37500 / 50000) = 75% */
TIMPWM_Config.OCMode = TIM_OCMODE_PWM1;
TIMPWM_Config.OCIdleState = TIM_OCIDLESTATE_RESET;
TIMPWM_Config.OCNIdleState = TIM_OCNIDLESTATE_RESET;
TIMPWM_Config.Pulse = 37500;
TIMPWM_Config.OCPolarity = TIM_OCPOLARITY_HIGH;
TIMPWM_Config.OCNPolarity = TIM_OCNPOLARITY_LOW;
TIMPWM_Config.OCFastMode = TIM_OCFAST_DISABLE;
if(HAL_TIM_PWM_ConfigChannel(&PWM_Handle, &TIMPWM_Config, TIM_CHANNEL_2) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/*##-2- Configure the PWM Output Capture ########################################*/
/* PWM Output Capture configuration of TIM1 channel 5 */
/* Channel 5 is an internal channel (not available on GPIO): */
/* TIM1 OC5 is high during 2000 / 72000000 = 27.7 micro second */
TIMPWM_Config.OCMode = TIM_OCMODE_PWM1;
TIMPWM_Config.OCIdleState = TIM_OCIDLESTATE_RESET;
TIMPWM_Config.OCNIdleState = TIM_OCNIDLESTATE_RESET;
TIMPWM_Config.Pulse = 2000;
TIMPWM_Config.OCPolarity = TIM_OCPOLARITY_HIGH;
TIMPWM_Config.OCNPolarity = TIM_OCNPOLARITY_LOW;
TIMPWM_Config.OCFastMode = TIM_OCFAST_DISABLE;
if(HAL_TIM_PWM_ConfigChannel(&PWM_Handle, &TIMPWM_Config, TIM_CHANNEL_5) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/*##-2- Enable TIM peripheral counter ######################################*/
/* Start the TIM1 Channel 2 PWM */
if(HAL_TIM_PWM_Start(&PWM_Handle, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
/* Start the TIM1 Channel 5 PWM */
if(HAL_TIM_PWM_Start(&PWM_Handle, TIM_CHANNEL_5) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Configure the Systick to generate an interrupt each 1 msec
- Set NVIC Group Priority to 4
- Global MSP (MCU Support Package) initialization
*/
HAL_Init();
/* Configure the system clock to 168 MHz */
SystemClock_Config();
/* Configure LED3 */
BSP_LED_Init(LED3);
/* Compute the prescaler value to have TIM1 counter clock equal to 18 MHz */
uwPrescalerValue = (uint32_t) ((SystemCoreClock / 18000000) - 1);
/*##-1- Configure the TIM peripheral #######################################*/
/* ---------------------------------------------------------------------------
1/ Generate 3 complementary PWM signals with 3 different duty cycles:
TIM1 input clock (TIM1CLK) is set to 2 * APB2 clock (PCLK2), since APB2
prescaler is different from 1.
TIM1CLK = 2 * PCLK2
PCLK2 = HCLK / 2
=> TIM1CLK = 2 * (HCLK / 2) = HCLK = SystemCoreClock
TIM1CLK is fixed to SystemCoreClock, the TIM1 Prescaler is set to have
TIM1 counter clock = 18MHz..
The objective is to generate PWM signal at 10 KHz:
- TIM1_Period = (SystemCoreClock / 10000) - 1
The Three Duty cycles are computed as the following description:
The channel 1 duty cycle is set to 50% so channel 1N is set to 50%.
The channel 2 duty cycle is set to 25% so channel 2N is set to 75%.
The channel 3 duty cycle is set to 12.5% so channel 3N is set to 87.5%.
The Timer pulse is calculated as follows:
- ChannelxPulse = DutyCycle * (TIM1_Period - 1) / 100
2/ Insert a dead time equal to (11/SystemCoreClock) ns
3/ Configure the break feature, active at High level, and using the automatic
output enable feature
4/ Use the Locking parameters level1.
Note:
SystemCoreClock variable holds HCLK frequency and is defined in system_stm32f4xx.c file.
Each time the core clock (HCLK) changes, user had to update SystemCoreClock
variable value. Otherwise, any configuration based on this variable will be incorrect.
This variable is updated in three ways:
1) by calling CMSIS function SystemCoreClockUpdate()
2) by calling HAL API function HAL_RCC_GetSysClockFreq()
3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
--------------------------------------------------------------------------- */
/* Initialize TIM peripheral as follow:
+ Prescaler = (SystemCoreClock/18000000) - 1
+ Period = 1799 (to have an output frequency equal to 10 KHz)
+ ClockDivision = 0
+ Counter direction = Up
*/
/* Select the Timer instance */
TimHandle.Instance = TIM1;
TimHandle.Init.Prescaler = uwPrescalerValue;
TimHandle.Init.Period = PERIOD_VALUE;
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimHandle.Init.RepetitionCounter = 0;
if(HAL_TIM_PWM_Init(&TimHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/*##-2- Configure the PWM channels #########################################*/
/* Common configuration for all channels */
sPWMConfig.OCMode = TIM_OCMODE_PWM1;
sPWMConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sPWMConfig.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sPWMConfig.OCIdleState = TIM_OCIDLESTATE_SET;
sPWMConfig.OCNIdleState = TIM_OCNIDLESTATE_RESET;
/* Set the pulse value for channel 1 */
sPWMConfig.Pulse = PULSE1_VALUE;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sPWMConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Set the pulse value for channel 2 */
sPWMConfig.Pulse = PULSE2_VALUE;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sPWMConfig, TIM_CHANNEL_2) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Set the pulse value for channel 3 */
sPWMConfig.Pulse = PULSE3_VALUE;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sPWMConfig, TIM_CHANNEL_3) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Set the Break feature & Dead time */
sBreakConfig.BreakState = TIM_BREAK_ENABLE;
sBreakConfig.DeadTime = 11;
sBreakConfig.OffStateRunMode = TIM_OSSR_ENABLE;
sBreakConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;
sBreakConfig.LockLevel = TIM_LOCKLEVEL_1;
sBreakConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
sBreakConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_ENABLE;
if(HAL_TIMEx_ConfigBreakDeadTime(&TimHandle, &sBreakConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*##-3- Start PWM signals generation #######################################*/
/* Start channel 1 */
if(HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Start channel 1N */
if(HAL_TIMEx_PWMN_Start(&TimHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Start channel 2 */
if(HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_2) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Start channel 2N */
if(HAL_TIMEx_PWMN_Start(&TimHandle, TIM_CHANNEL_2) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Start channel 3 */
if(HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_3) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Start channel 3N */
if(HAL_TIMEx_PWMN_Start(&TimHandle, TIM_CHANNEL_3) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Infinite loop */
while (1)
{
}
}
/**
* @brief Configures IOs to control the two motors and one pump
* @param None
* @retval None
*/
void MOTOR_Init(void) {
GPIO_InitTypeDef GPIO_InitStruct;
// Enable all timers
PUMP_PWM_TIMER_CLK_ENABLE();
MOTOR_PWM_TIMER_CLK_ENABLE();
MOTOR_HALL_ENC1_TIMER_CLK_ENABLE();
MOTOR_HALL_ENC2_TIMER_CLK_ENABLE();
MOTOR_HALL_SPEED_TIMER_CLK_ENABLE();
// Enable the clock for all IO pins
MOTOR_PWM_CLK_ENABLE();
MOTOR_CURR_CLK_ENABLE();
MOTOR_HALL_M1_ENC_CLK_ENABLE();
MOTOR_HALL_M2_ENC_CLK_ENABLE();
MOTOR_HALL_SPEED_CLK_ENABLE();
// Motor driver --------------------------------------------------------
// Configure the 4 motor pins of motor 1 and 2 as normal IO
GPIO_InitStruct.Pin = MOTOR_M2_IN1_PIN | MOTOR_M2_IN2_PIN
| MOTOR_M1_IN1_PIN| MOTOR_M1_IN2_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
GPIO_InitStruct.Alternate = MOTOR_PWM_TIMER_AF;
HAL_GPIO_Init(MOTOR_PWM_PORT, &GPIO_InitStruct);
// Configure the 2 motor pins of motor 3 as PWM output
GPIO_InitStruct.Pin = MOTOR_M3_IN1_PIN | MOTOR_M3_IN2_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
GPIO_InitStruct.Alternate = PUMP_PWM_TIMER_AF;
HAL_GPIO_Init(MOTOR_PWM_PORT, &GPIO_InitStruct);
// Configure the 10 motor current pins
GPIO_InitStruct.Pin = MOTOR_M2_I0_PIN | MOTOR_M2_I1_PIN | MOTOR_M2_I2_PIN
| MOTOR_M2_I3_PIN | MOTOR_M2_I4_PIN
| MOTOR_M1_I0_PIN | MOTOR_M1_I1_PIN | MOTOR_M1_I2_PIN
| MOTOR_M1_I3_PIN | MOTOR_M1_I4_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
HAL_GPIO_Init(MOTOR_CURR_PORT, &GPIO_InitStruct);
// Timer configuration for motor pwm
htimMotor.Instance = MOTOR_PWM_TIMER;
htimMotor.Init.Period = MOTOR_MAX - 1; // = 20kHz = 84MHz / 1 / 4200
htimMotor.Init.Prescaler = 1-1;
htimMotor.Init.ClockDivision = 1;
htimMotor.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_PWM_Init(&htimMotor);
// Timer configuration for pump
htimPump.Instance = PUMP_PWM_TIMER;
htimPump.Init.Period = MOTOR_MAX - 1; // = 20kHz = 168MHz / 2 / 4200
htimPump.Init.Prescaler = 2-1;
htimPump.Init.ClockDivision = 1;
htimPump.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_PWM_Init(&htimPump);
// Configure Timer 1 channel 1 and 2 as PWM output
sConfigTimMotor.OCMode = TIM_OCMODE_PWM1;
sConfigTimMotor.Pulse = 0;
sConfigTimMotor.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigTimMotor.OCFastMode = TIM_OCFAST_ENABLE;
sConfigTimMotor.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sConfigTimMotor.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigTimMotor.OCNIdleState= TIM_OCNIDLESTATE_SET;
// Configure Timer 1 channel 1 as PWM output
sConfigTimPump.OCMode = TIM_OCMODE_PWM1;
sConfigTimPump.Pulse = 0;
sConfigTimPump.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigTimPump.OCFastMode = TIM_OCFAST_ENABLE;
sConfigTimPump.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sConfigTimPump.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigTimPump.OCNIdleState= TIM_OCNIDLESTATE_SET;
// PWM Mode
HAL_TIM_PWM_ConfigChannel(&htimMotor, &sConfigTimMotor, TIM_CHANNEL_1);
HAL_TIM_PWM_ConfigChannel(&htimMotor, &sConfigTimMotor, TIM_CHANNEL_2);
HAL_TIM_PWM_ConfigChannel(&htimMotor, &sConfigTimMotor, TIM_CHANNEL_3);
HAL_TIM_PWM_ConfigChannel(&htimMotor, &sConfigTimMotor, TIM_CHANNEL_4);
HAL_TIM_PWM_ConfigChannel(&htimPump, &sConfigTimPump, TIM_CHANNEL_1);
HAL_TIM_PWM_ConfigChannel(&htimPump, &sConfigTimPump, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htimMotor, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htimMotor, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htimMotor, TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&htimMotor, TIM_CHANNEL_4);
HAL_TIM_PWM_Start(&htimPump, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htimPump, TIM_CHANNEL_2);
MOTOR_SetVal(MOTOR_M1, 0, 0);
MOTOR_SetVal(MOTOR_M2, 0 , 0);
MOTOR_SetVal(MOTOR_PUMP, 0, 0);
// Encoder ----------------------------------------------------------
// Configure the hall encoder pins
GPIO_InitStruct.Pin = MOTOR_HALL_M1A_ENC_PIN | MOTOR_HALL_M1B_ENC_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
GPIO_InitStruct.Alternate = MOTOR_HALL_ENC1_TIMER_AF;
HAL_GPIO_Init(MOTOR_HALL_M1_ENC_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = MOTOR_HALL_M2A_ENC_PIN | MOTOR_HALL_M2B_ENC_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
GPIO_InitStruct.Alternate = MOTOR_HALL_ENC2_TIMER_AF;
HAL_GPIO_Init(MOTOR_HALL_M2_ENC_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = MOTOR_HALL_M1A_SPEED_PIN | MOTOR_HALL_M1B_SPEED_PIN
| MOTOR_HALL_M2A_SPEED_PIN | MOTOR_HALL_M2B_SPEED_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
GPIO_InitStruct.Alternate = MOTOR_HALL_SPEED_TIMER_AF;
HAL_GPIO_Init(MOTOR_HALL_SPEED_PORT, &GPIO_InitStruct);
// Timer configuration for hall encoder M1
htimEncM1.Instance = MOTOR_HALL_ENC1_TIMER;
htimEncM1.Init.Period = 0xFFFF;
htimEncM1.Init.Prescaler = 0;
htimEncM1.Init.ClockDivision = 0;
htimEncM1.Init.CounterMode = TIM_COUNTERMODE_UP;
sConfigEncM.EncoderMode = TIM_ENCODERMODE_TI2;
sConfigEncM.IC1Filter = 0;
sConfigEncM.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfigEncM.IC1Prescaler = TIM_ICPSC_DIV1;
sConfigEncM.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfigEncM.IC2Filter = 0;
sConfigEncM.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfigEncM.IC2Prescaler = TIM_ICPSC_DIV1;
sConfigEncM.IC2Selection = TIM_ICSELECTION_DIRECTTI;
// Encoder Mode
HAL_TIM_Encoder_Init(&htimEncM1, &sConfigEncM);
HAL_TIM_Encoder_Start(&htimEncM1, TIM_CHANNEL_1);
HAL_TIM_Encoder_Start(&htimEncM1, TIM_CHANNEL_2);
// Timer configuration for hall encoder M2
htimEncM2.Instance = MOTOR_HALL_ENC2_TIMER;
htimEncM2.Init.Period = 0xFFFF;
htimEncM2.Init.Prescaler = 0;
htimEncM2.Init.ClockDivision = 0;
htimEncM2.Init.CounterMode = TIM_COUNTERMODE_UP;
// Encoder mode
HAL_TIM_Encoder_Init(&htimEncM2, &sConfigEncM);
HAL_TIM_Encoder_Start(&htimEncM2, TIM_CHANNEL_1);
HAL_TIM_Encoder_Start(&htimEncM2, TIM_CHANNEL_2);
#ifdef MOTOR_MEASURE_SPEED
// Timer configuration for input capture
htimEncSpeed.Instance = MOTOR_HALL_SPEED_TIMER;
htimEncSpeed.Init.Period = 0xFFFF;
htimEncSpeed.Init.Prescaler = 84-1; // 10us
htimEncSpeed.Init.ClockDivision = 0;
htimEncSpeed.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_IC_Init(&htimEncSpeed);
sConfigEncSpeed.ICFilter = 0;
sConfigEncSpeed.ICPolarity = TIM_ICPOLARITY_RISING;
sConfigEncSpeed.ICPrescaler = TIM_ICPSC_DIV1;
sConfigEncSpeed.ICSelection = TIM_ICSELECTION_DIRECTTI;
// Configure the NVIC
HAL_NVIC_SetPriority(TIM_HALL_SPEED_IRQn, 0, 1);
/* Enable the TIM8 global Interrupt */
HAL_NVIC_EnableIRQ(TIM_HALL_SPEED_IRQn);
// Input capture mode
HAL_TIM_IC_ConfigChannel(&htimEncSpeed, &sConfigEncSpeed, TIM_CHANNEL_1);
HAL_TIM_IC_ConfigChannel(&htimEncSpeed, &sConfigEncSpeed, TIM_CHANNEL_2);
HAL_TIM_IC_ConfigChannel(&htimEncSpeed, &sConfigEncSpeed, TIM_CHANNEL_3);
HAL_TIM_IC_ConfigChannel(&htimEncSpeed, &sConfigEncSpeed, TIM_CHANNEL_4);
HAL_TIM_IC_Start_IT(&htimEncSpeed, TIM_CHANNEL_1);
HAL_TIM_IC_Start_IT(&htimEncSpeed, TIM_CHANNEL_2);
HAL_TIM_IC_Start_IT(&htimEncSpeed, TIM_CHANNEL_3);
HAL_TIM_IC_Start_IT(&htimEncSpeed, TIM_CHANNEL_4);
#endif //MOTOR_MEASURE_SPEED
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Configure the Systick to generate an interrupt each 1 msec
- Set NVIC Group Priority to 4
- Global MSP (MCU Support Package) initialization
*/
HAL_Init();
/* Configure the system clock to 168 MHz */
SystemClock_Config();
/* Configure LED3 */
BSP_LED_Init(LED3);
/* Timers configuration ------------------------------------------------------
1/TIM2 is configured as Master Timer:
- PWM Mode is used
- The TIM2 Update event is used as Trigger Output
2/TIM3 is slave for TIM2 and Master for TIM4,
- PWM Mode is used
- The ITR1(TIM2) is used as input trigger
- Gated mode is used, so start and stop of slave counter
are controlled by the Master trigger output signal(TIM2 update event).
- The TIM3 Update event is used as Trigger Output.
3/TIM4 is slave for TIM3,
- PWM Mode is used
- The ITR2(TIM3) is used as input trigger
- Gated mode is used, so start and stop of slave counter
are controlled by the Master trigger output signal(TIM3 update event).
In this example TIM2 input clock (TIM2CLK) is set to 2 * APB1 clock (PCLK1),
since APB1 prescaler is different from 1.
TIM2CLK = 2 * PCLK1
PCLK1 = HCLK / 4
=> TIM2CLK = HCLK / 2 = SystemCoreClock /2
The Master Timer TIM2 is running at TIM2 counter clock:
TIM2 frequency = (TIM2 counter clock)/ (TIM2 period + 1) = 328.125 KHz
and the duty cycle = TIM2_CCR1/(TIM2_ARR + 1) = 25%.
The TIM3 is running:
- At (TIM2 frequency)/ (TIM3 period + 1) = 82.02 KHz and a duty cycle
equal to TIM3_CCR1/(TIM3_ARR + 1) = 25%
The TIM4 is running:
- At (TIM3 frequency)/ (TIM4 period + 1) = 20.5 KHz and a duty cycle
equal to TIM4_CCR1/(TIM4_ARR + 1) = 25%
Note:
SystemCoreClock variable holds HCLK frequency and is defined in system_stm32f4xx.c file.
Each time the core clock (HCLK) changes, user had to update SystemCoreClock
variable value. Otherwise, any configuration based on this variable will be incorrect.
This variable is updated in three ways:
1) by calling CMSIS function SystemCoreClockUpdate()
2) by calling HAL API function HAL_RCC_GetSysClockFreq()
3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
--------------------------------------------------------------------------- */
/* Set Timers instance */
TimMasterHandle.Instance = TIM2;
TimSlave1Handle.Instance = TIM3;
TimSlave2Handle.Instance = TIM4;
/*====================== Master configuration : TIM2 =======================*/
/* Initialize TIM2 peripheral in PWM mode*/
TimMasterHandle.Init.Period = 255;
TimMasterHandle.Init.Prescaler = 0;
TimMasterHandle.Init.ClockDivision = 0;
TimMasterHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimMasterHandle.Init.RepetitionCounter = 0;
if(HAL_TIM_PWM_Init(&TimMasterHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the PWM_channel_1 */
sOCConfig.OCMode = TIM_OCMODE_PWM1;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sOCConfig.Pulse = 64;
if(HAL_TIM_PWM_ConfigChannel(&TimMasterHandle, &sOCConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM2 as master & use the update event as Trigger Output (TRGO) */
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
if( HAL_TIMEx_MasterConfigSynchronization(&TimMasterHandle,&sMasterConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*================== End of Master configuration : TIM2 ====================*/
/*====================== Slave1 configuration : TIM3 =======================*/
/* Initialize TIM3 peripheral in PWM mode*/
TimSlave1Handle.Init.Period = 3;
TimSlave1Handle.Init.Prescaler = 0;
TimSlave1Handle.Init.ClockDivision = 0;
TimSlave1Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimSlave1Handle.Init.RepetitionCounter = 0;
if(HAL_TIM_PWM_Init(&TimSlave1Handle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the PWM_channel_1 */
sOCConfig.OCMode = TIM_OCMODE_PWM1;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sOCConfig.Pulse = 1;
if(HAL_TIM_PWM_ConfigChannel(&TimSlave1Handle, &sOCConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM3 in Gated slave mode &
use the Internal Trigger 1 (ITR1) as trigger source */
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_GATED;
sSlaveConfig.InputTrigger = TIM_TS_ITR1;
if(HAL_TIM_SlaveConfigSynchronization(&TimSlave1Handle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM3 as master & use the update event as Trigger Output (TRGO) */
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
if( HAL_TIMEx_MasterConfigSynchronization(&TimSlave1Handle,&sMasterConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*================== End of Slave1 configuration : TIM3 ====================*/
/*====================== Slave2 configuration : TIM4 =======================*/
/* Initialize TIM4 peripheral in PWM mode*/
TimSlave2Handle.Init.Period = 3;
TimSlave2Handle.Init.Prescaler = 0;
TimSlave2Handle.Init.ClockDivision = 0;
TimSlave2Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimSlave2Handle.Init.RepetitionCounter = 0;
if(HAL_TIM_PWM_Init(&TimSlave2Handle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the PWM_channel_1 */
sOCConfig.OCMode = TIM_OCMODE_PWM1;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sOCConfig.Pulse = 1;
if(HAL_TIM_PWM_ConfigChannel(&TimSlave2Handle, &sOCConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM4 in Gated slave mode &
use the Internal Trigger 2 (ITR2) as trigger source */
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_GATED;
sSlaveConfig.InputTrigger = TIM_TS_ITR2;
if(HAL_TIM_SlaveConfigSynchronization(&TimSlave2Handle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*================== End of Slave2 configuration : TIM4 ====================*/
/* Start Master PWM generation */
if(HAL_TIM_PWM_Start(&TimMasterHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* PWM generation Error */
Error_Handler();
}
/* Start Slave1 PWM generation */
if(HAL_TIM_PWM_Start(&TimSlave1Handle, TIM_CHANNEL_1) != HAL_OK)
{
/* PWM generation Error */
Error_Handler();
}
/* Start Slave2 PWM generation */
if(HAL_TIM_PWM_Start(&TimSlave2Handle, TIM_CHANNEL_1) != HAL_OK)
{
/* PWM generation Error */
Error_Handler();
}
/* Infinite loop */
while (1)
{
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Systick timer is configured by default as source of time base, but user
can eventually implement his proper time base source (a general purpose
timer for example or other time source), keeping in mind that Time base
duration should be kept 1ms since PPP_TIMEOUT_VALUEs are defined and
handled in milliseconds basis.
- Set NVIC Group Priority to 4
- Low Level Initialization: global MSP (MCU Support Package) initialization
*/
HAL_Init();
/* Configure the system clock to 180 MHz */
SystemClock_Config();
/* Configure LED3 */
BSP_LED_Init(LED3);
/* Timers configuration ------------------------------------------------------
1/TIM3 is configured as Master Timer:
- PWM Mode is used
- The TIM3 Update event is used as Trigger Output
2/TIM2 is slave for TIM3 and Master for TIM4,
- PWM Mode is used
- The ITR2(TIM3) is used as input trigger
- Gated mode is used, so start and stop of slave counter
are controlled by the Master trigger output signal(TIM3 update event).
- The TIM2 Update event is used as Trigger Output.
3/TIM4 is slave for TIM2,
- PWM Mode is used
- The ITR1(TIM2) is used as input trigger
- Gated mode is used, so start and stop of slave counter
are controlled by the Master trigger output signal(TIM2 update event).
In this example TIM3 input clock (TIM3CLK) is set to 2 * APB1 clock (PCLK1),
since APB1 prescaler is different from 1.
TIM3CLK = 2 * PCLK1
PCLK1 = HCLK / 4
=> TIM3CLK = HCLK / 2 = SystemCoreClock /2
The TIM3 counter clock is equal to SystemCoreClock/2 = 180 MHz/2.
The Master Timer TIM3 is running at:
TIM3 frequency = TIM3 counter clock / (TIM3_Period + 1) = 351.562 KHz
TIM3_Period = (TIM3 counter clock / TIM3 frequency) - 1 = 182
and the duty cycle is equal to: TIM3_CCR1/(TIM3_ARR + 1) = 25%
The TIM2 is running:
- At (TIM3 frequency)/ (TIM2 period + 1) = 87.891 KHz and a duty cycle
equal to TIM2_CCR1/(TIM2_ARR + 1) = 25%
The TIM4 is running:
- At (TIM2 frequency)/ (TIM4 period + 1) = 21.973 KHz and a duty cycle
equal to TIM4_CCR1/(TIM4_ARR + 1) = 25%
Note:
SystemCoreClock variable holds HCLK frequency and is defined in SystemClock_Config().
Each time the core clock (HCLK) changes, user had to update SystemCoreClock
variable value. Otherwise, any configuration based on this variable will be incorrect.
This variable is updated in three ways:
1) by calling CMSIS function SystemCoreClockUpdate()
2) by calling HAL API function HAL_RCC_GetSysClockFreq()
3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
--------------------------------------------------------------------------- */
/* Set Timers instance */
TimMasterHandle.Instance = TIM3;
TimSlave1Handle.Instance = TIM2;
TimSlave2Handle.Instance = TIM4;
/*====================== Master configuration : TIM3 =======================*/
/* Initialize TIM3 peripheral in PWM mode*/
TimMasterHandle.Init.Period = 255;
TimMasterHandle.Init.Prescaler = 0;
TimMasterHandle.Init.ClockDivision = 0;
TimMasterHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimMasterHandle.Init.RepetitionCounter = 0;
if(HAL_TIM_PWM_Init(&TimMasterHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the PWM_channel_1 */
sOCConfig.OCMode = TIM_OCMODE_PWM1;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sOCConfig.Pulse = 64;
sOCConfig.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sOCConfig.OCFastMode = TIM_OCFAST_DISABLE;
sOCConfig.OCIdleState = TIM_OCIDLESTATE_RESET;
sOCConfig.OCNIdleState = TIM_OCNIDLESTATE_RESET;
if (HAL_TIM_PWM_ConfigChannel(&TimMasterHandle, &sOCConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM2 as master & use the update event as Trigger Output (TRGO) */
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&TimMasterHandle, &sMasterConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*================== End of Master configuration : TIM3 ====================*/
/*====================== Slave1 configuration : TIM2 =======================*/
/* Initialize TIM2 peripheral in PWM mode*/
TimSlave1Handle.Init.Period = 3;
TimSlave1Handle.Init.Prescaler = 0;
TimSlave1Handle.Init.ClockDivision = 0;
TimSlave1Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimSlave1Handle.Init.RepetitionCounter = 0;
if (HAL_TIM_PWM_Init(&TimSlave1Handle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the PWM_channel_1 */
sOCConfig.OCMode = TIM_OCMODE_PWM1;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sOCConfig.Pulse = 1;
if (HAL_TIM_PWM_ConfigChannel(&TimSlave1Handle, &sOCConfig, TIM_CHANNEL_4) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM3 in Gated slave mode &
use the Internal Trigger 1 (ITR1) as trigger source */
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_GATED;
sSlaveConfig.InputTrigger = TIM_TS_ITR2;
sSlaveConfig.TriggerPolarity = TIM_TRIGGERPOLARITY_NONINVERTED;
sSlaveConfig.TriggerPrescaler = TIM_TRIGGERPRESCALER_DIV1;
sSlaveConfig.TriggerFilter = 0;
if (HAL_TIM_SlaveConfigSynchronization(&TimSlave1Handle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM3 as master & use the update event as Trigger Output (TRGO) */
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
if( HAL_TIMEx_MasterConfigSynchronization(&TimSlave1Handle,&sMasterConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*================== End of Slave1 configuration : TIM2 ====================*/
/*====================== Slave2 configuration : TIM4 =======================*/
/* Initialize TIM4 peripheral in PWM mode*/
TimSlave2Handle.Init.Period = 3;
TimSlave2Handle.Init.Prescaler = 0;
TimSlave2Handle.Init.ClockDivision = 0;
TimSlave2Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimSlave2Handle.Init.RepetitionCounter = 0;
if (HAL_TIM_PWM_Init(&TimSlave2Handle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the PWM_channel_3 */
sOCConfig.OCMode = TIM_OCMODE_PWM1;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sOCConfig.Pulse = 1;
if (HAL_TIM_PWM_ConfigChannel(&TimSlave2Handle, &sOCConfig, TIM_CHANNEL_3) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM4 in Gated slave mode &
use the Internal Trigger 2 (ITR2) as trigger source */
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_GATED;
sSlaveConfig.InputTrigger = TIM_TS_ITR1;
if (HAL_TIM_SlaveConfigSynchronization(&TimSlave2Handle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*================== End of Slave2 configuration : TIM4 ====================*/
/* Start Master PWM generation */
if (HAL_TIM_PWM_Start(&TimMasterHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* PWM generation Error */
Error_Handler();
}
/* Start Slave1 PWM generation */
if (HAL_TIM_PWM_Start(&TimSlave1Handle, TIM_CHANNEL_4) != HAL_OK)
{
/* PWM generation Error */
Error_Handler();
}
/* Start Slave2 PWM generation */
if (HAL_TIM_PWM_Start(&TimSlave2Handle, TIM_CHANNEL_3) != HAL_OK)
{
/* PWM generation Error */
Error_Handler();
}
/* Infinite loop */
while (1)
{
}
}
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);
}
/**
* @brief Configures the TIM Peripheral.
* @param None
* @retval None
*/
static void TIM4_Config(void)
{
/* -----------------------------------------------------------------------
TIM4 Configuration: Output Compare Timing Mode:
In this example TIM4 input clock (TIM4CLK) is set to 2 * APB1 clock (PCLK1),
since APB1 prescaler is different from 1 (APB1 Prescaler = 4, see system_stm32f4xx.c file).
TIM4CLK = 2 * PCLK1
PCLK1 = HCLK / 4
=> TIM4CLK = 2*(HCLK / 4) = HCLK/2 = SystemCoreClock/2
To get TIM4 counter clock at 2 KHz, the prescaler is computed as follows:
Prescaler = (TIM4CLK / TIM4 counter clock) - 1
Prescaler = (84 MHz/(2 * 2 KHz)) - 1 = 41999
To get TIM4 output clock at 1 Hz, the period (ARR)) is computed as follows:
ARR = (TIM4 counter clock / TIM4 output clock) - 1
= 1999
TIM4 Channel1 duty cycle = (TIM4_CCR1/ TIM4_ARR)* 100 = 50%
TIM4 Channel2 duty cycle = (TIM4_CCR2/ TIM4_ARR)* 100 = 50%
TIM4 Channel3 duty cycle = (TIM4_CCR3/ TIM4_ARR)* 100 = 50%
TIM4 Channel4 duty cycle = (TIM4_CCR4/ TIM4_ARR)* 100 = 50%
==> TIM4_CCRx = TIM4_ARR/2 = 1000 (where x = 1, 2, 3 and 4).
----------------------------------------------------------------------- */
/* Compute the prescaler value */
PrescalerValue = (uint16_t) ((SystemCoreClock /2) / 2000) - 1;
/* Time base configuration */
htim4.Instance = TIM4;
htim4.Init.Period = TIM_ARR;
htim4.Init.Prescaler = PrescalerValue;
htim4.Init.ClockDivision = 0;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
if(HAL_TIM_PWM_Init(&htim4) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* TIM PWM1 Mode configuration: Channel */
/* Output Compare Timing Mode configuration: Channel1 */
sConfigTim4.OCMode = TIM_OCMODE_PWM1;
sConfigTim4.OCIdleState = TIM_CCx_ENABLE;
sConfigTim4.Pulse = TIM_CCR;
sConfigTim4.OCPolarity = TIM_OCPOLARITY_HIGH;
/* Output Compare PWM1 Mode configuration: Channel1 */
if(HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigTim4, TIM_CHANNEL_1) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Output Compare PWM1 Mode configuration: Channel2 */
if(HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigTim4, TIM_CHANNEL_2) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Output Compare PWM1 Mode configuration: Channel3 */
if(HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigTim4, TIM_CHANNEL_3) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Output Compare PWM1 Mode configuration: Channel4 */
if(HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigTim4, TIM_CHANNEL_4) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
}
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();
}
/* TIM1 init function */
static void MX_TIM1_Init(void)
{
TIM_ClockConfigTypeDef sClockSourceConfig;
TIM_MasterConfigTypeDef sMasterConfig;
TIM_OC_InitTypeDef sConfigOC;
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;
htim1.Instance = TIM1;
htim1.Init.Prescaler = 0;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 5;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0;
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 3;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
sBreakDeadTimeConfig.DeadTime = 0;
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
{
Error_Handler();
}
HAL_TIM_MspPostInit(&htim1);
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/* STM32F3xx HAL library initialization:
- Configure the Flash prefetch
- Systick timer is configured by default as source of time base, but user
can eventually implement his proper time base source (a general purpose
timer for example or other time source), keeping in mind that Time base
duration should be kept 1ms since PPP_TIMEOUT_VALUEs are defined and
handled in milliseconds basis.
- Set NVIC Group Priority to 4
- Low Level Initialization
*/
HAL_Init();
/* Configure LED3 */
BSP_LED_Init(LED3);
/* Configure the system clock to have a system clock = 72 Mhz */
SystemClock_Config();
/*##-1- Configure the TIM peripheral #######################################*/
/* ---------------------------------------------------------------------------
TIM8 is configured to generate an Asymetric signal with a programmable
Phase-Shifted signal on TIM8_CH2:
- TIM8 Channel 1 is configured in PWM2 mode
- TIM8 Channel 2 is configured in Asymetric PWM2 mode
- The counter mode is center aligned mode
- The pulse length and the phase shift are programmed consecutively in TIM8_CCR2 and TIM8_CCR1.
TIM1 is configured to generating the reference signal on Channel1 used by TIM8:
- TIM1 is generating a PWM signal with frequency equal to 1.636KHz
- TIM1 is used as master for TIM8, the update event of TIM1 genarates the Reset counter
of TIM8 to synchronize the two signals: the reference signal (TIM1_CH1) and
the shifted signal (TIM8_CH2).
In this example TIM1 and TIM8 input clock (TIM18CLK) is set to APB2 clock (PCLK2)
TIM1 and TIM8 signals are at frequency of (SystemCoreClock / (PWM_FREQUENCY + 1))
TIM8 is gerating a signal with the following caracteristics:
- Pulse lenght = (TIM8_CCR1 + TIM8_CCR2) / TIM8_CLK
- Phase shift = TIM8_CCR1/TIM8_CLK
with TIM8_CLK = (SystemCoreClock / (Period + 1)), as the prescaler is equal to zero.
Note:
SystemCoreClock variable holds HCLK frequency and is defined in system_stm32f3xx.c file.
Each time the core clock (HCLK) changes, user had to update SystemCoreClock
variable value. Otherwise, any configuration based on this variable will be incorrect.
This variable is updated in three ways:
1) by calling CMSIS function SystemCoreClockUpdate()
2) by calling HAL API function HAL_RCC_GetSysClockFreq()
3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
--------------------------------------------------------------------------- */
/* Initialize Timers: TIM1 & TIM8 */
TimHandle.Instance = TIM1;
TimHandle.Init.Prescaler = 0;
TimHandle.Init.Period = 2 * PWM_FREQUENCY;
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimHandle.Init.RepetitionCounter = 0;
if(HAL_TIM_PWM_Init(&TimHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
TimHandle.Instance = TIM8;
TimHandle.Init.Prescaler = 0;
TimHandle.Init.Period = PWM_FREQUENCY;
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1;
TimHandle.Init.RepetitionCounter = 0;
if(HAL_TIM_PWM_Init(&TimHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/*##-2- Configure the PWM channels #########################################*/
/* Channels 1&2 configuration on TIM8 */
TimHandle.Instance = TIM8;
sConfig.OCMode = TIM_OCMODE_PWM2;
sConfig.Pulse = INITIAL_PHASE;
sConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfig.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sConfig.OCFastMode = TIM_OCFAST_DISABLE;
sConfig.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfig.OCNIdleState = TIM_OCNIDLESTATE_RESET;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
sConfig.OCMode = TIM_OCMODE_ASSYMETRIC_PWM2;
sConfig.Pulse = INITIAL_LENGTH;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_2) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Channel1 configuration on TIM1 */
TimHandle.Instance = TIM1;
sConfig.OCMode = TIM_OCMODE_PWM1;
sConfig.Pulse = PWM_FREQUENCY;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*##-3- Configure master/slave mode and trigger ############################*/
/* Synchronization between TIM1 and TIM8
The aim is to generate a reference signal on TIM1_CH1
The Phase-Shifted signal generated on TIM8_CH2 is compared to the reference
signal */
/* Configure TIM8 in slave mode: an active edge on trigger input generates a
reset on TIM8 */
TimHandle.Instance = TIM8;
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_RESET;
sSlaveConfig.InputTrigger = TIM_TS_ITR0;
if(HAL_TIM_SlaveConfigSynchronization(&TimHandle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM1 in master mode */
TimHandle.Instance = TIM1;
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if(HAL_TIMEx_MasterConfigSynchronization(&TimHandle, &sMasterConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*##-4- Start PWM signals generation #######################################*/
/* Start TIM1 channel 1 */
TimHandle.Instance = TIM1;
if(HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* PWM Generation Error */
Error_Handler();
}
/* Start TIM8 channel 1 */
TimHandle.Instance = TIM8;
if(HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* PWM Generation Error */
Error_Handler();
}
/* Start TIM8 channel 2 */
TimHandle.Instance = TIM8;
if(HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_2) != HAL_OK)
{
/* PWM Generation Error */
Error_Handler();
}
while (1)
{
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/* STM32F3xx HAL library initialization:
- Configure the Flash prefetch
- Systick timer is configured by default as source of time base, but user
can eventually implement his proper time base source (a general purpose
timer for example or other time source), keeping in mind that Time base
duration should be kept 1ms since PPP_TIMEOUT_VALUEs are defined and
handled in milliseconds basis.
- Set NVIC Group Priority to 4
- Low Level Initialization
*/
HAL_Init();
/* Configure LED3 */
BSP_LED_Init(LED3);
/* Configure the system clock to have a system clock = 72 Mhz */
SystemClock_Config();
/* Compute the prescaler value to have TIM3 counter clock equal to 24 MHz */
uhPrescalerValue = (uint32_t) (SystemCoreClock / 24000000) - 1;
/*##-1- Configure the TIM peripheral #######################################*/
/* -----------------------------------------------------------------------
TIM3 Configuration: generate 4 PWM signals with 4 different duty cycles.
In this example TIM3 input clock (TIM3CLK) is set to 2 * APB1 clock (PCLK1),
since APB1 prescaler is different from 1.
TIM3CLK = 2 * PCLK1
PCLK1 = HCLK / 2
=> TIM3CLK = HCLK = SystemCoreClock
To get TIM3 counter clock at 24 MHz, the prescaler is computed as follows:
Prescaler = (TIM3CLK / TIM3 counter clock) - 1
Prescaler = (SystemCoreClock /24 MHz) - 1
To get TIM3 output clock at 36 KHz, the period (ARR)) is computed as follows:
ARR = (TIM3 counter clock / TIM3 output clock) - 1
= 665
TIM3 Channel1 duty cycle = (TIM3_CCR1/ TIM3_ARR)* 100 = 50%
TIM3 Channel2 duty cycle = (TIM3_CCR2/ TIM3_ARR)* 100 = 37.5%
TIM3 Channel3 duty cycle = (TIM3_CCR3/ TIM3_ARR)* 100 = 25%
TIM3 Channel4 duty cycle = (TIM3_CCR4/ TIM3_ARR)* 100 = 12.5%
Note:
SystemCoreClock variable holds HCLK frequency and is defined in system_stm32f3xx.c file.
Each time the core clock (HCLK) changes, user had to update SystemCoreClock
variable value. Otherwise, any configuration based on this variable will be incorrect.
This variable is updated in three ways:
1) by calling CMSIS function SystemCoreClockUpdate()
2) by calling HAL API function HAL_RCC_GetSysClockFreq()
3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
----------------------------------------------------------------------- */
/* Initialize TIMx peripheral as follows:
+ Prescaler = (SystemCoreClock/24000000) - 1
+ Period = 665
+ ClockDivision = 0
+ Counter direction = Up
*/
TimHandle.Instance = TIMx;
TimHandle.Init.Prescaler = uhPrescalerValue;
TimHandle.Init.Period = PERIOD_VALUE;
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
if(HAL_TIM_PWM_Init(&TimHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/*##-2- Configure the PWM channels #########################################*/
/* Common configuration for all channels */
sConfig.OCMode = TIM_OCMODE_PWM1;
sConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfig.OCFastMode = TIM_OCFAST_DISABLE;
/* Set the pulse value for channel 1 */
sConfig.Pulse = PULSE1_VALUE;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Set the pulse value for channel 2 */
sConfig.Pulse = PULSE2_VALUE;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_2) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Set the pulse value for channel 3 */
sConfig.Pulse = PULSE3_VALUE;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_3) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Set the pulse value for channel 4 */
sConfig.Pulse = PULSE4_VALUE;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_4) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*##-3- Start PWM signals generation #######################################*/
/* Start channel 1 */
if(HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* PWM Generation Error */
Error_Handler();
}
/* Start channel 2 */
if(HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_2) != HAL_OK)
{
/* PWM Generation Error */
Error_Handler();
}
/* Start channel 3 */
if(HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_3) != HAL_OK)
{
/* PWM Generation Error */
Error_Handler();
}
/* Start channel 4 */
if(HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_4) != HAL_OK)
{
/* PWM Generation Error */
Error_Handler();
}
while (1)
{
}
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Configure the Systick to generate an interrupt each 1 msec
- Set NVIC Group Priority to 4
- Global MSP (MCU Support Package) initialization
*/
HAL_Init();
/* Configure the system clock to 168 MHz */
SystemClock_Config();
/* Configure LED3 */
BSP_LED_Init(LED3);
/* Compute the Timer period to generate a signal frequency at 17.57 Khz */
uwPeriod = (SystemCoreClock / 17570 ) - 1;
/* Compute Pulse1 value to generate a duty cycle at 50% for channel 1 and 1N */
uwPulse1 = (5 * (uwPeriod - 1)) / 10;
/* Compute Pulse2 value to generate a duty cycle at 37.5% for channel 2 and 2N */
uwPulse2 = (375 * (uwPeriod - 1)) / 1000;
/* Compute Pulse3 value to generate a duty cycle at 25% for channel 3 and 3N */
uwPulse3 = (25 * (uwPeriod - 1)) / 100;
/* Compute Pulse4 value to generate a duty cycle at 12.5% for channel 4 */
uwPulse4 = (125 * (uwPeriod- 1)) / 1000;
/*##-1- Configure the TIM peripheral #######################################*/
/*----------------------------------------------------------------------------
Generate 7 PWM signals with 4 different duty cycles:
TIM1 input clock (TIM1CLK) is set to 2 * APB2 clock (PCLK2), since APB2
prescaler is different from 1.
TIM1CLK = 2 * PCLK2
PCLK2 = HCLK / 2
=> TIM1CLK = 2 * (HCLK / 2) = HCLK = SystemCoreClock
TIM1CLK = SystemCoreClock, Prescaler = 0, TIM1 counter clock = SystemCoreClock
SystemCoreClock is set to 168 MHz for STM32F4xx devices
The objective is to generate 7 PWM signal at 17.57 KHz:
- TIM1_Period = (SystemCoreClock / 17570) - 1
The channel 1 and channel 1N duty cycle is set to 50%
The channel 2 and channel 2N duty cycle is set to 37.5%
The channel 3 and channel 3N duty cycle is set to 25%
The channel 4 duty cycle is set to 12.5%
The Timer pulse is calculated as follows:
- ChannelxPulse = DutyCycle * (TIM1_Period - 1) / 100
Note:
SystemCoreClock variable holds HCLK frequency and is defined in system_stm32f4xx.c file.
Each time the core clock (HCLK) changes, user had to call SystemCoreClockUpdate()
function to update SystemCoreClock variable value. Otherwise, any configuration
based on this variable will be incorrect.
----------------------------------------------------------------------- */
/* Initialize TIMx peripheral as follow:
+ Prescaler = 0
+ Period = uwPeriod (to have an output frequency equal to 17.57 KHz)
+ ClockDivision = 0
+ Counter direction = Up
*/
TimHandle.Instance = TIM1;
TimHandle.Init.Period = uwPeriod;
TimHandle.Init.Prescaler = 0;
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimHandle.Init.RepetitionCounter = 0;
if(HAL_TIM_PWM_Init(&TimHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/*##-2- Configure the PWM channels #########################################*/
/* Common configuration for all channels */
sConfig.OCMode = TIM_OCMODE_PWM2;
sConfig.OCFastMode = TIM_OCFAST_DISABLE;
sConfig.OCPolarity = TIM_OCPOLARITY_LOW;
sConfig.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sConfig.OCIdleState = TIM_OCIDLESTATE_SET;
sConfig.OCNIdleState= TIM_OCNIDLESTATE_RESET;
/* Set the pulse value for channel 1 */
sConfig.Pulse = uwPulse1;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Set the pulse value for channel 2 */
sConfig.Pulse = uwPulse2;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_2) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Set the pulse value for channel 3 */
sConfig.Pulse = uwPulse3;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_3) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Set the pulse value for channel 4 */
sConfig.Pulse = uwPulse4;
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_4) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*##-3- Start PWM signals generation #######################################*/
/* Start channel 1 */
if(HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Start channel 1N */
if(HAL_TIMEx_PWMN_Start(&TimHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Start channel 2 */
if(HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_2) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Start channel 2N */
if(HAL_TIMEx_PWMN_Start(&TimHandle, TIM_CHANNEL_2) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Start channel 3 */
if(HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_3) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Start channel 3N */
if(HAL_TIMEx_PWMN_Start(&TimHandle, TIM_CHANNEL_3) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Start channel 4 */
if(HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_4) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Infinite loop */
while (1)
{
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch
- Systick timer is configured by default as source of time base, but user
can eventually implement his proper time base source (a general purpose
timer for example or other time source), keeping in mind that Time base
duration should be kept 1ms since PPP_TIMEOUT_VALUEs are defined and
handled in milliseconds basis.
- Set NVIC Group Priority to 4
- Low Level Initialization
*/
HAL_Init();
/* Configure the system clock to 180 MHz */
SystemClock_Config();
/* Configure LED3 */
BSP_LED_Init(LED3);
/* Timers Configuration */
/* ---------------------------------------------------------------------------
TIM1 and Timers(TIM3 and TIM4) synchronisation in parallel mode.
1/TIM1 is configured as Master Timer:
- PWM Mode is used
- The TIM1 Update event is used as Trigger Output
2/TIM3 and TIM4 are slaves for TIM1,
- PWM Mode is used
- The ITR0(TIM1) is used as input trigger for both slaves
- Gated mode is used, so starts and stops of slaves counters
are controlled by the Master trigger output signal(update event).
In this example TIM1 input clock (TIM1CLK) is set to 2 * APB2 clock (PCLK2),
since APB2 prescaler is different from 1.
TIM1CLK = 2 * PCLK2
PCLK2 = HCLK / 2
=> TIM1CLK = HCLK = SystemCoreClock
The TIM1 counter clock is equal to SystemCoreClock = 180 MHz.
The Master Timer TIM1 is running at:
TIM1 frequency = TIM1 counter clock / (TIM1_Period + 1) = 703.125 KHz
TIM1_Period = (TIM1 counter clock / TIM1 frequency) - 1 = 182
and the duty cycle is equal to: TIM1_CCR1/(TIM1_ARR + 1) = 50%
The TIM3 is running at:
(TIM1 frequency)/ ((TIM3 period +1)* (Repetition_Counter+1)) = 46.875 KHz and
a duty cycle equal to TIM3_CCR1/(TIM3_ARR + 1) = 33.3%
The TIM4 is running at:
(TIM1 frequency)/ ((TIM4 period +1)* (Repetition_Counter+1)) = 70.312 KHz and
a duty cycle equal to TIM4_CCR1/(TIM4_ARR + 1) = 50%
Note:
SystemCoreClock variable holds HCLK frequency and is defined in SystemClock_Config().
Each time the core clock (HCLK) changes, user had to update SystemCoreClock
variable value. Otherwise, any configuration based on this variable will be incorrect.
This variable is updated in three ways:
1) by calling CMSIS function SystemCoreClockUpdate()
2) by calling HAL API function HAL_RCC_GetSysClockFreq()
3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
--------------------------------------------------------------------------- */
/* Set Timers instance */
TimMasterHandle.Instance = TIM1;
TimSlave1Handle.Instance = TIM3;
TimSlave2Handle.Instance = TIM4;
/*====================== Master configuration : TIM1 =======================*/
/* Initialize TIM1 peripheral in PWM mode*/
TimMasterHandle.Init.Period = 255;
TimMasterHandle.Init.Prescaler = 0;
TimMasterHandle.Init.ClockDivision = 0;
TimMasterHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimMasterHandle.Init.RepetitionCounter = 4;
if (HAL_TIM_PWM_Init(&TimMasterHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the PWM_channel_1 */
sOCConfig.OCMode = TIM_OCMODE_PWM1;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sOCConfig.Pulse = 127;
sOCConfig.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sOCConfig.OCFastMode = TIM_OCFAST_DISABLE;
sOCConfig.OCIdleState = TIM_OCIDLESTATE_RESET;
sOCConfig.OCNIdleState = TIM_OCNIDLESTATE_RESET;
if (HAL_TIM_PWM_ConfigChannel(&TimMasterHandle, &sOCConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM1 as master & use the update event as Trigger Output (TRGO) */
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&TimMasterHandle, &sMasterConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*================== End of Master configuration : TIM1 ====================*/
/*====================== Slave1 configuration : TIM3 =======================*/
/* Initialize TIM3 peripheral in PWM mode*/
TimSlave1Handle.Init.Period = 2;
TimSlave1Handle.Init.Prescaler = 0;
TimSlave1Handle.Init.ClockDivision = 0;
TimSlave1Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimSlave1Handle.Init.RepetitionCounter = 0;
if (HAL_TIM_PWM_Init(&TimSlave1Handle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the PWM_channel_1 */
sOCConfig.OCMode = TIM_OCMODE_PWM1;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sOCConfig.Pulse = 1;
if (HAL_TIM_PWM_ConfigChannel(&TimSlave1Handle, &sOCConfig, TIM_CHANNEL_1) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM3 in Gated slave mode &
use the Internal Trigger 0 (ITR0) as trigger source */
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_GATED;
sSlaveConfig.InputTrigger = TIM_TS_ITR0;
sSlaveConfig.TriggerPolarity = TIM_TRIGGERPOLARITY_NONINVERTED;
sSlaveConfig.TriggerPrescaler = TIM_TRIGGERPRESCALER_DIV1;
sSlaveConfig.TriggerFilter = 0;
if (HAL_TIM_SlaveConfigSynchronization(&TimSlave1Handle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*================== End of Slave1 configuration : TIM3 ====================*/
/*====================== Slave2 configuration : TIM4 =======================*/
/* Initialize TIM4 peripheral in PWM mode*/
TimSlave2Handle.Init.Period = 1;
TimSlave2Handle.Init.Prescaler = 0;
TimSlave2Handle.Init.ClockDivision = 0;
TimSlave2Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimSlave2Handle.Init.RepetitionCounter = 0;
if (HAL_TIM_PWM_Init(&TimSlave2Handle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the PWM_channel_3 */
sOCConfig.OCMode = TIM_OCMODE_PWM1;
sOCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sOCConfig.Pulse = 1;
if (HAL_TIM_PWM_ConfigChannel(&TimSlave2Handle, &sOCConfig, TIM_CHANNEL_3) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/* Configure TIM3 in Gated slave mode &
use the Internal Trigger 0 (ITR0) as trigger source */
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_GATED;
sSlaveConfig.InputTrigger = TIM_TS_ITR0;
if (HAL_TIM_SlaveConfigSynchronization(&TimSlave2Handle, &sSlaveConfig) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*================== End of Slave2 configuration : TIM4 ====================*/
/* Start Master PWM generation */
if (HAL_TIM_PWM_Start(&TimMasterHandle, TIM_CHANNEL_1) != HAL_OK)
{
/* PWM generation Error */
Error_Handler();
}
/* Start Slave1 PWM generation */
if (HAL_TIM_PWM_Start(&TimSlave1Handle, TIM_CHANNEL_1) != HAL_OK)
{
/* PWM generation Error */
Error_Handler();
}
/* Start Slave2 PWM generation */
if (HAL_TIM_PWM_Start(&TimSlave2Handle, TIM_CHANNEL_3) != HAL_OK)
{
/* PWM generation Error */
Error_Handler();
}
while (1)
{
}
}
