void setStatusLED(Led_status status)
{
current_led_status = status;
switch(status){
case SYSTEM_LED_ALLWAYS_OFF:
TIM_Cmd(TIM3, DISABLE);
TIM_ForcedOC2Config(TIM3, TIM_ForcedAction_InActive);
break;
case SYSTEM_LED_ALLWAYS_ON:
TIM_Cmd(TIM3, DISABLE);
TIM_ForcedOC2Config(TIM3, TIM_ForcedAction_Active);
break;
case SYSTEM_LED_TWINKLE_EASYLINK:
TIM_OC2Init(TIM3, &TIM_OCInitStructure);
TIM_SetCounter(TIM3, 0);
TIM_Cmd(TIM3, ENABLE);
break;
case SYSTEM_LED_TWINKLE_WPS:
TIM_OC2Init(TIM3, &TIM_OCInitStructure);
TIM_SetCounter(TIM3, 0);
TIM_Cmd(TIM3, ENABLE);
break;
default:
TIM_Cmd(TIM3, DISABLE);
TIM_ForcedOC2Config(TIM3, TIM_ForcedAction_InActive);
break;
}
}
void TIM1_Mode_Init(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_BDTRInitTypeDef TIM_BDTRInitStructure;
/*定时器初始化*/
Channel1Pulse = 0;//初始化，没有任何pwm输出
Channel2Pulse = 0;
TIM_TimeBaseStructure.TIM_Prescaler = 12; //设置用来作为TIM 时钟频率除数的预分频值
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //计数器模式 /* 向上计数模式 */
TIM_TimeBaseStructure.TIM_Period = 999; //自动重装载寄存器周期的值
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //时钟分割 不分频
// TIM_TimeBaseStructure.TIM_RepetitionCounter = 0; //设置 周期 计数值
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure);
/*TIM1 配置*/
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //脉冲宽度调制模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //使能输出比较状态
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable; //使能 互补 输出状态
TIM_OCInitStructure.TIM_Pulse = Channel1Pulse; //给1通道填入初始值
TIM_OCInitStructure.TIM_Pulse = Channel2Pulse; //给2通道填入初始值
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出比较极性低
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;//互补 输出极性低
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set; //MOE=0 设置 TIM1输出比较空闲状态
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;//MOE=0 重置 TIM1输出比较空闲状态
// TIM_OCInitStructure.TIM_Pulse = Channel2Pulse; //给2通道填入初始值
TIM_OC1Init(TIM1, &TIM_OCInitStructure);//设定1通道好的参数 初始化TIM
TIM_OC1Init(TIM8, &TIM_OCInitStructure);//设定1通道好的参数 初始化TIM
TIM_OC2Init(TIM1, &TIM_OCInitStructure);//初始化
TIM_OC2Init(TIM8, &TIM_OCInitStructure);//初始化
/*设置刹车特性 死区时间 锁电平 OSSI OSSR 状态 AOE(自动输出使能)*/
TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable; //设置在运行模式下 非工作状态选项 OSSR
TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable; //设置在运行模式下 非工作状态选项 OSSI
TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_1; //使用锁电平1
TIM_BDTRInitStructure.TIM_DeadTime = 80; //指定了输出和打开 关闭状态之间的延时 约 400ns
TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Enable;//自动输出功能使能
TIM_BDTRConfig(TIM1, &TIM_BDTRInitStructure); //初始化设定好的参数
TIM_BDTRConfig(TIM8, &TIM_BDTRInitStructure); //初始化设定好的参数
/* TIM1 counter enable */
TIM_Cmd(TIM1, ENABLE);
TIM_Cmd(TIM8, ENABLE);
/* Main Output Enable */
TIM_CtrlPWMOutputs(TIM1, ENABLE);
TIM_CtrlPWMOutputs(TIM8, ENABLE);
}
void vLedSetDuty(LedState_t state, int32_t duty)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_Cmd(TIM2, DISABLE);
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = 400;
TIM_TimeBaseStructure.TIM_Prescaler = (uint16_t) (SystemCoreClock / 24000000) - 1;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
/* PWM1 Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = duty<<2;
if (TIM_OCInitStructure.TIM_Pulse>TIM_TimeBaseStructure.TIM_Period)
TIM_OCInitStructure.TIM_Pulse=TIM_TimeBaseStructure.TIM_Period-1;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
if (state==LedState_White)
{
TIM_OC1Init(TIM2, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_OC2Init(TIM2, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_OC3Init(TIM2, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable);
}
else if (state==LedState_Green)
{
TIM_OC1Init(TIM2, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);
}
else if (state==LedState_Red)
{
TIM_OC2Init(TIM2, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);
}
else if (state==LedState_Blue)
{
TIM_OC3Init(TIM2, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable);
}
TIM_ARRPreloadConfig(TIM2, ENABLE);
/* TIM3 enable counter */
TIM_Cmd(TIM2, ENABLE);
}
void pwm::setControlRegister(uint8_t registerNum, TIM_TypeDef* timer)
{
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //sets the timer to output pwm signals
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_Pulse = 0;
if(registerNum == 1)
{
TIM_OC1Init(timer, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(timer, TIM_OCPreload_Enable);
}
else if(registerNum == 2)
{
TIM_OC2Init(timer, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(timer, TIM_OCPreload_Enable);
}
else if(registerNum == 3)
{
TIM_OC3Init(timer, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(timer, TIM_OCPreload_Enable);
}
else if(registerNum == 4)
{
TIM_OC4Init(timer, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(timer, TIM_OCPreload_Enable);
}
}
void TIM9_Configuration(void)
{
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
/* Time base configuration - SystemCoreClock = 168000000 for 168 MHz board */
TIM_TimeBaseStructure.TIM_Prescaler = (uint16_t) (((SystemCoreClock / 1000000)) - 1); // Shooting for 1 MHz, (1us)
TIM_TimeBaseStructure.TIM_Period = 20000 - 1; // 1 MHz / 20000 = 50 Hz (20ms)
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM9, &TIM_TimeBaseStructure);
/* Enable TIM4 Preload register on ARR */
TIM_ARRPreloadConfig(TIM9, ENABLE);
/* TIM PWM1 Mode configuration: Channel */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 1500; // Servo Top-Center
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
/* Output Compare PWM1 Mode configuration: Channel1 PD.12 */
TIM_OC1Init(TIM9, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM9, TIM_OCPreload_Enable);
/* Output Compare PWM1 Mode configuration: Channel2 PD.13 */
TIM_OC2Init(TIM9, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM9, TIM_OCPreload_Enable);
/* TIM Interrupts enable */
TIM_ITConfig(TIM9, TIM_IT_Update, ENABLE);
/* TIM4 enable counter */
TIM_Cmd(TIM9, ENABLE);
}
void PWM_Config(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
// Update_event = TIM_CLK/((PSC + 1)*(ARR + 1)*(RCR + 1))
// 10e3=64e6/(2*3200*1)
//10kHz
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_Prescaler= 1; //32Mz
TIM_TimeBaseStructure.TIM_Period=3200-1; //10kHz
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM4,&TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode=TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState=TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM4,&TIM_OCInitStructure);
TIM_OC2Init(TIM4,&TIM_OCInitStructure);
TIM_OC3Init(TIM4,&TIM_OCInitStructure);
TIM_OC4Init(TIM4,&TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM4,TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM4, ENABLE);
TIM_Cmd(TIM4, ENABLE);
}
void TIMER2_CH2_PWM_Init(int prescaler,int autoreload){
//USER LED / PB3 / TIM2_CH2 / AF1
RCC_AHBPeriphClockCmd(RCC_AHBENR_GPIOBEN ,ENABLE);
GPIO_InitTypeDef myGPIO;
GPIO_StructInit(&myGPIO);
myGPIO.GPIO_Pin=GPIO_Pin_3;
myGPIO.GPIO_Mode=GPIO_Mode_AF;
myGPIO.GPIO_Speed=GPIO_Speed_10MHz;
GPIO_Init(GPIOB,&myGPIO);
GPIO_PinAFConfig(GPIOB,GPIO_PinSource3,GPIO_AF_1);
//select the output mode by writing the CCS bits in the CCMRx register
//Timer time base configuration
RCC_APB1PeriphClockCmd(RCC_APB1ENR_TIM2EN,ENABLE);
TIM_TimeBaseInitTypeDef myTimeBase;
TIM_TimeBaseStructInit(&myTimeBase);
myTimeBase.TIM_CounterMode=TIM_CounterMode_Up;
myTimeBase.TIM_Period=autoreload;
myTimeBase.TIM_Prescaler=prescaler;
myTimeBase.TIM_ClockDivision= TIM_CKD_DIV1;
TIM_TimeBaseInit(TIM2,&myTimeBase);
//Timer capture compare configuration
TIM_OCInitTypeDef myTimerOC;
TIM_OCStructInit(&myTimerOC);
myTimerOC.TIM_OCMode=TIM_OCMode_PWM1;
myTimerOC.TIM_OCPolarity=TIM_OCPolarity_High;
myTimerOC.TIM_OutputState=TIM_OutputState_Enable;
myTimerOC.TIM_Pulse=autoreload;//0 Duty cycle at start
TIM_OC2Init(TIM2,&myTimerOC);
TIM_CCxCmd(TIM2,TIM_Channel_2,TIM_CCx_Enable);//enable CCP2
//start Timer
TIM_Cmd(TIM2,ENABLE);//Counter enabled
}
void RGBLED_Update(uint8_t RED_Val, uint8_t GREEN_Val, uint8_t BLUE_Val)
{
//printf("r: %x g: %x b:%x\n", RED_Val, GREEN_Val, BLUE_Val);
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCStructInit(&TIM_OCInitStructure);
/* PWM1 Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = GREEN_Val;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM3, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel2 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = BLUE_Val;
TIM_OC2Init(TIM3, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel3 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = RED_Val;
TIM_OC3Init(TIM3, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
}
/**TIM2选用没有重影像方式**/
void TIM2_Configuration(void)//TIMER INITIALIZATION
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
// GPIO_PinRemapConfig(_,_);//没有重映像
// TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
TIM_TimeBaseStructure.TIM_Period = 100-1;
TIM_TimeBaseStructure.TIM_Prescaler =36-1;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
// TIM_ITConfig(TIM3,TIM_IT_Update,ENABLE);//定时器中断
//PWM初始化
TIM_OCInitStructure.TIM_OCMode=TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState=TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity=TIM_OCPolarity_High;
TIM_OC1Init(TIM2,&TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM2,TIM_OCPreload_Enable);//使能预装载寄存器
TIM_OC2Init(TIM2,&TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM2,TIM_OCPreload_Enable);//使能预装载寄存器
TIM_OC3Init(TIM2,&TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM2,TIM_OCPreload_Enable);//使能预装载寄存器
TIM_OC4Init(TIM2,&TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM2,TIM_OCPreload_Enable);//使能预装载寄存器
TIM_Cmd(TIM2,ENABLE);
}
void TIM3_PWM_Init( void )
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB1PeriphClockCmd( RCC_APB1Periph_TIM3, ENABLE );
RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB, ENABLE );
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init( GPIOA, &GPIO_InitStructure );
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_Init( GPIOB, &GPIO_InitStructure );
/* ------------------------------------------------------------
* TIM3 Configuration: generate 4 PWM signals with 4 different duty cycles:
* TIM3CLK = 72 MHz, Prescaler = 0x0, TIM3 counter clock = 72 MHz
* TIM3 ARR Register = 999 => TIM3 Frequency = TIM3 counter clock/(ARR + 1)
* TIM3 Frequency = 72 KHz.
* 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%
* ------------------------------------------------------------- */
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = PWM_ARR;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit( TIM3, &TIM_TimeBaseStructure );
TIM_ARRPreloadConfig( TIM3, ENABLE );
TIM_Cmd( TIM3, ENABLE );
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OC1Init( TIM3, &TIM_OCInitStructure );
TIM_OC1PreloadConfig( TIM3, TIM_OCPreload_Enable );
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OC2Init( TIM3, &TIM_OCInitStructure );
TIM_OC2PreloadConfig( TIM3, TIM_OCPreload_Enable );
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OC3Init( TIM3, &TIM_OCInitStructure );
TIM_OC3PreloadConfig( TIM3, TIM_OCPreload_Enable );
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OC4Init( TIM3, &TIM_OCInitStructure );
TIM_OC4PreloadConfig( TIM3, TIM_OCPreload_Enable );
}
/**
* @brief Configure the TIM4 parameters
*/
void PWM_TIM(void){
/* Compute the prescaler value */
//SystemCoreClock max value is 72MHz for TIM4
PrescalerValue_t = 72-1;
Period = 20000-1;
/* Time base configuration for TIM4 */
TIM_TimeBaseStructure.TIM_Period = Period;
TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue_t;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //Set the ouput compare structure mode to PWM1
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 1500;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
/* PWM1 Mode configuration: Channels 1 and 2 */
TIM_OC1Init(TIM4, &TIM_OCInitStructure);
TIM_OC2Init(TIM4, &TIM_OCInitStructure);
/* TIM4 enable counter */
TIM_Cmd(TIM4, ENABLE);
TIM_CtrlPWMOutputs(TIM4, ENABLE);
TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);
}
void Rilma_t::Init() {
// ==== GPIO ====
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);
// ==== Timer4 as PWM ====
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructure.TIM_Period = 255;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
// ==== PWM outputs ====
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
// Init channels
#ifdef CHANNEL1_ENABLE
TIM_OC1Init(TIM4, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);
#endif
#ifdef CHANNEL2_ENABLE
TIM_OC2Init(TIM4, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);
#endif
#ifdef CHANNEL3_ENABLE
TIM_OC3Init(TIM4, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_OC4Init(TIM4, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable);
#endif
TIM_ARRPreloadConfig(TIM4, ENABLE); // Enable autoreload of preload
}
static void configBeeperPWMTimer(const beeperDevConfig_t *config)
{
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = (1000000 / BEEPER_PWM_FREQUENCY) * 50 / 100; // 50% duty cycle
TIM_OCInitStructure.TIM_OCPolarity = config->isInverted ? TIM_OCPolarity_High : TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_OCIdleState = config->isInverted ? TIM_OCIdleState_Reset : TIM_OCIdleState_Set;
configTimeBase(BEEPER_PWM_TIMER, 1000000 / BEEPER_PWM_FREQUENCY, PWM_TIMER_MHZ);
TIM_Cmd(BEEPER_PWM_TIMER, ENABLE);
switch (BEEPER_PWM_TIMER_CH) {
case TIM_Channel_1:
TIM_OC1Init(BEEPER_PWM_TIMER, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(BEEPER_PWM_TIMER, TIM_OCPreload_Enable);
break;
case TIM_Channel_2:
TIM_OC2Init(BEEPER_PWM_TIMER, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(BEEPER_PWM_TIMER, TIM_OCPreload_Enable);
break;
case TIM_Channel_3:
TIM_OC3Init(BEEPER_PWM_TIMER, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(BEEPER_PWM_TIMER, TIM_OCPreload_Enable);
break;
case TIM_Channel_4:
TIM_OC4Init(BEEPER_PWM_TIMER, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(BEEPER_PWM_TIMER, TIM_OCPreload_Enable);
break;
}
TIM_CtrlPWMOutputs(BEEPER_PWM_TIMER, DISABLE);
}
void PWM_Config(void)
{
/* Configure PWM mode for TIM4 Channels 1->4*/
TIM_OCInitTypeDef TIM_OCInitStructure;
/* PWM Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM4, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM4, ENABLE);
//3 other channels
TIM_OC2Init(TIM4, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_OC3Init(TIM4, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_OC4Init(TIM4, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable);
/* TIM4 enable counter */
TIM_Cmd(TIM4, ENABLE);
}
static void Holder_PWM_Init()
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB_HOLDER_TIM, ENABLE);
/* time base --> all pwm's period and prescaler */
TIM_TimeBaseStructure.TIM_Period = HOLDER_PERIOD;
TIM_TimeBaseStructure.TIM_Prescaler = HOLDER_PRESCALER - 1;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Down;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(HOLDER_TIM, &TIM_TimeBaseStructure);
TIM_ARRPreloadConfig(HOLDER_TIM,ENABLE);
/* output channel --> every pwm's pulse */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
/* channel 1 --> holder vertical */
TIM_OCInitStructure.TIM_Pulse = HOLDER_V_PULSE_INIT;
TIM_OC1Init(HOLDER_TIM, &TIM_OCInitStructure);
TIM_OC1PolarityConfig(HOLDER_TIM, TIM_OCPreload_Enable);
/* channel 2 --> holder horizontal */
TIM_OCInitStructure.TIM_Pulse = HOLDER_H_PULSE_INIT;
TIM_OC2Init(HOLDER_TIM, &TIM_OCInitStructure);
TIM_OC2PolarityConfig(HOLDER_TIM, TIM_OCPreload_Enable);
/* enable holder's pwm module */
TIM_Cmd(HOLDER_TIM, ENABLE);
}
void initPWM() {
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
/* PWM1 Mode configuration: Channel1 (GPIOD Pin 12)*/
TIM_OC1Init(TIM4, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel2 (GPIOD Pin 13)*/
TIM_OC2Init(TIM4, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel3 (GPIOD Pin 14)*/
TIM_OC3Init(TIM4, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel4 (GPIOD Pin 15)*/
TIM_OC4Init(TIM4, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_Cmd(TIM4, ENABLE);
}
/****************************************************************************************
** 函数名称: LEDInit
** 功能描述: LED 指示灯管脚初始化函数
** 参 数: none
** 返 回 值: none
** 作 者: Sevent
** 日 期: 2013年08月13日
**---------------------------------------------------------------------------------------
** 修 改 人:
** 日 期:
**--------------------------------------------------------------------------------------
****************************************************************************************/
void LEDInit(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
uint16_t PrescalerValue;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
PrescalerValue = (uint16_t) (SystemCoreClock /2/10000) - 1;
/* 配置PB7 为指示的LED */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* 配置PC7 为指示的LED, 由TIMER8驱动 */
GPIO_PinAFConfig(GPIOC, GPIO_PinSource7, GPIO_AF_TIM3);
/* Configure green led as output */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOC, &GPIO_InitStructure);
/* Enable the TIM8 global Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
PrescalerValue = (uint16_t) (SystemCoreClock /2/10000) - 1;
/* Time base configuration */
TIM_DeInit(TIM3);
TIM_TimeBaseStructure.TIM_Period = 65535;
TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
/* Output Compare Toggle Mode configuration: Channel2 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Toggle;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 100;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC2Init(TIM3, &TIM_OCInitStructure);
/* TIM enable counter */
//TIM_Cmd(TIM3, ENABLE);
/* TIM IT enable */
TIM_ITConfig(TIM3, TIM_IT_CC2, ENABLE);
}
void modbus_rtu_driver__delay_timer__init(void) {
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_TimeBaseStructure.TIM_Period = 65535;
TIM_TimeBaseStructure.TIM_Prescaler = MODBUS_RTU_DRIVER__DELAY_TIMER__PRESCALER;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Inactive;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = MODBUS_RTU_DRIVER__DELAY_TIMER__T15_VALUE;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM2, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Disable);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Inactive;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = MODBUS_RTU_DRIVER__DELAY_TIMER__T35_VALUE;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC2Init(TIM2, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Disable);
TIM_ARRPreloadConfig(TIM2, ENABLE);
/* TIM IT enable */
TIM_ITConfig(TIM2, TIM_IT_CC1 | TIM_IT_CC2, ENABLE);
/* TIM2 enable counter */
TIM_Cmd(TIM2, ENABLE);
}
/**
* @brief Initialize the timer channel linked to the servo in PWM mode.
* @param servo: pointer to a ausbeeServo structure that contains the
* configuration information for the specified servo.
* @retval None
*/
void ausbeeInitServo(ausbeeServo* servo)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructure.TIM_Period = 1999;
TIM_TimeBaseStructure.TIM_Prescaler = 812;
#ifdef SLOW_MCU
TIM_TimeBaseStructure.TIM_Prescaler /= 5;
#endif
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(servo->TIMx, &TIM_TimeBaseStructure);
TIM_OCInitTypeDef OCInit_PWM; // Create a OCInitTypeDef for PWM
TIM_OCStructInit(&OCInit_PWM);
OCInit_PWM.TIM_OCMode = TIM_OCMode_PWM1; // Set PWM Mode
OCInit_PWM.TIM_Pulse = 1500; // Duty cycle to 5%
OCInit_PWM.TIM_OutputState = TIM_OutputState_Enable;
if(servo->CHANx == TIM_Channel_1)
TIM_OC1Init(servo->TIMx, &OCInit_PWM); // Initialize OSC1
else if(servo->CHANx == TIM_Channel_2)
TIM_OC2Init(servo->TIMx, &OCInit_PWM); // Initialize OSC2
else if(servo->CHANx == TIM_Channel_3)
TIM_OC3Init(servo->TIMx, &OCInit_PWM); // Initialize OSC3
else if(servo->CHANx == TIM_Channel_4)
TIM_OC4Init(servo->TIMx, &OCInit_PWM); // Initialize OSC4
}
void TIM4_PWM_Init(u16 arr, u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
static TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
static TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); //使能定时器3时钟
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB|RCC_AHB1Periph_GPIOD, ENABLE); //使能GPIO外设和AFIO复用功能模块时钟
GPIO_PinAFConfig(GPIOB,GPIO_PinSource8,GPIO_AF_TIM4); //GPIOA0复用为定时器2
GPIO_PinAFConfig(GPIOB,GPIO_PinSource9,GPIO_AF_TIM4); //GPIOA0复用为定时器2
GPIO_PinAFConfig(GPIOD,GPIO_PinSource12,GPIO_AF_TIM4); //GPIOA0复用为定时器2
GPIO_PinAFConfig(GPIOD,GPIO_PinSource13,GPIO_AF_TIM4); //GPIOA0复用为定时器2
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8|GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽复用输出
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //上拉
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12|GPIO_Pin_13;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽复用输出
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //上拉
GPIO_Init(GPIOD, &GPIO_InitStructure);
//初始化TIM4
TIM_TimeBaseStructure.TIM_Period = arr - 1; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值
TIM_TimeBaseStructure.TIM_Prescaler = psc - 1; //设置用来作为TIMx时钟频率除数的预分频值
TIM_TimeBaseStructure.TIM_ClockDivision = 0x00;//设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0x0; //循环计数次数值
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
//初始化TIM4 PWM模式
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;//使能定时器互补输出
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //输出极性
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set; //打开空闲状态选择关闭
TIM_CtrlPWMOutputs(TIM4, ENABLE); //使能定时器8的PWM输出
TIM_OC1Init(TIM4, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_OC2Init(TIM4, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_OC3Init(TIM4, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_OC4Init(TIM4, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_Cmd(TIM4, ENABLE); //使能TIM4
}
void SA_TIMER_PWM_Init(TIM_TypeDef* TIMx, uint8_t NUM)
{
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //输出极性:TIM输出比较极性高
//TIM_OCPolarity_High
if (1 == NUM)
{
TIM_OC1Init(TIMx, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIMx, TIM_OCPreload_Enable);
}
else if(2 == NUM)
{
TIM_OC2Init(TIMx, &TIM_OCInitStructure); //根据T指定的参数初始化外设TIM3 OC2
TIM_OC2PreloadConfig(TIMx, TIM_OCPreload_Enable); //使能TIMx在CCR2上的预装载寄存器
}
else if(3 == NUM)
{
TIM_OC3Init(TIMx, &TIM_OCInitStructure); //根据T指定的参数初始化外设TIM3 OC2
TIM_OC3PreloadConfig(TIMx, TIM_OCPreload_Enable); //使能TIMx在CCR2上的预装载寄存器
}
else
{
if (4 == NUM)
{
TIM_OC4Init(TIMx, &TIM_OCInitStructure); //根据T指定的参数初始化外设TIM3 OC2
TIM_OC4PreloadConfig(TIMx, TIM_OCPreload_Enable); //使能TIMx在CCR2上的预装载寄存器
}
}
}
void pwm_out_mode_config()
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_TimeBaseStructure.TIM_Period = TIM_PERIOD;
TIM_TimeBaseStructure.TIM_Prescaler = TIM_PRESCALER;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = TIM_PULSE;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
//output Channel1
TIM_OC1Init(TIM4, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);
//output Channel2
TIM_OC2Init(TIM4, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);
//output Channel3
TIM_OC3Init(TIM4, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);
//output Channel4
TIM_OC4Init(TIM4, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable);
//enable TIM4
TIM_ARRPreloadConfig(TIM4, ENABLE);
TIM_Cmd(TIM4, ENABLE);
}
/**
* @brief Main program
* @param None
* @retval None
*/
void Timer3Init(void)
{
RCC_Configuration();
GPIO_Configuration();
/* Compute the prescaler value */
PrescalerValue = (uint16_t) (SystemCoreClock / 1000000) - 1;
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = 1000;
TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
/* PWM1 Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM3, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel2 */
TIM_OC2Init(TIM3, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM3, ENABLE);
/* TIM3 enable counter */
TIM_Cmd(TIM3, ENABLE);
}
void motor_pwm_init(int period)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM12, ENABLE);
TIM_TimeBaseInitTypeDef timerInitStructure;
timerInitStructure.TIM_Prescaler = 2;
timerInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
timerInitStructure.TIM_Period = period;
timerInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
timerInitStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM12, &timerInitStructure);
TIM_Cmd(TIM12, ENABLE);
TIM_OCInitTypeDef outputChannelInit = {0,};
outputChannelInit.TIM_OCMode = TIM_OCMode_PWM1;
outputChannelInit.TIM_Pulse = 500;
outputChannelInit.TIM_OutputState = TIM_OutputState_Enable;
outputChannelInit.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM12, &outputChannelInit);
TIM_OC1PreloadConfig(TIM12, TIM_OCPreload_Enable);
outputChannelInit.TIM_OCMode = TIM_OCMode_PWM1;
outputChannelInit.TIM_Pulse = 500;
outputChannelInit.TIM_OutputState = TIM_OutputState_Enable;
outputChannelInit.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC2Init(TIM12, &outputChannelInit);
TIM_OC2PreloadConfig(TIM12, TIM_OCPreload_Enable);
GPIO_PinAFConfig(MTR_L_PWM_GPIO_PORT, MTR_L_PWM_SOURCE, MTR_L_PWM_AF);
GPIO_PinAFConfig(MTR_R_PWM_GPIO_PORT, MTR_R_PWM_SOURCE, MTR_R_PWM_AF);
}
void Initialise_TimerPWM()
{
/*!----------------------------- Initialise Base Structures -----------------------------!*/
TIM_TimeBaseInitTypeDef TIM4_INIT;
TIM_OCInitTypeDef TIM4_OC;
TIM4_INIT.TIM_Prescaler = 25;
TIM4_INIT.TIM_ClockDivision = TIM_CKD_DIV1;
TIM4_INIT.TIM_CounterMode = TIM_CounterMode_Up;
TIM4_INIT.TIM_Period = 255; //8 bit equivalent
TIM_TimeBaseInit(TIM4,&TIM4_INIT);
/*!----------------------------- Initialise Base Structures -----------------------------!*/
/*!----------------------------- OC Mode -----------------------------!*/
TIM4_OC.TIM_OCMode = TIM_OCMode_PWM1;
TIM4_OC.TIM_OCPolarity = TIM_OCPolarity_High;
TIM4_OC.TIM_OutputState = TIM_OutputState_Enable ;
TIM_OC1Init(TIM4,&TIM4_OC);
TIM_OC2Init(TIM4,&TIM4_OC);
TIM_OC3Init(TIM4,&TIM4_OC);
TIM_OC4Init(TIM4,&TIM4_OC);
/*!----------------------------- OC Mode -----------------------------!*/
/*!----------------------------- Enable Timer -----------------------------!*/
TIM_Cmd(TIM4, ENABLE);
/*!----------------------------- Enable Timer -----------------------------!*/
}
void pwm_config(uint32_t freq)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM9, ENABLE);
gpio_af_pp_up_init(GPIOE, GPIO_Pin_5|GPIO_Pin_6);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource5, GPIO_AF_TIM9);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource6, GPIO_AF_TIM9);
TIM_TimeBaseStructure.TIM_Period = 1000-1;
TIM_TimeBaseStructure.TIM_Prescaler = 84000000/1000/freq-1;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM9, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OC1Init(TIM9, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OC2Init(TIM9, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM9, TIM_OCPreload_Enable);
TIM_OC2PreloadConfig(TIM9, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM9, ENABLE);
TIM_Cmd(TIM9, ENABLE);
}
/**
* @param pos Servo position.
* 0 = Middle
* -127 = Max left
* +127 = max right
*/
void servo_set(int num, int8_t pos) {
int wpulse;
uint16_t pulse;
TIM_OCInitTypeDef oc_init;
oc_init = TIM_OC_CONFIG;
wpulse = ((int)pos)*500/127 +PULSE_1_5_MS;
pulse = MIN(PULSE_2_0_MS,wpulse);
pulse = MAX(PULSE_1_0_MS,wpulse);
oc_init.TIM_Pulse = pulse;
switch( num ) {
case 2:
TIM_OC2Init(TIMER, &oc_init);
break;
case 1:
TIM_OC3Init(TIMER, &oc_init);
break;
case 0:
TIM_OC4Init(TIMER, &oc_init);
break;
default:
assert_param(0);
}
}
/**
* @brief configure the TIM4 for PWM mode
* @param None
* @retval None
*/
void TIM_Configuration(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
TIM_OCInitTypeDef TIM_OCInitStruct;
// Let PWM frequency equal 100Hz.
// Let period equal 1000. Therefore, timer runs from zero to 1000. Gives 0.1Hz resolution.
// Solving for prescaler gives 240.
TIM_TimeBaseStructInit( &TIM_TimeBaseInitStruct );
TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV4;
TIM_TimeBaseInitStruct.TIM_Period = 1000 - 1;
TIM_TimeBaseInitStruct.TIM_Prescaler = 72 - 1;
TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit( TIM3, &TIM_TimeBaseInitStruct );
TIM_OCStructInit( &TIM_OCInitStruct );
TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1;
// Initial duty cycle equals 0%. Value can range from zero to 65535.
//TIM_Pulse = TIM4_CCR1 register (16 bits)
TIM_OCInitStruct.TIM_Pulse = 100 - 1; //(0=Always Off, 65535=Always On)
TIM_OC1Init( TIM3, &TIM_OCInitStruct ); // Channel 1 LED
TIM_OC2Init( TIM3, &TIM_OCInitStruct ); // Channel 2 LED
TIM_OC3Init( TIM3, &TIM_OCInitStruct ); // Channel 3 LED
TIM_OC4Init( TIM3, &TIM_OCInitStruct ); // Channel 4 LED
TIM_Cmd( TIM3, ENABLE );
}
static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value)
{
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_Pulse = value;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
switch (channel) {
case TIM_Channel_1:
TIM_OC1Init(tim, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(tim, TIM_OCPreload_Enable);
break;
case TIM_Channel_2:
TIM_OC2Init(tim, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(tim, TIM_OCPreload_Enable);
break;
case TIM_Channel_3:
TIM_OC3Init(tim, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(tim, TIM_OCPreload_Enable);
break;
case TIM_Channel_4:
TIM_OC4Init(tim, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(tim, TIM_OCPreload_Enable);
break;
}
}
void pwmOCInit(const TIM_TypeDef *tim, uint16_t channel, uint32_t inititalValue) {
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_Pulse = inititalValue;
switch (channel) {
case TIM_Channel_1:
TIM_OC1Init((TIM_TypeDef *)tim, &TIM_OCInitStructure);
break;
case TIM_Channel_2:
TIM_OC2Init((TIM_TypeDef *)tim, &TIM_OCInitStructure);
break;
case TIM_Channel_3:
TIM_OC3Init((TIM_TypeDef *)tim, &TIM_OCInitStructure);
break;
case TIM_Channel_4:
TIM_OC4Init((TIM_TypeDef *)tim, &TIM_OCInitStructure);
break;
}
}
