void breathing_led_init()
{
TIM_OC_InitTypeDef pwmConfig;
GPIO_InitTypeDef GPIO_InitStruct;
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_TIM2_CLK_ENABLE();
GPIO_InitStruct.Pin = GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
TimHandleT2.Instance = TIM2;
TimHandleT2.Init.Period = 1000 - 1;
TimHandleT2.Init.Prescaler = 168-1;
TimHandleT2.Init.ClockDivision = 0;
TimHandleT2.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_PWM_Init(&TimHandleT2);
pwmConfig.OCMode=TIM_OCMODE_PWM1;
pwmConfig.Pulse=0;
HAL_TIM_PWM_ConfigChannel(&TimHandleT2, &pwmConfig, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&TimHandleT2, TIM_CHANNEL_2);
}
void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
{
GPIO_InitTypeDef GPIO_InitStruct;
/*##-1- Enable peripherals and GPIO Clocks #################################*/
__HAL_RCC_TIM2_CLK_ENABLE(); //Motor Left encoder timer
__HAL_RCC_TIM3_CLK_ENABLE(); //Motor Right encoder timer
/* Enable GPIO Channels Clock */
__HAL_RCC_GPIOA_CLK_ENABLE(); //ENCyA
__HAL_RCC_GPIOB_CLK_ENABLE(); //ENCxA / ENCxB / ECyB
/*//////////////////MOTOR 1 ////////////////////////////////////////////////*/
/*##-2- Configure I/Os #####################################################*/
/* Common configuration for all channels */
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
/*Left Motor encoder encyA(PA15,TIM2,CH1) configuration */
GPIO_InitStruct.Pin = GPIO_PIN_15;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Left Motor encoder encxA (PB3,TIM2,CH2) configuration */
GPIO_InitStruct.Pin = GPIO_PIN_3;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Right Motor encoder ENCxB (PB4, TIM3,CH1) & encyB (PB5, TIM3,CH2) configuration */
GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
GPIO_InitStruct.Pin = GPIO_PIN_4|GPIO_PIN_5;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
if(htim_base->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM2_CLK_ENABLE();
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
else if(htim_base->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspInit 0 */
/* USER CODE END TIM3_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM3_CLK_ENABLE();
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
}
}
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
{
if(tim_pwmHandle->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* TIM2 clock enable */
__HAL_RCC_TIM2_CLK_ENABLE();
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
else if(tim_pwmHandle->Instance==TIM8)
{
/* USER CODE BEGIN TIM8_MspInit 0 */
/* USER CODE END TIM8_MspInit 0 */
/* TIM8 clock enable */
__HAL_RCC_TIM8_CLK_ENABLE();
/* TIM8 interrupt Init */
HAL_NVIC_SetPriority(TIM8_UP_TIM13_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM8_UP_TIM13_IRQn);
HAL_NVIC_SetPriority(TIM8_TRG_COM_TIM14_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM8_TRG_COM_TIM14_IRQn);
/* USER CODE BEGIN TIM8_MspInit 1 */
/* USER CODE END TIM8_MspInit 1 */
}
}
/**
* @brief TIM MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* - Peripheral's GPIO Configuration
* @param htim: TIM handle pointer
* @retval None
*/
void HAL_TIM_IC_MspInit(TIM_HandleTypeDef *htim)
{
GPIO_InitTypeDef GPIO_InitStruct;
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* TIM2 Peripheral clock enable */
__HAL_RCC_TIM2_CLK_ENABLE();
/* Enable GPIO channels Clock */
__HAL_RCC_GPIOA_CLK_ENABLE();
/* Configure (TIM2_Channel2) in Alternate function, push-pull and High speed */
GPIO_InitStruct.Pin = GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*##-2- Configure the NVIC for TIMx #########################################*/
/* Set the TIM2 global Interrupt */
HAL_NVIC_SetPriority(TIM2_IRQn, 0, 1);
/* Enable the TIM2 global Interrupt */
HAL_NVIC_EnableIRQ(TIM2_IRQn);
}
void pwmout_init(pwmout_t* obj, PinName pin)
{
// Get the peripheral name from the pin and assign it to the object
obj->pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
MBED_ASSERT(obj->pwm != (PWMName)NC);
// Get the functions (timer channel, (non)inverted) from the pin and assign it to the object
uint32_t function = pinmap_function(pin, PinMap_PWM);
MBED_ASSERT(function != (uint32_t)NC);
obj->channel = STM_PIN_CHANNEL(function);
obj->inverted = STM_PIN_INVERTED(function);
// Enable TIM clock
if (obj->pwm == PWM_1) __HAL_RCC_TIM1_CLK_ENABLE();
if (obj->pwm == PWM_2) __HAL_RCC_TIM2_CLK_ENABLE();
if (obj->pwm == PWM_3) __HAL_RCC_TIM3_CLK_ENABLE();
if (obj->pwm == PWM_4) __HAL_RCC_TIM4_CLK_ENABLE();
if (obj->pwm == PWM_8) __HAL_RCC_TIM8_CLK_ENABLE();
if (obj->pwm == PWM_9) __HAL_RCC_TIM9_CLK_ENABLE();
if (obj->pwm == PWM_10) __HAL_RCC_TIM10_CLK_ENABLE();
if (obj->pwm == PWM_11) __HAL_RCC_TIM11_CLK_ENABLE();
if (obj->pwm == PWM_12) __HAL_RCC_TIM12_CLK_ENABLE();
if (obj->pwm == PWM_13) __HAL_RCC_TIM13_CLK_ENABLE();
if (obj->pwm == PWM_14) __HAL_RCC_TIM14_CLK_ENABLE();
// Configure GPIO
pinmap_pinout(pin, PinMap_PWM);
obj->pin = pin;
obj->period = 0;
obj->pulse = 0;
obj->prescaler = 1;
pwmout_period_us(obj, 20000); // 20 ms per default
}
/**
* @brief TIM MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* - Peripheral's GPIO Configuration
* @param htim: TIM handle pointer
* @retval None
*/
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef *htim)
{
GPIO_InitTypeDef GPIO_InitStruct;
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* TIM2 Peripheral clock enable */
__HAL_RCC_TIM2_CLK_ENABLE();
/* Enable GPIO Channels Clock */
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*##-2- Configure I/Os #####################################################*/
/* Configure PA.0 (TIM2_Channel1), PA.1 (TIM2_Channel2), PB.10 (TIM2_Channel3),
PB.11 (TIM2_Channel4) in output, push-pull, alternate function mode
*/
/* Common configuration for all channels */
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM2;
GPIO_InitStruct.Pin = GPIO_PIN_0;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_10;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_11;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(htim_base->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM2_CLK_ENABLE();
/**TIM2 GPIO Configuration
PA0-WKUP ------> TIM2_CH1
*/
GPIO_InitStruct.Pin = GPIO_PIN_0;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM2_IRQn);
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
}
/**
* @brief TIM MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* - Peripheral's GPIO Configuration
* @param htim: TIM handle pointer
* @retval None
*/
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef *htim)
{
GPIO_InitTypeDef GPIO_InitStruct;
/* Enable TIM1, TIM3 & TIM4 clocks */
__HAL_RCC_TIM2_CLK_ENABLE();
__HAL_RCC_TIM3_CLK_ENABLE();
__HAL_RCC_TIM4_CLK_ENABLE();
/* Enable GPIOA, GPIOB & GPIOC Clocks */
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/* Configure PA.8 (TIM1_Channel1), PC.6 (TIM3_Channel1) and PB.6 (TIM4_Channel1),
in push-pull, alternate function mode */
GPIO_InitStruct.Pin = GPIO_PIN_0;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
GPIO_InitStruct.Pin = GPIO_PIN_4;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
GPIO_InitStruct.Pin = GPIO_PIN_6;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}
/**
* @brief This function configures the TIM2 as a time base source.
* The time source is configured to have 1ms time base with a dedicated
* Tick interrupt priority.
* @note This function is called automatically at the beginning of program after
* reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig().
* @param TickPriority: Tick interrupt priority.
* @retval HAL status
*/
HAL_StatusTypeDef HAL_InitTick (uint32_t TickPriority)
{
RCC_ClkInitTypeDef clkconfig;
uint32_t uwTimclock, uwAPB1Prescaler = 0U;
uint32_t uwPrescalerValue = 0U;
uint32_t pFLatency;
/*Configure the TIM2 IRQ priority */
HAL_NVIC_SetPriority(TIM2_IRQn, TickPriority ,0U);
/* Enable the TIM2 global Interrupt */
HAL_NVIC_EnableIRQ(TIM2_IRQn);
/* Enable TIM2 clock */
__HAL_RCC_TIM2_CLK_ENABLE();
/* Get clock configuration */
HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
/* Get APB1 prescaler */
uwAPB1Prescaler = clkconfig.APB1CLKDivider;
/* Compute TIM2 clock */
if (uwAPB1Prescaler == RCC_HCLK_DIV1)
{
uwTimclock = HAL_RCC_GetPCLK1Freq();
}
else
{
uwTimclock = 2*HAL_RCC_GetPCLK1Freq();
}
/* Compute the prescaler value to have TIM2 counter clock equal to 1MHz */
uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U);
/* Initialize TIM2 */
TimHandle.Instance = TIM2;
/* Initialize TIMx peripheral as follow:
+ Period = [(TIM2CLK/1000) - 1]. to have a (1/1000) s time base.
+ Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
+ ClockDivision = 0
+ Counter direction = Up
*/
TimHandle.Init.Period = (1000000U / 1000U) - 1U;
TimHandle.Init.Prescaler = uwPrescalerValue;
TimHandle.Init.ClockDivision = 0U;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
TimHandle.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if(HAL_TIM_Base_Init(&TimHandle) == HAL_OK)
{
/* Start the TIM time Base generation in interrupt mode */
return HAL_TIM_Base_Start_IT(&TimHandle);
}
/* Return function status */
return HAL_ERROR;
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(htim_base->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM2_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM2_IRQn, 15, 0);
HAL_NVIC_EnableIRQ(TIM2_IRQn);
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
else if(htim_base->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspInit 0 */
/* USER CODE END TIM3_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM3_CLK_ENABLE();
/**TIM3 GPIO Configuration
PB1 ------> TIM3_CH4
*/
GPIO_InitStruct.Pin = IR_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(IR_GPIO_Port, &GPIO_InitStruct);
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM3_IRQn, 15, 0);
HAL_NVIC_EnableIRQ(TIM3_IRQn);
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
}
else if(htim_base->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspInit 0 */
/* USER CODE END TIM4_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM4_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM4_IRQn, 15, 0);
HAL_NVIC_EnableIRQ(TIM4_IRQn);
/* USER CODE BEGIN TIM4_MspInit 1 */
/* USER CODE END TIM4_MspInit 1 */
}
}
/**
* @brief TIM MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* - Peripheral's GPIO Configuration
* - DMA configuration for transmission request by peripheral
* @param htim: TIM handle pointer
* @retval None
*/
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef *htim)
{
GPIO_InitTypeDef GPIO_InitStruct;
static DMA_HandleTypeDef hdma_tim;
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* TIM2 clock enable */
__HAL_RCC_TIM2_CLK_ENABLE();
/* Enable GPIO TIM2_Channel3 (PORTB) Clock */
__HAL_RCC_GPIOB_CLK_ENABLE();
/* Enable DMA1 clock */
__HAL_RCC_DMA1_CLK_ENABLE();
/*##-2- Configure peripheral GPIO ##########################################*/
/* Configure TIM2_Channel3 in output, push-pull & alternate function mode */
GPIO_InitStruct.Pin = GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM2;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_10;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*##-3- Configure the DMA stream ###########################################*/
/* Set the parameters to be configured */
hdma_tim.Init.Request = DMA_REQUEST_8;
hdma_tim.Instance = DMA1_Channel1;
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_CIRCULAR;
hdma_tim.Init.Priority = DMA_PRIORITY_HIGH;
/* Link hdma_tim to hdma[TIM_DMA_ID_CC3] (channel3) */
__HAL_LINKDMA(htim, hdma[TIM_DMA_ID_CC3], hdma_tim);
/* Initialize TIMx DMA handle */
HAL_DMA_Init(htim->hdma[TIM_DMA_ID_CC3]);
/*##-4- Configure the NVIC for DMA #########################################*/
/* NVIC configuration for DMA transfer complete interrupt */
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
{
if(tim_baseHandle->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM2_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM2_IRQn, 2, 0);
HAL_NVIC_EnableIRQ(TIM2_IRQn);
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
else if(tim_baseHandle->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspInit 0 */
/* USER CODE END TIM3_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM3_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM3_IRQn, 2, 0);
HAL_NVIC_EnableIRQ(TIM3_IRQn);
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
}
else if(tim_baseHandle->Instance==TIM9)
{
/* USER CODE BEGIN TIM9_MspInit 0 */
/* USER CODE END TIM9_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM9_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM1_BRK_TIM9_IRQn, 3, 0);
HAL_NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn);
/* USER CODE BEGIN TIM9_MspInit 1 */
/* USER CODE END TIM9_MspInit 1 */
}
}
void timer_init()
{
__HAL_RCC_TIM2_CLK_ENABLE();
TIM2->CR1 = 0;
TIM2->CR2 = 0;
TIM2->SMCR = 0;
TIM2->DIER = 0;
TIM2->CCMR1 = 0;
TIM2->CCMR2 = 0;
TIM2->CCER = 0;
TIM2->PSC = 48-1; // run @48MHz/480 = 1MHz = 1us
TIM2->ARR = 0xFFFFFFFF;
TIM2->CR1 |= TIM_CR1_CEN;
TIM2->EGR = TIM_EGR_UG;
}
/**
* @brief This function configures the TIM2 as a time base source.
* The time source is configured to have 1ms time base with a dedicated
* Tick interrupt priority.
* @note This function is called automatically at the beginning of program after
* reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig().
* @param TickPriority: Tick interrupt priorty.
* @retval HAL status
*/
HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
{
RCC_ClkInitTypeDef clkconfig;
uint32_t uwTimclock = 0;
uint32_t uwPrescalerValue = 0;
uint32_t pFLatency;
/*Configure the TIM2 IRQ priority */
HAL_NVIC_SetPriority(TIM2_IRQn, TickPriority ,0);
/* Enable the TIM2 global Interrupt */
HAL_NVIC_EnableIRQ(TIM2_IRQn);
/* Enable TIM2 clock */
__HAL_RCC_TIM2_CLK_ENABLE();
/* Get clock configuration */
HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
/* Compute TIM2 clock */
uwTimclock = 2*HAL_RCC_GetPCLK1Freq();
/* Compute the prescaler value to have TIM2 counter clock equal to 1MHz */
uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000) - 1);
/* Initialize TIM2 */
htim2.Instance = TIM2;
/* Initialize TIMx peripheral as follow:
+ Period = [(TIM2CLK/1000) - 1]. to have a (1/1000) s time base.
+ Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
+ ClockDivision = 0
+ Counter direction = Up
*/
htim2.Init.Period = (1000000 / 1000) - 1;
htim2.Init.Prescaler = uwPrescalerValue;
htim2.Init.ClockDivision = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
if(HAL_TIM_Base_Init(&htim2) == HAL_OK)
{
/* Start the TIM time Base generation in interrupt mode */
return HAL_TIM_Base_Start_IT(&htim2);
}
/* Return function status */
return HAL_ERROR;
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
{
if(tim_baseHandle->Instance==TIM2)
{
__HAL_RCC_TIM2_CLK_ENABLE();
HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM2_IRQn);
}
else if(tim_baseHandle->Instance==TIM3)
{
__HAL_RCC_TIM3_CLK_ENABLE();
HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM3_IRQn);
}
}
void pwmout_init(pwmout_t* obj, PinName pin)
{
// Get the peripheral name from the pin and assign it to the object
obj->pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
MBED_ASSERT(obj->pwm != (PWMName)NC);
// Get the pin function and assign the used channel to the object
uint32_t function = pinmap_function(pin, PinMap_PWM);
MBED_ASSERT(function != (uint32_t)NC);
obj->channel = STM_PIN_CHANNEL(function);
obj->inverted = STM_PIN_INVERTED(function);
// Enable TIM clock
if (obj->pwm == PWM_1) __HAL_RCC_TIM1_CLK_ENABLE();
if (obj->pwm == PWM_2) __HAL_RCC_TIM2_CLK_ENABLE();
#if defined(TIM3_BASE)
if (obj->pwm == PWM_3) __HAL_RCC_TIM3_CLK_ENABLE();
#endif
#if defined(TIM4_BASE)
if (obj->pwm == PWM_4) __HAL_RCC_TIM4_CLK_ENABLE();
#endif
#if defined(TIM5_BASE)
if (obj->pwm == PWM_5) __HAL_RCC_TIM5_CLK_ENABLE();
#endif
#if defined(TIM8_BASE)
if (obj->pwm == PWM_8) __HAL_RCC_TIM8_CLK_ENABLE();
#endif
if (obj->pwm == PWM_15) __HAL_RCC_TIM15_CLK_ENABLE();
if (obj->pwm == PWM_16) __HAL_RCC_TIM16_CLK_ENABLE();
#if defined(TIM17_BASE)
if (obj->pwm == PWM_17) __HAL_RCC_TIM17_CLK_ENABLE();
#endif
// Configure GPIO
pinmap_pinout(pin, PinMap_PWM);
obj->pin = pin;
obj->period = 0;
obj->pulse = 0;
obj->prescaler = 1;
pwmout_period_us(obj, 20000); // 20 ms per default
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
if(htim_base->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM2_CLK_ENABLE();
/* TIM2 interrupt Init */
HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM2_IRQn);
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
{
if(tim_baseHandle->Instance==TIM3)
{
/* Peripheral clock enable */
__HAL_RCC_TIM3_CLK_ENABLE();
}
else if(tim_baseHandle->Instance==TIM2)
{
/* Peripheral clock enable */
__HAL_RCC_TIM2_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM2_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(TIM2_IRQn);
if(HAL_TIM_Base_Start_IT(tim_baseHandle) != HAL_OK)
{
Error_Handler();
}
}
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(htim_base->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM2_CLK_ENABLE();
/**TIM2 GPIO Configuration
PA0 ------> TIM2_CH1
*/
GPIO_InitStruct.Pin = GPIO_PIN_0;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
else if(htim_base->Instance==TIM14)
{
/* USER CODE BEGIN TIM14_MspInit 0 */
/* USER CODE END TIM14_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM14_CLK_ENABLE();
/* USER CODE BEGIN TIM14_MspInit 1 */
/* USER CODE END TIM14_MspInit 1 */
}
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(htim_base->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspInit 0 */
/* USER CODE END TIM1_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM1_CLK_ENABLE();
/**TIM1 GPIO Configuration
PE9 ------> TIM1_CH1
PE11 ------> TIM1_CH2
PE13 ------> TIM1_CH3
PE14 ------> TIM1_CH4
*/
GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_11|GPIO_PIN_13|GPIO_PIN_14;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/* USER CODE BEGIN TIM1_MspInit 1 */
/* USER CODE END TIM1_MspInit 1 */
}
else if(htim_base->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM2_CLK_ENABLE();
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
else if(htim_base->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspInit 0 */
/* USER CODE END TIM3_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM3_CLK_ENABLE();
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
}
else if(htim_base->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspInit 0 */
/* USER CODE END TIM4_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM4_CLK_ENABLE();
/* USER CODE BEGIN TIM4_MspInit 1 */
/* USER CODE END TIM4_MspInit 1 */
}
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
if(htim_base->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspInit 0 */
/* USER CODE END TIM1_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM1_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn);
/* USER CODE BEGIN TIM1_MspInit 1 */
/* USER CODE END TIM1_MspInit 1 */
}
else if(htim_base->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM2_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM2_IRQn);
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
else if(htim_base->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspInit 0 */
/* USER CODE END TIM3_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM3_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM3_IRQn);
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
}
else if(htim_base->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspInit 0 */
/* USER CODE END TIM4_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM4_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM4_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM4_IRQn);
/* USER CODE BEGIN TIM4_MspInit 1 */
/* USER CODE END TIM4_MspInit 1 */
}
else if(htim_base->Instance==TIM5)
{
/* USER CODE BEGIN TIM5_MspInit 0 */
/* USER CODE END TIM5_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM5_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM5_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM5_IRQn);
/* USER CODE BEGIN TIM5_MspInit 1 */
/* USER CODE END TIM5_MspInit 1 */
}
else if(htim_base->Instance==TIM6)
{
/* USER CODE BEGIN TIM6_MspInit 0 */
/* USER CODE END TIM6_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM6_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM6_DAC_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
/* USER CODE BEGIN TIM6_MspInit 1 */
/* USER CODE END TIM6_MspInit 1 */
}
else if(htim_base->Instance==TIM7)
{
/* USER CODE BEGIN TIM7_MspInit 0 */
/* USER CODE END TIM7_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM7_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM7_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM7_IRQn);
/* USER CODE BEGIN TIM7_MspInit 1 */
/* USER CODE END TIM7_MspInit 1 */
}
else if(htim_base->Instance==TIM8)
{
/* USER CODE BEGIN TIM8_MspInit 0 */
/* USER CODE END TIM8_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM8_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM8_UP_TIM13_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM8_UP_TIM13_IRQn);
/* USER CODE BEGIN TIM8_MspInit 1 */
/* USER CODE END TIM8_MspInit 1 */
}
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(tim_baseHandle->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM2_CLK_ENABLE();
/**TIM2 GPIO Configuration
PA0-WKUP ------> TIM2_CH1
*/
GPIO_InitStruct.Pin = ECHO_SENS__0_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
HAL_GPIO_Init(ECHO_SENS__0_GPIO_Port, &GPIO_InitStruct);
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM2_IRQn);
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
else if(tim_baseHandle->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspInit 0 */
/* USER CODE END TIM3_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM3_CLK_ENABLE();
/**TIM3 GPIO Configuration
PA6 ------> TIM3_CH1
*/
GPIO_InitStruct.Pin = ECHO_SENS__1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
HAL_GPIO_Init(ECHO_SENS__1_GPIO_Port, &GPIO_InitStruct);
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM3_IRQn);
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
}
else if(tim_baseHandle->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspInit 0 */
/* USER CODE END TIM4_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM4_CLK_ENABLE();
/**TIM4 GPIO Configuration
PB6 ------> TIM4_CH1
*/
GPIO_InitStruct.Pin = ECHO_SENS__2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
HAL_GPIO_Init(ECHO_SENS__2_GPIO_Port, &GPIO_InitStruct);
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM4_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM4_IRQn);
/* USER CODE BEGIN TIM4_MspInit 1 */
/* USER CODE END TIM4_MspInit 1 */
}
else if(tim_baseHandle->Instance==TIM5)
{
/* USER CODE BEGIN TIM5_MspInit 0 */
/* USER CODE END TIM5_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM5_CLK_ENABLE();
/**TIM5 GPIO Configuration
PA1 ------> TIM5_CH2
*/
GPIO_InitStruct.Pin = ECHO_SENS__3_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
HAL_GPIO_Init(ECHO_SENS__3_GPIO_Port, &GPIO_InitStruct);
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM5_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM5_IRQn);
/* USER CODE BEGIN TIM5_MspInit 1 */
/* USER CODE END TIM5_MspInit 1 */
}
else if(tim_baseHandle->Instance==TIM10)
{
/* USER CODE BEGIN TIM10_MspInit 0 */
/* USER CODE END TIM10_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM10_CLK_ENABLE();
/* USER CODE BEGIN TIM10_MspInit 1 */
/* USER CODE END TIM10_MspInit 1 */
}
else if(tim_baseHandle->Instance==TIM11)
{
/* USER CODE BEGIN TIM11_MspInit 0 */
/* USER CODE END TIM11_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM11_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM1_TRG_COM_TIM11_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM1_TRG_COM_TIM11_IRQn);
/* USER CODE BEGIN TIM11_MspInit 1 */
/* USER CODE END TIM11_MspInit 1 */
}
}
void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(tim_encoderHandle->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM2_CLK_ENABLE();
/**TIM2 GPIO Configuration
PA15 ------> TIM2_CH1
PB3 ------> TIM2_CH2
*/
GPIO_InitStruct.Pin = MOTOR1_ENCODER_A_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(MOTOR1_ENCODER_A_GPIO_Port, &GPIO_InitStruct);
GPIO_InitStruct.Pin = MOTOR1_ENCODER_B_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(MOTOR1_ENCODER_B_GPIO_Port, &GPIO_InitStruct);
__HAL_AFIO_REMAP_TIM2_PARTIAL_1();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM2_IRQn);
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
else if(tim_encoderHandle->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspInit 0 */
/* USER CODE END TIM3_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM3_CLK_ENABLE();
/**TIM3 GPIO Configuration
PB4 ------> TIM3_CH1
PB5 ------> TIM3_CH2
*/
GPIO_InitStruct.Pin = MOTOR2_ENCODER_A_Pin|MOTOR2_ENCODER_B_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
__HAL_AFIO_REMAP_TIM3_PARTIAL();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM3_IRQn);
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
}
}
void enableGPIOPowerUsageAndNoiseReductions(void)
{
// AHB1
__HAL_RCC_BKPSRAM_CLK_ENABLE();
__HAL_RCC_DTCMRAMEN_CLK_ENABLE();
__HAL_RCC_DMA2_CLK_ENABLE();
__HAL_RCC_USB_OTG_HS_CLK_ENABLE();
__HAL_RCC_USB_OTG_HS_ULPI_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
__HAL_RCC_GPIOF_CLK_ENABLE();
__HAL_RCC_GPIOG_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOI_CLK_ENABLE();
#ifndef STM32F722xx
__HAL_RCC_DMA2D_CLK_ENABLE();
__HAL_RCC_GPIOJ_CLK_ENABLE();
__HAL_RCC_GPIOK_CLK_ENABLE();
#endif
//APB1
__HAL_RCC_TIM2_CLK_ENABLE();
__HAL_RCC_TIM3_CLK_ENABLE();
__HAL_RCC_TIM4_CLK_ENABLE();
__HAL_RCC_TIM5_CLK_ENABLE();
__HAL_RCC_TIM6_CLK_ENABLE();
__HAL_RCC_TIM7_CLK_ENABLE();
__HAL_RCC_TIM12_CLK_ENABLE();
__HAL_RCC_TIM13_CLK_ENABLE();
__HAL_RCC_TIM14_CLK_ENABLE();
__HAL_RCC_LPTIM1_CLK_ENABLE();
__HAL_RCC_SPI2_CLK_ENABLE();
__HAL_RCC_SPI3_CLK_ENABLE();
__HAL_RCC_USART2_CLK_ENABLE();
__HAL_RCC_USART3_CLK_ENABLE();
__HAL_RCC_UART4_CLK_ENABLE();
__HAL_RCC_UART5_CLK_ENABLE();
__HAL_RCC_I2C1_CLK_ENABLE();
__HAL_RCC_I2C2_CLK_ENABLE();
__HAL_RCC_I2C3_CLK_ENABLE();
__HAL_RCC_CAN1_CLK_ENABLE();
__HAL_RCC_DAC_CLK_ENABLE();
__HAL_RCC_UART7_CLK_ENABLE();
__HAL_RCC_UART8_CLK_ENABLE();
#ifndef STM32F722xx
__HAL_RCC_I2C4_CLK_ENABLE();
__HAL_RCC_CAN2_CLK_ENABLE();
__HAL_RCC_CEC_CLK_ENABLE();
#endif
//APB2
__HAL_RCC_TIM1_CLK_ENABLE();
__HAL_RCC_TIM8_CLK_ENABLE();
__HAL_RCC_USART1_CLK_ENABLE();
__HAL_RCC_USART6_CLK_ENABLE();
__HAL_RCC_ADC1_CLK_ENABLE();
__HAL_RCC_ADC2_CLK_ENABLE();
__HAL_RCC_ADC3_CLK_ENABLE();
__HAL_RCC_SDMMC1_CLK_ENABLE();
__HAL_RCC_SPI1_CLK_ENABLE();
__HAL_RCC_SPI4_CLK_ENABLE();
__HAL_RCC_TIM9_CLK_ENABLE();
__HAL_RCC_TIM10_CLK_ENABLE();
__HAL_RCC_TIM11_CLK_ENABLE();
__HAL_RCC_SPI5_CLK_ENABLE();
__HAL_RCC_SAI1_CLK_ENABLE();
__HAL_RCC_SAI2_CLK_ENABLE();
#ifndef STM32F722xx
__HAL_RCC_SPI6_CLK_ENABLE();
#endif
//
// GPIO_InitTypeDef GPIO_InitStructure;
// GPIO_StructInit(&GPIO_InitStructure);
// GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; // default is un-pulled input
//
// GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
// GPIO_InitStructure.GPIO_Pin &= ~(GPIO_Pin_11 | GPIO_Pin_12); // leave USB D+/D- alone
//
// GPIO_InitStructure.GPIO_Pin &= ~(GPIO_Pin_13 | GPIO_Pin_14); // leave JTAG pins alone
// GPIO_Init(GPIOA, &GPIO_InitStructure);
//
// GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
// GPIO_Init(GPIOB, &GPIO_InitStructure);
//
// GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
// GPIO_Init(GPIOC, &GPIO_InitStructure);
// GPIO_Init(GPIOD, &GPIO_InitStructure);
// GPIO_Init(GPIOE, &GPIO_InitStructure);
}
