void updateRobotNew(void){ //odometry from book
//update previous tick
double cm;
RobotNew.prevTickL = RobotNew.tickL;
RobotNew.prevTickR = RobotNew.tickR;
//update tick
RobotNew.tickL = __HAL_TIM_GET_COUNTER(&encoderL);
RobotNew.tickR = __HAL_TIM_GET_COUNTER(&encoderR);
cm = (2*M_PI*R)/CPM;
//update speed of robot
//Forward move
if((RobotNew.prevTickL>RobotNew.tickL && RobotNew.dirL == FORWARD) &&
(RobotNew.prevTickR>RobotNew.tickR && RobotNew.dirR == FORWARD)){ //both encoder counters overflow pote omws
return;
}
else if(RobotNew.prevTickL>RobotNew.tickL && RobotNew.dirL == FORWARD){ //only Left enc overflow
RobotNew.sR = cm*(RobotNew.tickR - RobotNew.prevTickR);
return;
}
else if(RobotNew.prevTickR>RobotNew.tickR && RobotNew.dirR == FORWARD){ //only Right enc overflow
RobotNew.sL = cm*(RobotNew.tickL - RobotNew.prevTickL);
return;
}
//Backward move
else if((RobotNew.prevTickL<RobotNew.tickL && RobotNew.dirL == BACKWARD) &&
(RobotNew.prevTickR<RobotNew.tickR && RobotNew.dirR == BACKWARD)){ //both encoder counters underflow
return;
}
else if(RobotNew.prevTickL<RobotNew.tickL && RobotNew.dirL == BACKWARD){ //only Left enc underflow
RobotNew.sR = cm*(RobotNew.prevTickR - RobotNew.tickR);
RobotNew.wR = RobotNew.sR/UPDTIME;
RobotNew.s = (RobotNew.sL + RobotNew.sR)/2.0;
return;
}
else if(RobotNew.prevTickR<RobotNew.tickR && RobotNew.dirR == BACKWARD){
RobotNew.sL = cm*(RobotNew.prevTickL - RobotNew.tickL);
RobotNew.wL = RobotNew.sL/UPDTIME;
RobotNew.s = (RobotNew.sL + RobotNew.sR)/2.0;
return;
}
if(RobotNew.dirR == FORWARD){
RobotNew.sR = cm*(RobotNew.tickR - RobotNew.prevTickR);
}
else{
RobotNew.sR = cm*(RobotNew.prevTickR - RobotNew.tickR);
}
if(RobotNew.dirL == FORWARD){
RobotNew.sL = cm*(RobotNew.tickL - RobotNew.prevTickL);
}
else{
RobotNew.sL = cm*(RobotNew.prevTickL - RobotNew.tickL);
}
RobotNew.s = (RobotNew.sL + RobotNew.sR)/2.0;
RobotNew.wR = RobotNew.sR/UPDTIME;
RobotNew.wL = RobotNew.sL/UPDTIME;
}
//################# Motion Control ################//
void updateRobot(void){
//update previous tick
Robot.prevTickL = Robot.tickL;
Robot.prevTickR = Robot.tickR;
//update tick
Robot.tickL = __HAL_TIM_GET_COUNTER(&encoderL);
Robot.tickR = __HAL_TIM_GET_COUNTER(&encoderR);
//update speed of robot
//Forward move
if((Robot.prevTickL>Robot.tickL && Robot.dirL == FORWARD) &&
(Robot.prevTickR>Robot.tickR && Robot.dirR == FORWARD)){ //both encoder counters overflow pote omws
return;
}
else if(Robot.prevTickL>Robot.tickL && Robot.dirL == FORWARD){ //only Left enc overflow
Robot.wR = (2*M_PI)/CPM*(Robot.tickR - Robot.prevTickR)/UPDTIME;
return;
}
else if(Robot.prevTickR>Robot.tickR && Robot.dirR == FORWARD){ //only Right enc overflow
Robot.wL = (2*M_PI)/CPM*(Robot.tickL - Robot.prevTickL)/UPDTIME;
return;
}
//Backward move
else if((Robot.prevTickL<Robot.tickL && Robot.dirL == BACKWARD) &&
(Robot.prevTickR<Robot.tickR && Robot.dirR == BACKWARD)){ //both encoder counters underflow
return;
}
else if(Robot.prevTickL<Robot.tickL && Robot.dirL == BACKWARD){ //only Left enc underflow
Robot.wR = (2*M_PI)/CPM*(Robot.prevTickR - Robot.tickR)/UPDTIME;
return;
}
else if(Robot.prevTickR<Robot.tickR && Robot.dirR == BACKWARD){
Robot.wL = (2*M_PI)/CPM*(Robot.prevTickL - Robot.tickL)/UPDTIME;
return;
}
if(Robot.dirR == FORWARD){
Robot.wR = (2*M_PI)/CPM*(Robot.tickR - Robot.prevTickR)/UPDTIME;
}
else{
Robot.wR = (2*M_PI)/CPM*(Robot.prevTickR - Robot.tickR)/UPDTIME;
}
if(Robot.dirL == FORWARD){
Robot.wL = (2*M_PI)/CPM*(Robot.tickL - Robot.prevTickL)/UPDTIME;
}
else{
Robot.wL = (2*M_PI)/CPM*(Robot.prevTickL - Robot.tickL)/UPDTIME;
}
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_TIM1_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_Encoder_Start(&htim1, TIM_CHANNEL_1 | TIM_CHANNEL_2);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
c = __HAL_TIM_GET_COUNTER(&htim1);
printf("%d\n", c);
HAL_Delay(250);
}
/* USER CODE END 3 */
}
int main(void) {
HAL_Init();
Nucleo_BSP_Init();
MX_TIM1_Init();
MX_TIM3_Init();
HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);
HAL_TIM_OC_Start(&htim1, TIM_CHANNEL_1);
HAL_TIM_OC_Start(&htim1, TIM_CHANNEL_2);
cnt1 = __HAL_TIM_GET_COUNTER(&htim3);
tick = HAL_GetTick();
while (1) {
if (HAL_GetTick() - tick > 1000L) {
cnt2 = __HAL_TIM_GET_COUNTER(&htim3);
if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&htim3)) {
if (cnt2 < cnt1) /* Check for counter underflow */
diff = cnt1 - cnt2;
else
diff = (65535 - cnt2) + cnt1;
} else {
if (cnt2 > cnt1) /* Check for counter overflow */
diff = cnt2 - cnt1;
else
diff = (65535 - cnt1) + cnt2;
}
sprintf(msg, "Difference: %d\r\n", diff);
HAL_UART_Transmit(&huart2, (uint8_t*) msg, strlen(msg), HAL_MAX_DELAY);
speed = ((diff / PULSES_PER_REVOLUTION) / 60);
/* If the first three bits of SMCR register are set to 0x3
* then the timer is set in X4 mode (TIM_ENCODERMODE_TI12)
* and we need to divide the pulses counter by two, because
* they include the pulses for both the channels */
if ((TIM3->SMCR & 0x3) == 0x3)
speed /= 2;
sprintf(msg, "Speed: %d RPM\r\n", speed);
HAL_UART_Transmit(&huart2, (uint8_t*) msg, strlen(msg), HAL_MAX_DELAY);
dir = __HAL_TIM_IS_TIM_COUNTING_DOWN(&htim3);
sprintf(msg, "Direction: %d\r\n", dir);
HAL_UART_Transmit(&huart2, (uint8_t*) msg, strlen(msg), HAL_MAX_DELAY);
tick = HAL_GetTick();
cnt1 = __HAL_TIM_GET_COUNTER(&htim3);
}
if (HAL_GPIO_ReadPin(GPIOC, GPIO_PIN_13) == GPIO_PIN_RESET) {
/* Invert rotation by swapping CH1 and CH2 CCR value */
tim1_ch1_pulse = __HAL_TIM_GET_COMPARE(&htim1, TIM_CHANNEL_1);
tim1_ch2_pulse = __HAL_TIM_GET_COMPARE(&htim1, TIM_CHANNEL_2);
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, tim1_ch2_pulse);
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2, tim1_ch1_pulse);
}
}
}
/**
* @brief This function handles TIM interrupt request.
* @param None
* @retval None
*/
void TIM7_IRQHandler(void)
{
present_encoder_count = __HAL_TIM_GET_COUNTER(&TimHandle_Enc1);
speed = present_encoder_count - previous_encoder_count ;
local_time++;
/* If control is PBC, turn off the motor when the present_encoder_count is greater than or equal to pOn */
if(control == PBC && ((dir == pos && present_encoder_count >= pOn) || (dir == rev && present_encoder_count <= pOn)))
{
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8 , GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_10, GPIO_PIN_RESET);
isHigh = 1; // Calculate PCC for adaptation
}
/* If control is TBC, turn off the motor when the local_time is greater than or equal to tOn */
if(control == TBC && local_time>=tOn)
{
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8 , GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_10, GPIO_PIN_RESET);
}
/* Wait until motor settles */
if(speed_count == 10 )
{
pS = present_encoder_count ;
if(isHigh) // If the control was PBC, calculate PCC for adaptation
{
pcc = (((float)x*pcc)+((float)y*pcc*((float)local_demand/(float)(absolute(pS - pSa)))))/((float)x+(float)y);
isHigh = 0;}
error = demand - pS;
local_demand = absolute(error);
pSa = __HAL_TIM_GET_COUNTER(&TimHandle_Enc1);
if(local_demand <= 6); // If error is less than 6 pulses, exit the control loop
else if(local_demand <= 100){ // If error is less than 100 pulses, use Time Based Control
control = TBC;
local_time=0;
isDemandChanged=1;}
else { // If error is greater tha 100 pulses, use Position Based Control
control = PBC;
isDemandChanged=1;}
/* Set direction depending on the sign of the error */
if(error < 0)
dir = rev;
else
dir = pos;
/* Disable Timer Interrupt */
HAL_TIM_Base_Stop(&TimHandle_int);
/* Reset Speed count*/
speed_count = 0;
}
/* Wait for 10ms after speed becomes 0 ie., until the motor settles */
if(speed == 0)
speed_count++; // If speed is 0, increment speed count
else
speed_count = 0; // Else reset speed count
previous_encoder_count = present_encoder_count;
HAL_TIM_IRQHandler(&TimHandle_int);
}
/* 过零点触发中断 回调函数 */
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
if (GPIO_Pin != ZERO)
return;
bool wave_is_rise;
// 读Pin，判断是上升沿还是下降沿
if (HAL_GPIO_ReadPin(PORT_ZERO, ZERO) == GPIO_PIN_RESET) {
wave_is_rise = true;
}
else {
wave_is_rise = false;
}
// t 顺序： 1 3 4 6
// 上升沿
if (wave_is_rise) {
t4 = __HAL_TIM_GET_COUNTER(&htim3);
// 上升沿是否valid?
// if (!it_is_valid(t4_prev, t4)) {
// t4_prev = t4;
// r++;
// return;
// }
//r++;
}
else {
// 下降沿
t6 = __HAL_TIM_GET_COUNTER(&htim3);
// 下降沿是否valid?
// if (!it_is_valid(t6_prev, t6)) {
// t6_prev = t6;
// f++;
// return;
// }
//f++;
}
if (wave_is_rise) // 只在波谷计算，否则退出
return;
is_lower_blow = true; // 设置波谷flag
is_lower_exchange = true;
is_lower_feed = true;
/* 下降沿时计算下一个零点 */
// t2
if (t3 < t1)
t2 = (0xffff + t1 + t3) / 2;
else
t2 = (t1 + t3) / 2;
// t5
if (t6 < t4)
t5 = (0xffff + t4 + t6) / 2;
else
t5 = (t4 + t6) / 2;
// 交流电源周期
if (t5 < t2)
T1 = 0xffff + t5 - t2;
else
T1 = t5 - t2;
// 下一个零点
if (t5 < t4)
t7 = t5 + 0xffff - t4 + (T1 / 4); /* 计算不对 ！ */
else
t7 = t5 - t4 + (T1 / 4);
// counter++;
// if (counter >=299) {
// //printf("t4:%d,t5:%d,t6:%d,t7:%d,T1:%d\r\n", t4,t5,t6,t7,T1);
// printf("delay:%d\r\n", t7 + TOTAL_TIME - triac_cur.fan_smoke_delay * 100);
// counter = 0;
// }
// 更新数值
t1 = t4;
t2 = t5;
t3 = t6;
// 计数器复位
__HAL_TIM_SET_COUNTER (&htim1, 0);
__HAL_TIM_SET_COUNTER (&htim4, 0);
// 检查Q_Triac队列，更新输出的控制状态
if (Q_TriacHandle != NULL) {
// 读取值
osEvent evt = osMessageGet(Q_TriacHandle, 0);
if (evt.status == osEventMessage) {
triac_cur = *((Triac *)evt.value.p);
// 更新送料duty
on_count = triac_cur.feed_duty * 100;
off_count = 1000 - on_count; // 10s = 10000ms 10000 / 10 = 1000
// 返还内存
osStatus status = osPoolFree(pool_TriacHandle, evt.value.p);
if (status != osOK)
printf("Free Triac memory error:%x\r\n", status);
}
}
// 设置period
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_1, t7 + TOTAL_TIME - triac_cur.fan_smoke_delay * 100); // 80÷100×10×1000 ＝ 80×100
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_2, t7 + TOTAL_TIME - triac_cur.fan_exchange_delay * 100);
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, t7);
/* 输出: 条件判断 */
HAL_StatusTypeDef status;
//排烟通道
if (triac_cur.fan_smoke_is_on) {
status = HAL_TIM_OC_Start_IT(&htim4, TIM_CHANNEL_1);
if (status != HAL_OK)
printf("time4 c1 failed at zero:%x\r\n", status);
}
//循环通道
if (triac_cur.fan_exchange_is_on) {
status = HAL_TIM_OC_Start_IT(&htim4, TIM_CHANNEL_2);
if (status != HAL_OK)
printf("time4 c2 failed:%x\r\n", status);
}
//送料通道 ON计数 OFF计数
if (triac_cur.feed_is_on) {
// 送料
if (running_feed) {
if (on_cnt < on_count) {
// 输出 送料： On
HAL_TIM_OC_Start_IT(&htim4, TIM_CHANNEL_3);
on_cnt++;
}
else {
on_cnt = 0;
off_cnt = 0;
running_feed = false;
waiting_feed = true;
}
}
// 不送料
if (waiting_feed) {
off_cnt ++;
if (off_cnt >= off_count) {
on_cnt = 0;
off_cnt = 0;
running_feed = true;
waiting_feed = false;
}
}
}
//
}
/* 过零点触发中断 回调函数 */
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
if (GPIO_Pin != ZERO)
return;
bool rising_edge;
// 读Pin，判断是上升沿还是下降沿
if (HAL_GPIO_ReadPin(PORT_ZERO, ZERO) == GPIO_PIN_SET) {
rising_edge = true;
}
else {
rising_edge = false;
}
// t 顺序： 1 3 4 6
// 上升沿
if (rising_edge) {
t6 = __HAL_TIM_GET_COUNTER(&htim3);
}
else {
// 下降沿
t4 = __HAL_TIM_GET_COUNTER(&htim3);
}
if (!rising_edge) // 只在波谷计算，否则退出
return;
/*----------------------------------------------------------------------------*/
is_lower_blow = true; // 设置波谷flag
is_lower_exchange = true;
is_lower_feed = true;
/* 下降沿时计算下一个零点 */
// t1 t3 t4 t6
if ((t1<t3) && (t3<t4) && (t4<t6)) {
t2 = (t1+t3) / 2;
t5 = (t4+t6) / 2;
}
else if(t3<t1) {
t2 = (t1+t3+0xffff) / 2;
t5 = (t4+t6)/2 + 0xffff;
}
else if(t4<t3) {
t2 = (t1+t3) / 2;
t5 = (t4+t6)/2 + 0xffff;
}
else if(t6<t4) {
t2 = (t1+t3) / 2;
t5 = (t4+t6+0xffff) / 2;
}
T1 = t5 - t2;
// 下一个零点
if (t6<t5) {
t7 = t5 + T1/4 - t6 -0xffff;
}
else {
t7 = t5 + T1/4 - t6;
}
// debug
// counter++;
// if (counter >= 149) {
// Zero *z;
// z = (Zero*)osPoolAlloc(pool_ZeroHandle);
// if (z!=NULL) {
// z->t1 = t1;
// z->t3 = t3;
// z->t4 = t4;
// z->t6 = t6;
// z->t7 = t7;
// z->T1 = T1;
// osMessagePut(Q_ErrorHandle, (uint32_t)z, 0);
// }
//
// counter = 0;
// }
//
// 更新数值
t1 = t4;
t3 = t6;
/*--------------------------------------------------------------------------*/
// 只处理下半波
if (t7 == 0) {
t7 = 220;
}
is_lower_blow = true; // 设置波谷flag
is_lower_exchange = true;
is_lower_feed = true;
//uint32_t compare = 0;
// 检查Q_Triac队列，更新输出的控制状态
if (Q_TriacHandle != NULL) {
// 读取值
osEvent evt = osMessageGet(Q_TriacHandle, 0);
if (evt.status == osEventMessage) {
Triac *p = (Triac *)evt.value.p;
triac_cur.fan_exchange_delay = p->fan_exchange_delay;
triac_cur.fan_exchange_is_on = p->fan_exchange_is_on;
triac_cur.fan_smoke_is_on = p->fan_smoke_is_on;
triac_cur.fan_smoke_power = p->fan_smoke_power;
triac_cur.feed_by_manual = p->feed_by_manual;
triac_cur.feed_duty = p->feed_duty;
triac_cur.feed_full = p->feed_full;
triac_cur.feed_is_on = p->feed_is_on;
// 更新送料duty
if (triac_cur.feed_duty != 0) {
// 500×triac_cur.feed_duty÷100
on_count = 5 * triac_cur.feed_duty;
off_count = 500 - on_count; // 10s = 10000ms 10000 / 20 = 500
}
// 返还内存
osStatus status = osPoolFree(pool_TriacHandle, evt.value.p);
if (status != osOK)
printf("Free Triac memory error:%x\r\n", status);
}
}
/*----------------------------------------------------------------------------*/
// 设置period
if (triac_cur.fan_smoke_power == 0) {
triac_cur.fan_smoke_power = 60;
}
// 最低延时2.5ms，最高延时6ms
uint32_t delay = t7 + triac_cur.fan_smoke_power;
if (delay>8999) {
delay = last_delay;
}
else {
last_delay = delay;
}
// 计数器复位
__HAL_TIM_SET_COUNTER (&htim2, 0);
__HAL_TIM_SET_COUNTER (&htim4, 0);
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_1, delay);
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_2, t7+T1/4);
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, t7+T1/4);
/* 输出: 条件判断 */
//排烟通道
if (triac_cur.fan_smoke_is_on) {
__HAL_TIM_ENABLE_IT(&htim4, TIM_IT_CC1);
}
//循环通道
if (triac_cur.fan_exchange_is_on) {
__HAL_TIM_ENABLE_IT(&htim4, TIM_IT_CC2);
}
//送料通道
if ((triac_cur.feed_by_manual || triac_cur.feed_full) && (!triac_cur.feed_is_on)) {
__HAL_TIM_ENABLE_IT(&htim4, TIM_IT_CC3);
}
//送料通道 ON计数 OFF计数
if (triac_cur.feed_is_on && (!triac_cur.feed_by_manual)) { // 0
// 送料
if (feed_run) {
__HAL_TIM_ENABLE_IT(&htim4, TIM_IT_CC3);
count_feed ++;
if (count_feed >= on_count) {
count_feed = 0;
feed_run = false;
}
}
else {
// 不送料
count_feed ++;
if (count_feed >= off_count) {
count_feed = 0;
feed_run = true;
}
}
} // if 0
}
/* TIM4 打开触发脉冲 */
void HAL_TIM_OC_DelayElapsedCallback(TIM_HandleTypeDef *htim)
{
uint32_t compare = 0;
/* TIM4 */
if (htim->Instance == TIM4) {
// 1
// 排烟风机 通道
if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1) {
// 排烟风机 delay_on， 打开输出
if (!is_lower_blow) {
__HAL_TIM_DISABLE_IT(&htim4, TIM_IT_CC1);
}
ON_SMOKE;
// 延时关断
compare = __HAL_TIM_GET_COUNTER(&htim2) + uS_DELAY_OFF;
__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, compare);
__HAL_TIM_ENABLE_IT(&htim2, TIM_IT_CC1);
// 下一个半波
if (is_lower_blow) {
is_lower_blow = false;
compare = __HAL_TIM_GET_COUNTER(&htim4) + HALF_T1;
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_1, compare);
//__HAL_TIM_ENABLE_IT(&htim4, TIM_IT_CC1);
}
}
// 2
// 循环风机通道
if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_2) {
// 循环风机 delay_on， 打开输出
if (!is_lower_exchange){
__HAL_TIM_DISABLE_IT(&htim4, TIM_IT_CC2);
}
ON_EXCHANGE;
// 延时关断
compare = __HAL_TIM_GET_COUNTER(&htim2) + uS_DELAY_OFF;
__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_2, compare);
__HAL_TIM_ENABLE_IT(&htim2, TIM_IT_CC2);
// 下一个半波
if (is_lower_exchange) {
is_lower_exchange = false;
compare = __HAL_TIM_GET_COUNTER(&htim4) + HALF_T1;
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_2, compare);
//__HAL_TIM_ENABLE_IT(&htim4, TIM_IT_CC2);
}
}
// 3
// 送料电机 通道
if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_3) {
// 送料
if (!is_lower_feed) {
__HAL_TIM_DISABLE_IT(&htim4, TIM_IT_CC3);
}
ON_FEED;
// 延时关断
compare = __HAL_TIM_GET_COUNTER(&htim2) + uS_DELAY_OFF;
__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_3, compare);
__HAL_TIM_ENABLE_IT(&htim4, TIM_IT_CC3);
// 下一个半波
if (is_lower_feed){
is_lower_feed = false;
compare = __HAL_TIM_GET_COUNTER(&htim4) + HALF_T1;
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, compare);
//__HAL_TIM_ENABLE_IT(&htim4, TIM_IT_CC3);
}
}
//
}
/* TIM2 关闭触发脉冲 */
// 延时x us关闭触发
if (htim->Instance == TIM2) {
// 1
if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1) {
OFF_SMOKE;
__HAL_TIM_DISABLE_IT(&htim2, TIM_IT_CC1);
}
// 2
if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_2) {
// 输出 循环：Off
OFF_EXCHANGE;
__HAL_TIM_DISABLE_IT(&htim2, TIM_IT_CC2);
}
// 3
if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_3) {
// 输出 送料： Off
OFF_FEED;
__HAL_TIM_DISABLE_IT(&htim2, TIM_IT_CC3);
}
} // TIM2
//
}
int16_t TIM4_GetCount(void)
{
return __HAL_TIM_GET_COUNTER(&htim4);
}