void Timer2_Initialization(void)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
NVIC_InitTypeDef NVIC_InitStructure;
/* Enable the TIM5 global Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn ;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* -- Timer Configuration --------------------------------------------------- */
TIM_DeInit(TIM2);
TIM_TimeBaseInitTypeDef TIM_TimeBaseStruct;
TIM_TimeBaseStruct.TIM_Period = 2500; //250ms --> 4Hz
TIM_TimeBaseStruct.TIM_Prescaler = 90 - 1; // Prescaled by 900 -> = 0.1M(10us)
TIM_TimeBaseStruct.TIM_ClockDivision = TIM_CKD_DIV1; // Div by one -> 90 MHz (Now RCC_DCKCFGR_TIMPRE is configured to divide clock by two)
TIM_TimeBaseStruct.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStruct);
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE); // Set interrupt when timer reloads (overflow)
TIM_ARRPreloadConfig(TIM2, DISABLE); //Put ARR value into register
TIM_Cmd(TIM2, ENABLE);
}
void Timer(uint32_t period){
TIM_MATCHCFG_Type matchcfg;
matchcfg.MatchChannel = 0;
matchcfg.IntOnMatch = ENABLE;
matchcfg.ResetOnMatch = DISABLE;
matchcfg.StopOnMatch = DISABLE;
matchcfg.MatchValue = period;
matchcfg.ExtMatchOutputType = TIM_EXTMATCH_NOTHING;
TIM_TIMERCFG_Type timercfg;
timercfg.PrescaleOption = TIM_PRESCALE_USVAL;
timercfg.PrescaleValue = 1;
TIM_Init(LPC_TIM0, TIM_TIMER_MODE, &timercfg);
TIM_ConfigMatch(LPC_TIM0, &matchcfg);
tim0_flag = 0;
NVIC_SetPriority(TIMER0_IRQn, ((0x01<<3)|0x01));
NVIC_EnableIRQ(TIMER0_IRQn);
TIM_Cmd(LPC_TIM0, ENABLE);
while(!tim0_flag);
TIM_DeInit(LPC_TIM0);
NVIC_DisableIRQ(TIMER0_IRQn);
}
/**
* Initialize a timer, and reset its register map.
* @param dev Timer to initialize
*/
void timer_reset(timer_dev *dev) {
if (dev->regs == TIM1 || dev->regs == TIM8 || dev->regs == TIM9 || dev->regs == TIM10 || dev->regs == TIM11)
RCC_APB2PeriphClockCmd(dev->clk, ENABLE);
else
RCC_APB1PeriphClockCmd(dev->clk, ENABLE);
TIM_DeInit(dev->regs);
}
void F4Timer::set_period(uint32_t period)
{
if(TIM1==TIMx)
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1,ENABLE);
if(TIM2==TIMx)
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);
if(TIM3==TIMx)
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);
if(TIM4==TIMx)
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4,ENABLE);
if(TIM5==TIMx)
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5,ENABLE);
if(TIM6==TIMx)
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6,ENABLE);
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_DeInit(TIMx);
TIM_InternalClockConfig(TIMx);
TIM_TimeBaseStructure.TIM_Prescaler=167;//1Mhz 1us 65536
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period=period;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0x0;
TIM_TimeBaseInit(TIMx,&TIM_TimeBaseStructure);
TIM_ClearFlag(TIMx,TIM_FLAG_Update);
TIM_ARRPreloadConfig(TIMx,DISABLE);
TIM_ITConfig(TIMx,TIM_IT_Update,ENABLE);
TIM_Cmd(TIMx,ENABLE);
TimerInit(this->TIMx);
}
/*******************************************************************************
* Function Name : System_TimerConfiguration
* Description :
* Input : None
* Output : None
* Return : None
*******************************************************************************/
static void System_TimerConfiguration(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = {0};
//---------------------------------------------------------------------------
// 初始化定时器TIM
//---------------------------------------------------------------------------
TIM_DeInit( BSP_TIM );//复位TIM定时器
/* ---------------------------------------------------------------
TIM Configuration: Output Compare Timing Mode:
TIMCLK = 84 MHz, Prescaler = 8400, TIM counter clock = 10 KHz
--------------------------------------------------------------- */
/* TIM configuration */
TIM_TimeBaseStructure.TIM_Period = 9;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(BSP_TIM, &TIM_TimeBaseStructure);
/*--------------------------------------------------------------------- */
/* Prescaler configuration TIM 的时钟设定为10KHz，计数器的计量单位：1ms */
/* 注意：分频数不能超过65535 （0xFFFF） */
/*--------------------------------------------------------------------- */
TIM_PrescalerConfig(BSP_TIM, (8400 - 1), TIM_PSCReloadMode_Immediate);
/* */
TIM_ARRPreloadConfig(BSP_TIM, ENABLE);
/* Clear TIM update pending flag[清除TIM 溢出中断标志] */
TIM_ClearFlag(BSP_TIM, TIM_FLAG_Update);
/* Enable TIM Update interrupt [TIM 溢出中断允许]*/
TIM_ITConfig(BSP_TIM, TIM_IT_Update, ENABLE);
/* TIM enable counter [允许tim计数]*/
TIM_Cmd(BSP_TIM, ENABLE);
}
uint32_t attachTimerCallback(uint8_t timer, ISRType ISR, uint32_t usDelay) {
// Get the correct PCLK
RCC_ClocksTypeDef RCC_Clocks;
RCC_GetClocksFreq(&RCC_Clocks);
uint32_t PCLK = RCC_Clocks.PCLK1_Frequency;// Frequency in Hz
TIM_TypeDef *TIMx = TIMER_MAP[timer].TIMx;
// For timers on APB2 use PCLK2
#if defined(STM32F446xx)
if (TIMx == TIM1 || TIMx == TIM8 || TIMx == TIM9 || TIMx == TIM10 || TIMx == TIM11)
PCLK = RCC_Clocks.PCLK2_Frequency;
#elif defined(SERIES_STM32F30x)
if (TIMx == TIM1 || TIMx == TIM8 || TIMx == TIM15 || TIMx == TIM16 || TIMx == TIM17)
PCLK = RCC_Clocks.PCLK2_Frequency;
#endif
// Set the update ISR
TimerInfo *cfg = &TIMER_MAP[timer];
cfg->isr = ISR;
// Start interrupts with low priority
uint8_t priority = 0xd;
nvicEnable(TIMER_MAP[timer].IRQn, priority);
// Start 1MHz timebase
TIM_Cmd(TIMx, DISABLE);
TIM_DeInit(TIMx);
// FIXME always getting half of what expected...
timerInitHelper(timer, PCLK/(1000000)-1, usDelay-1);
TIMx->CNT = 0;
TIM_ClearITPendingBit(TIMx, TIM_IT_Update);
TIM_ITConfig(TIMx, TIM_IT_Update, ENABLE);
TIM_Cmd(TIMx, ENABLE);
return PCLK;
}
/*=====================================================================================================*/
void TIM_Config( void )
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStruct;
NVIC_InitTypeDef NVIC_InitStruct;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
TIM_DeInit(TIM3);
/************************** PWM Output **************************************/
/* 設定 TIM3 Time Base */
TIM_TimeBaseStruct.TIM_Period = (u16)(1000-1); // 週期 = 10ms, 100Hz
TIM_TimeBaseStruct.TIM_Prescaler = (u16)(720-1); // 除頻720 = 100kHz
TIM_TimeBaseStruct.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStruct.TIM_CounterMode = TIM_CounterMode_Up; // 上數
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStruct);
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
NVIC_InitStruct.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStruct);
/* 啟動 */
TIM_ARRPreloadConfig(TIM3, ENABLE); // 致能 TIM3 重載寄存器ARR
TIM_ClearFlag(TIM3, TIM_FLAG_Update);
TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
TIM_Cmd(TIM3, ENABLE); // 致能 TIM3
}
//TIM_3 is for ModBus communication
void InitTIM3(void)
{
TIM_TimeBaseInitTypeDef TIM_3_TimeBaseInitStruct;
NVIC_InitTypeDef MYNVIC;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
// Configure TIM3 IRQ
MYNVIC.NVIC_IRQChannel = TIM3_IRQn;
MYNVIC.NVIC_IRQChannelCmd = ENABLE;
MYNVIC.NVIC_IRQChannelPreemptionPriority = 0;
MYNVIC.NVIC_IRQChannelSubPriority = 2;
NVIC_Init(&MYNVIC);
TIM_DeInit(TIM3);
//TIM_3 clock = 50, MHz / prescaler = 50 000 000 / 50 000 = 1000, Hz
//time = TIM_3 period * (1 / TIM_3 clock) = 1 * (1 / 1000) = 0.001, s
TIM_3_TimeBaseInitStruct.TIM_Prescaler = 50000;
TIM_3_TimeBaseInitStruct.TIM_Period = 1;
TIM_3_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1; // 0
TIM_3_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
TIM_3_TimeBaseInitStruct.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM3, &TIM_3_TimeBaseInitStruct);
TIM_ClearFlag(TIM3, TIM_FLAG_Update);
TIM_ClearITPendingBit(TIM3, TIM_IT_Update);
TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
//TIM3 is not enabled from init function
//ENABLE command is set by ModBusTimerEnable()
}
static void PWM2_Mode_Config(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitSturcture;
TIM_OCInitTypeDef TIM_OCInitSturcture;
u16 CCR1_Val = 1250;
TIM_DeInit(PWM2_TIM);
TIM_TimeBaseInitSturcture.TIM_Prescaler = (36-1);
TIM_TimeBaseInitSturcture.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInitSturcture.TIM_Period = 2500;
TIM_TimeBaseInitSturcture.TIM_ClockDivision = 0;
TIM_TimeBaseInit(PWM2_TIM,&TIM_TimeBaseInitSturcture);
TIM_ClearFlag(PWM2_TIM, TIM_FLAG_Update); /* 清除溢出中断标志 */
TIM_ITConfig(PWM2_TIM,TIM_IT_Update,ENABLE);
TIM_OCInitSturcture.TIM_OCMode = TIM_OCMode_PWM1; //配置为PWM模式1
TIM_OCInitSturcture.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitSturcture.TIM_Pulse = CCR1_Val;
//设置跳变值，当计数器计数到这个值时，电平发生跳变
TIM_OCInitSturcture.TIM_OCPolarity = TIM_OCPolarity_High;
//当定时器计数值小于CCR1_Val时为高电平
TIM_OC1Init(PWM2_TIM, &TIM_OCInitSturcture); //使能通道1
TIM_OC1PreloadConfig(PWM2_TIM, TIM_OCPreload_Disable);
TIM_ARRPreloadConfig(PWM2_TIM, ENABLE); // 使能TIM3重载寄存器ARR
/* TIM3 enable counter */
TIM_Cmd(PWM2_TIM, DISABLE); //使能定时器3
}
void TIM2_Init(void)
{
TIM_TimeBaseInitTypeDef T; //创建定时器变量
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); //TIM2使用APB1时钟总线
TIM_DeInit(TIM2); //复位TIM2定时器到默认值
T.TIM_Period=500-1; //计数器溢出值，最大65535，此值不能更改，与输出比较的设定值一致，输出比较计数器溢出也为65535
if(get_APB1_prevdiv() > 0){
tim2_clock = Get_SyS_CLK(3)<<1;
}else{
tim2_clock = Get_SyS_CLK(3);
}
T.TIM_Prescaler = tim2_clock/TIM2_PREV_DIV - 1; //预分频系数，系统每秒72,000,000次，72000000/50000=1440分频，对系统频率72000000进行1440分频后，每秒计数频率为50000次，即每次计数时间为20us，每计满TIM_Period多次时变0重计
//T.TIM_Prescaler =7200 - 1; //预分频系数，系统每秒72,000,000次，72000000/50000=1440分频，对系统频率72000000进行1440分频后，每秒计数频率为50000次，即每次计数时间为20us，每计满TIM_Period多次时变0重计
T.TIM_ClockDivision = 0; //时钟分割 在定时器预分频之前作一段延时，很少用到，设为0即可
T.TIM_CounterMode = TIM_CounterMode_Up; //向上计数 UP：0到10000的计数 DOWN:FFFF到10000
TIM_TimeBaseInit(TIM2, &T); //根据上面设置初始化定时器TIM2
TIM_ClearFlag(TIM2, TIM_FLAG_Update); //清空溢出中断
TIM_SetCounter(TIM2,0); //设置计数器初值为0 //目前尚未启用该定时器
}
/**
* @brief TIM2初始化
* @param None
* @retval None
*/
void my_Timer2_Init()
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
/* Enable TIM2 Clock */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
TIM_DeInit(TIM2 );
TIM_TimeBaseStructure.TIM_Prescaler = 0xFff; //加上原周期的N份，即（1+N）*T为1个周期
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //不要动了
TIM_TimeBaseStructure.TIM_Period = (SystemCoreClock / N_Hz) - 1;
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //不要动了
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0; //不要动了
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
//TIM_ClearFlag(TIM2, TIM_FLAG_Update );
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
TIM_Cmd(TIM2, ENABLE);
NVIC_InitTypeDef NVIC_InitStructure;
/* Enable the TIM2 Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
static void prvSetupTimerInterrupt( void )
{
unsigned char a;
unsigned short b;
unsigned long n = configCPU_PERIPH_HZ / configTICK_RATE_HZ;
TIM_InitTypeDef timer;
SCU_APBPeriphClockConfig( __TIM23, ENABLE );
TIM_DeInit(TIM2);
TIM_StructInit(&timer);
prvFindFactors( n, &a, &b );
timer.TIM_Mode = TIM_OCM_CHANNEL_1;
timer.TIM_OC1_Modes = TIM_TIMING;
timer.TIM_Clock_Source = TIM_CLK_APB;
timer.TIM_Clock_Edge = TIM_CLK_EDGE_RISING;
timer.TIM_Prescaler = a-1;
timer.TIM_Pulse_Level_1 = TIM_HIGH;
timer.TIM_Pulse_Length_1 = s_nPulseLength = b-1;
TIM_Init (TIM2, &timer);
TIM_ITConfig(TIM2, TIM_IT_OC1, ENABLE);
/* Configure the VIC for the WDG interrupt. */
VIC_Config( TIM2_ITLine, VIC_IRQ, 10 );
VIC_ITCmd( TIM2_ITLine, ENABLE );
/* Install the default handlers for both VIC's. */
VIC0->DVAR = ( unsigned long ) prvDefaultHandler;
VIC1->DVAR = ( unsigned long ) prvDefaultHandler;
TIM_CounterCmd(TIM2, TIM_CLEAR);
TIM_CounterCmd(TIM2, TIM_START);
}
void InitTIM2(void)
{
TIM_TimeBaseInitTypeDef TIM_2_TimeBaseInitStruct;
NVIC_InitTypeDef MYNVIC;
//AHB clock = 50, MHz
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
// Configure TIM2 IRQ
MYNVIC.NVIC_IRQChannel = TIM2_IRQn;
MYNVIC.NVIC_IRQChannelCmd = ENABLE;
MYNVIC.NVIC_IRQChannelPreemptionPriority = 0;
MYNVIC.NVIC_IRQChannelSubPriority = 1;
NVIC_Init(&MYNVIC);
TIM_DeInit(TIM2);
//TIM_2 clock = 50, MHz / prescaler = 50 000 000 / 500 = 100 000, Hz
//time = TIM_2 period * (1 / TIM_2 clock) = 100 * (1 / 100 000) = 0.001, s
TIM_2_TimeBaseInitStruct.TIM_Prescaler = 500;
TIM_2_TimeBaseInitStruct.TIM_Period = 100;
TIM_2_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1; // 0
TIM_2_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
TIM_2_TimeBaseInitStruct.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM2, &TIM_2_TimeBaseInitStruct);
TIM_ClearFlag(TIM2, TIM_FLAG_Update);
TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
}
void systim_init(void* tim_init)
{
TIM_TimeBaseInitTypeDef tbase_in;
TIM_DeInit(OT_GPTIM);
/* tbase_in.TIM_Prescaler = 0;
tbase_in.TIM_Period = *(ot_u32*)tim_init;*/
tbase_in.TIM_Prescaler = *(ot_u32*)tim_init;
tbase_in.TIM_Period = 1;
tbase_in.TIM_CounterMode = TIM_CounterMode_Up;
tbase_in.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInit(OT_GPTIM, &tbase_in);
TIM_SetCompare1(OT_GPTIM, *(ot_u32*)tim_init);
// Timers 9/10/11 have external clock wired to RTC crystal.
// (The fact that the clock mode is called "Mode2" is a coincidence)
// mode1: external input pin (TIx)
// mode2: external trigger input (ETR)
TIM_ETRClockMode2Config(OT_GPTIM,
TIM_ExtTRGPSC_OFF,
TIM_ExtTRGPolarity_NonInverted,
0);
}
//===============================================================================
void xTim3Init(void)
{
//TIM3はタイマ割り込み(10KHz)で制御ループを回す
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn; /* Enable the TIM3 gloabal Interrupt */
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; /* value = 0 - 15*/
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; /* value = 0 - 15*/
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_TimeBaseInitTypeDef TIM3_TimeBaseStructure;
TIM_OCInitTypeDef TIM3_OCInitStructure;
TIM_DeInit (TIM3);
RCC_APB1PeriphClockCmd (RCC_APB1Periph_TIM3, ENABLE); //tim2クロックは84MHz。
TIM3_TimeBaseStructure.TIM_Period = (84000000 / 10000) - 1; //=8400 これで10KHz
TIM3_TimeBaseStructure.TIM_Prescaler = 0; //プリスケーラ。0だと1分周。
TIM3_TimeBaseStructure.TIM_ClockDivision = 0; //外部クロックサンプルの間隔。使用しないので0。
TIM3_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit (TIM3, &TIM3_TimeBaseStructure);
TIM3_OCInitStructure.TIM_OCMode = TIM_OCMode_Timing;
TIM3_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM3_OCInitStructure.TIM_Pulse = 0;
TIM3_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init (TIM3, &TIM3_OCInitStructure);
TIM_OC1PreloadConfig (TIM3, TIM_OCPreload_Enable);
TIM_ITConfig (TIM3, TIM_IT_CC1, ENABLE);
TIM_Cmd (TIM3, ENABLE);
}
/*********************************************************************************
*Function : void set_intorobot_loop_period(unsigned short time_ms)
*Description : set intorobot_loop time
*Input : 100ms--6500ms
*Output : none
*Return : none
*author : lbz
*date : 6-December-2015
*Others : none
**********************************************************************************/
void set_intorobot_loop_period(unsigned short time_ms)
{
if(time_ms<100) time_ms=100;
if(time_ms>6500) time_ms=6500;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0; // 必须加
TIM_DeInit(TIM1);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); //时钟使能
TIM_InternalClockConfig(TIM1); // 配置时钟源
TIM_TimeBaseStructure.TIM_Period = (unsigned short)(time_ms*10-1);
//TIM_TimeBaseStructure.TIM_Period = 2500-1;//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 计数到5000为500ms
TIM_TimeBaseStructure.TIM_Prescaler = 7200-1;//72-1; //设置用来作为TIMx时钟频率除数的预分频值 10Khz的计数频率
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
TIM_Cmd(TIM1, ENABLE); // 使能
TIM_ITConfig(TIM1, TIM_IT_Update, ENABLE);
NVIC_InitTypeDef NVIC_InitStructure;
//NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0); // 中断优先级分组
NVIC_InitStructure.NVIC_IRQChannel = TIM1_UP_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = TIM1_UP_IRQ_PRIORITY;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
/*
TIM2时钟初始化:0.5s溢出（定位周期）
*/
void TIM2_init(void) {
NVIC_InitTypeDef NVIC_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 , ENABLE);
TIM_DeInit(TIM2);
// 0.0005 * 100 = 0.05s
TIM_TimeBaseStructure.TIM_Period = (int) ((float)LOCATION_PERIOD / (float)TICK_IN_PERIOD / 0.0005); // 0.05s
DEBUG2(("%f %f %f\r\n", (float)LOCATION_PERIOD ,(float)TICK_IN_PERIOD, (float)LOCATION_PERIOD / (float)TICK_IN_PERIOD));
DEBUG2(("定位TICK周期: %f\r\n", ((float)LOCATION_PERIOD / (float)TICK_IN_PERIOD / 0.0005)));
TIM_TimeBaseStructure.TIM_Prescaler = 36000; // 1 / 72MHz * 36k = 0.0005/period
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
TIM_ClearFlag(TIM2, TIM_FLAG_Update);
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
TIM_Cmd(TIM2, ENABLE);
DEBUG2(("定位TICK周期: %d\r\n", TIM_TimeBaseStructure.TIM_Period));
}
/****************************************************************************************
** 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);
}
/*******************************************************************************
* Function Name : TIM2_Configuration
* Description : 每1秒发生一次更新事件(进入中断服务程序).
* Input : None
* Return : None
*******************************************************************************/
void TIM2_Configuration(unsigned int MsTime)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
//重新将Timer设置为缺省值
TIM_DeInit(TIM2);
//采用内部时钟给TIM2提供时钟源
TIM_InternalClockConfig(TIM2);
//预分频系数为36000-1，这样计数器时钟为64MHz/32000 = 2kHz
TIM_TimeBaseStructure.TIM_Prescaler = 32000 - 1;
//设置时钟分割
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
//设置计数器模式为向上计数模式
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
//设置计数溢出大小，每计2000个数就产生一个更新事件
TIM_TimeBaseStructure.TIM_Period = (2*MsTime);
//将配置应用到TIM2中
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
//清除溢出中断标志
TIM_ClearFlag(TIM2, TIM_FLAG_Update);
//禁止ARR预装载缓冲器
TIM_ARRPreloadConfig(TIM2, DISABLE); //预装载寄存器的内容被立即传送到影子寄存器
//开启TIM2的中断
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
}
TimedTasks_imp()
{
SysTick->VAL = SysTick->LOAD = 168000-1;
SysTick->CTRL = SysTick_CTRL_ENABLE_Msk | SysTick_CTRL_TICKINT_Msk
| SysTick_CTRL_CLKSOURCE_Msk;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_3);
NVIC_InitTypeDef nvic[1];
nvic->NVIC_IRQChannel = SysTick_IRQn;
nvic->NVIC_IRQChannelPreemptionPriority = 3;
nvic->NVIC_IRQChannelSubPriority = 1;
nvic->NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(nvic);
// Enable timer 2 for the CPUclockdiff.
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
TIM_DeInit(TIM2);
TIM_TimeBaseInitTypeDef tim[1];
TIM_TimeBaseStructInit(tim);
tim->TIM_Period = 0xFFFFFFFF; // Free running
tim->TIM_Prescaler = 0;
tim->TIM_ClockDivision = 0;
tim->TIM_CounterMode = TIM_CounterMode_Down;
TIM_TimeBaseInit(TIM2, tim);
TIM_Cmd(TIM2, ENABLE);
}
void ENC_Init(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
//Encoder uint connected to TIM2
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
//RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);
RCC_APB1PeriphClockCmd(ENC_TIMER_CLK,ENABLE);
RCC_APB2PeriphClockCmd(ENC_GPIO_CLK ,ENABLE);
GPIO_StructInit(&GPIO_InitStructure);
//GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_InitStructure.GPIO_Pin = ENC_GPIO_PIN_A | ENC_GPIO_PIN_B ;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(ENC_GPIO_PORT ,&GPIO_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = ENC_TIMER_IRQn ;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = TIMx_PRE_EMPTION_PRIORITY;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = TIMx_SUB_PRIORITY;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_DeInit(ENC_TIMER);
//TIM_TimeBaseInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0;
TIM_TimeBaseStructure.TIM_Period = (4*ENCODER_PPR)-1;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(ENC_TIMER,&TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(ENC_TIMER,TIM_EncoderMode_TI12,
TIM_ICPolarity_Rising,TIM_ICPolarity_Rising);
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = ICx_FILTER;
TIM_ICInit(ENC_TIMER,&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;//注意通道
TIM_ICInit(ENC_TIMER, &TIM_ICInitStructure);
TIM_ClearFlag(ENC_TIMER,TIM_FLAG_Update);
TIM_ITConfig(ENC_TIMER,TIM_IT_Update,ENABLE);
TIM2->CNT = COUNTER_RESET;//!!此处注意修改
//局部初始化
ENC_Clear_Speed_Buffer();
hPrevious_angle=0;
hRot_Speed=0;;
bSpeed_Buffer_Index = 0;
hEncoder_Timer_Overflow=0;
bIs_First_Measurement = true;
hEncoder_Revolutions_Num=0;
TIM_Cmd(ENC_TIMER,ENABLE);
}
/*
*berif: Initialize the counter of the encoding module(Right)
*param: None
*reval: None
*/
void TIM3_Init()
{
TIM_ICInitTypeDef TIM3_ICInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE); //TIM4时钟使能
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); //使能PORTA时钟
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; //GPIOB6 | 7
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; //速度100MHz
//以下两个不用设置
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD; //推挽复用
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //下拉
GPIO_Init(GPIOB,&GPIO_InitStructure); //初始化PB
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; //GPIOB6 | 7
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; //速度100MHz
//以下两个不用设置
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD; //推挽复用
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //下拉
GPIO_Init(GPIOA,&GPIO_InitStructure); //初始化PB
GPIO_PinAFConfig(GPIOB,GPIO_PinSource5,GPIO_AF_TIM3); //PB6复用位定时器4
GPIO_PinAFConfig(GPIOA,GPIO_PinSource6,GPIO_AF_TIM3); //PB7复用位定时器4
TIM_DeInit(TIM3);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler=0; //定时器分频
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up; //向上计数模式
TIM_TimeBaseStructure.TIM_Period=60000; //自动重装载值
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStructure);
//初始化TIM5输入捕获参数
TIM3_ICInitStructure.TIM_Channel = TIM_Channel_1 | TIM_Channel_2; //CC1S=01 选择输入端 IC1映射到TI1上
TIM3_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_BothEdge; //上升沿捕获
TIM3_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
TIM3_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //配置输入分频,不分频
TIM3_ICInitStructure.TIM_ICFilter = 0x00;//IC1F=0000 配置输入滤波器 不滤波
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI1, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_ICInit(TIM3, &TIM3_ICInitStructure);
TIM_ITConfig(TIM3,TIM_IT_Update,ENABLE);//允许更新中断 ,允许CC1IE捕获中断
TIM_SetCounter(TIM3, 30000);
TIM_Cmd(TIM3,ENABLE ); //使能定时器5
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0;//抢占优先级3
NVIC_InitStructure.NVIC_IRQChannelSubPriority =0; //子优先级3
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道使能
NVIC_Init(&NVIC_InitStructure); //根据指定的参数初始化VIC寄存器、
}
static void serialTimerTxConfig(const timerHardware_t *timerHardwarePtr, uint8_t reference)
{
uint32_t timerPeriod=34;
TIM_DeInit(timerHardwarePtr->tim);
timerConfigure(timerHardwarePtr, timerPeriod, 1);
timerChCCHandlerInit(&escSerialPorts[reference].timerCb, onSerialTimer);
timerChConfigCallbacks(timerHardwarePtr, &escSerialPorts[reference].timerCb, NULL);
}
/*====================================================================================================*/
static void ILI9341_LigConfig( void )
{
GPIO_InitTypeDef GPIO_InitStruct;
#ifdef BLIGHT_PWM
TIM_TimeBaseInitTypeDef TIM_TimeBaseStruct;
TIM_OCInitTypeDef TIM_OCInitStruct;
/* PWM Clk Init *************************************************************/
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
RCC_APB2PeriphClockCmd(LCD_LIG_GPIO_CLK, ENABLE);
/* LIG PA1 */
GPIO_InitStruct.GPIO_Pin = LCD_LIG_PIN;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(LCD_LIG_GPIO_PORT, &GPIO_InitStruct);
TIM_DeInit(TIM2);
/************************** PWM Output **************************************/
/* 設定 TIM2 Time Base */
TIM_TimeBaseStruct.TIM_Period = (uint16_t)(256-1); // Set Period
TIM_TimeBaseStruct.TIM_Prescaler = (uint16_t)(0); // Set Freq
TIM_TimeBaseStruct.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStruct.TIM_CounterMode = TIM_CounterMode_Up; // Count Up
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStruct);
/* 設定 TIM2 OC2 */
TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1; // PWM1 Mode
TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable; // Enable OC
TIM_OCInitStruct.TIM_Pulse = 0; // Period Pulse
TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High; // 當計數值小於 PWM_MOTOR_MIN 時為高電平
TIM_OC2Init(TIM2, &TIM_OCInitStruct); // 初始化 TIM2 OC2
TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable); // Enable TIM2 OC2 Preload
/* 啟動 */
TIM_ARRPreloadConfig(TIM2, ENABLE); // Enable TIM2 ARR Preload
TIM_Cmd(TIM2, ENABLE); // Enable TIM2
LCD_LIG = BLIGHT_MIN;
#else
/* GPIO Clk ******************************************************************/
LCD_LIG_GPIO_CLK_ENABLE();
/* SPI Pin ******************************************************************/
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Pin = LCD_LIG_PIN;
HAL_GPIO_Init(LCD_LIG_GPIO_PORT, &GPIO_InitStruct);
LCD_LIG_L;
#endif
}
/**
* @brief Configures the SR-04 sonar sensor Peripheral.
*/
void sonar_config_hc_sr04(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
EXTI_InitTypeDef EXTI_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
// TIM6 as timer, 10us resolution, 60000 overflow ~= 600ms
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6,ENABLE);
TIM_DeInit(TIM6);
TIM_InternalClockConfig(TIM6);
TIM_TimeBaseStructure.TIM_Prescaler=839;
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period=60000-1;
TIM_TimeBaseInit(TIM6,&TIM_TimeBaseStructure);
TIM_ClearFlag(TIM6,TIM_FLAG_Update);
TIM_ARRPreloadConfig(TIM6,DISABLE);
TIM_ITConfig(TIM6,TIM_IT_Update,ENABLE);
TIM_Cmd(TIM6,ENABLE);
// A8 as echo
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// D14 as trigger
GPIO_ResetBits(GPIOD, GPIO_Pin_14);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_14;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOD, &GPIO_InitStructure);
GPIO_ResetBits(GPIOD, GPIO_Pin_14);
// EXTI
EXTI_ClearITPendingBit(EXTI_Line8);
SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOA, EXTI_PinSource8);
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising_Falling;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_InitStructure.EXTI_Line = EXTI_Line8;
EXTI_Init(&EXTI_InitStructure);
// priority : lowest
NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
sr04_initialized = 1;
}
/**
* @brief De-initializes the Timers for all the Timer interfaces.
* @retval None
*/
void Blox_Timer_DeInit_Timer(void) {
TIM_DeInit(TIM1);
TIM_DeInit(TIM2);
TIM_DeInit(TIM3);
TIM_DeInit(TIM4);
TIM_DeInit(TIM5);
TIM_DeInit(TIM6);
TIM_DeInit(TIM7);
TIM_DeInit(TIM8);
}
/***********************************************
函数名：MotorInit(void)
功能：输出PWM的定时器2初始化
输入参数：无
输出:无
描述：调用该函数，即初始化定时器2为PWM输出模式
备注：
***********************************************/
void MotorInit(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
uint16_t PrescalerValue = 0; //控制电机PWM频率
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); //打开外设A的时钟和复用时钟
RCC_APB1PeriphClockCmd(RCC_APB2Periph_TIM1 ,ENABLE); //打开定时器1时钟
//RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); //打开外设A的时钟和复用时钟
//RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4 ,ENABLE); //打开定时器4时钟
// 设置GPIO功能。
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// 复位定时器。
TIM_DeInit(TIM1);
// 配置计时器。
PrescalerValue = (uint16_t) (SystemCoreClock / 24000000) - 1;
TIM_TimeBaseStructure.TIM_Period = 999; //计数上线
TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue; //pwm时钟分频
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数
TIM_TimeBaseInit(TIM1,&TIM_TimeBaseStructure);
// 配置TIM1为PWM输出模式
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0; //0
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM1,&TIM_OCInitStructure);
//TIM_OC2Init(TIM2,&TIM_OCInitStructure);
//TIM_OC3Init(TIM2,&TIM_OCInitStructure);
//TIM_OC4Init(TIM2,&TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
//TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);
//TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable);
//TIM_OC4PreloadConfig(TIM2, TIM_OCPreload_Enable);
// 启动计时器。
TIM_Cmd(TIM1,ENABLE);
printf("TIM1 enable done...\r\n");
MotorInit_1();
}
// ------------------------------------------------------------
// stops an active SIT by disabling its interrupt and TIMER
// and freeing up its state for future use.
// ------------------------------------------------------------
void IntervalTimer::stop_SIT() {
NVIC_InitTypeDef nvicStructure;
TIM_TypeDef* TIMx;
//use SIT_id to identify TIM#
switch (SIT_id) {
#if defined(STM32F10X_MD) || !defined(PLATFORM_ID) //Core
case 0: // TIM2
nvicStructure.NVIC_IRQChannel = TIM2_IRQn;
TIMx = TIM2;
break;
case 1: // TIM3
nvicStructure.NVIC_IRQChannel = TIM3_IRQn;
TIMx = TIM3;
break;
case 2: // TIM4
nvicStructure.NVIC_IRQChannel = TIM4_IRQn;
TIMx = TIM4;
break;
#elif defined(STM32F2XX) && defined(PLATFORM_ID) //Photon
case 0: // TIM3
nvicStructure.NVIC_IRQChannel = TIM3_IRQn;
TIMx = TIM3;
break;
case 1: // TIM4
nvicStructure.NVIC_IRQChannel = TIM4_IRQn;
TIMx = TIM4;
break;
case 2: // TIM5
nvicStructure.NVIC_IRQChannel = TIM5_IRQn;
TIMx = TIM5;
break;
case 3: // TIM6
nvicStructure.NVIC_IRQChannel = TIM6_DAC_IRQn;
TIMx = TIM6;
break;
case 4: // TIM7
nvicStructure.NVIC_IRQChannel = TIM7_IRQn;
TIMx = TIM7;
break;
#endif
}
// disable counter
TIM_Cmd(TIMx, DISABLE);
// disable interrupt
nvicStructure.NVIC_IRQChannelCmd = DISABLE;
NVIC_Init(&nvicStructure);
// disable timer peripheral
TIM_DeInit(TIMx);
// free SIT for future use
SIT_used[SIT_id] = false;
}
static void serialTimerRxConfig(const timerHardware_t *timerHardwarePtr, uint8_t reference)
{
// start bit is usually a FALLING signal
TIM_DeInit(timerHardwarePtr->tim);
timerConfigure(timerHardwarePtr, 0xFFFF, 1);
serialICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Falling);
timerChCCHandlerInit(&escSerialPorts[reference].edgeCb, onSerialRxPinChange);
timerChConfigCallbacks(timerHardwarePtr, &escSerialPorts[reference].edgeCb, NULL);
}
// --------------------------------------------------
// Initialize external SDRAM memory Micron K4S561632J, 256Mbit(8M x 32)
void Init_SDRAM( void )
{
volatile uint32_t i;
volatile unsigned long Dummy;
EMC_DYN_MEM_Config_Type config;
TIM_TIMERCFG_Type TIM_ConfigStruct;
TIM_ConfigStruct.PrescaleOption = TIM_PRESCALE_USVAL;
TIM_ConfigStruct.PrescaleValue = 1;
// Set configuration for Tim_config and Tim_MatchConfig
TIM_Init(LPC_TIM0, TIM_TIMER_MODE,&TIM_ConfigStruct);
config.ChipSize = 256;
config.AddrBusWidth = 32;
config.AddrMap = EMC_ADD_MAP_ROW_BANK_COL;
config.CSn = 0;
config.DataWidth = 16;
config.TotalSize = SDRAM_SIZE;
config.CASLatency= 3;
config.RASLatency= 3;
config.Active2ActivePeriod =EMC_NS2CLK( SDRAM_TRC);
config.ActiveBankLatency =EMC_NS2CLK( SDRAM_TRRD);
config.AutoRefrehPeriod = EMC_NS2CLK( SDRAM_TRFC);
config.DataIn2ActiveTime = SDRAM_TDAL + EMC_NS2CLK( SDRAM_TRP);
config.DataOut2ActiveTime = SDRAM_TAPR;
config.WriteRecoveryTime = SDRAM_TWR;
config.ExitSelfRefreshTime = EMC_NS2CLK( SDRAM_TXSR);
config.LoadModeReg2Active = SDRAM_TMRD;
config.PrechargeCmdPeriod = EMC_NS2CLK( SDRAM_TRP);
config.ReadConfig = 1; // Command delayed strategy, using EMCCLKDELAY
config.RefreshTime = EMC_NS2CLK( SDRAM_REFRESH) >> 4;
config.Active2PreChargeTime = EMC_NS2CLK( SDRAM_TRAS);
config.SeftRefreshExitTime = EMC_NS2CLK( SDRAM_TXSR);
DynMem_Init(&config);
EMC_DynCtrlSDRAMInit(EMC_DYNAMIC_CTRL_SDRAM_NOP); // Issue NOP command
TIM_Waitms(100); // wait 200ms
EMC_DynCtrlSDRAMInit(EMC_DYNAMIC_CTRL_SDRAM_PALL); // Issue Pre-charge command
for(i = 0; i < 0x80; i++); // wait 128 AHB clock cycles
TIM_Waitms(100);
EMC_DynCtrlSDRAMInit(EMC_DYNAMIC_CTRL_SDRAM_MODE); // Issue MODE command
Dummy = *((volatile uint32_t *)(SDRAM_BASE_ADDR | (0x32<<13))); // Mode Register Setting
//Timing for 48/60/72MHZ Bus
EMC_DynCtrlSDRAMInit(EMC_DYNAMIC_CTRL_SDRAM_NORMAL); // Issue NORMAL command
//enable buffers
EMC_DynMemConfigB(0, EMC_DYNAMIC_CFG_BUFF_ENABLED);
for(i = 100000; i;i--);
TIM_DeInit(LPC_TIM0);
}
