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 TIM3_Init(void) {
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Prescaler = TIM3_PRESCALER;
TIM_TimeBaseStructure.TIM_Period = TIM3_PERIOD;
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_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OC2Init(TIM3, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM3, ENABLE);
/* TIM3 enable counter */
TIM_Cmd(TIM3, 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 );
}
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);
}
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);
}
/**
* @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 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 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_mode(timer_dev *dev, uint8_t channel) {
timer_disable_irq(dev, channel);
// timer_oc_set_mode(dev, channel, TIMER_OC_MODE_PWM_1, TIMER_OC_PE);
switch (channel)
{
case 1:
TIM_SelectOCxM(dev->regs, TIM_Channel_1, TIM_OCMode_PWM1);
TIM_OC1PreloadConfig(dev->regs, TIM_OCPreload_Enable);
break;
case 2:
TIM_SelectOCxM(dev->regs, TIM_Channel_2, TIM_OCMode_PWM1);
TIM_OC2PreloadConfig(dev->regs, TIM_OCPreload_Enable);
break;
case 3:
TIM_SelectOCxM(dev->regs, TIM_Channel_3, TIM_OCMode_PWM1);
TIM_OC3PreloadConfig(dev->regs, TIM_OCPreload_Enable);
break;
case 4:
TIM_SelectOCxM(dev->regs, TIM_Channel_4, TIM_OCMode_PWM1);
TIM_OC4PreloadConfig(dev->regs, TIM_OCPreload_Enable);
break;
}
timer_cc_enable(dev, channel);
}
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);
}
//----------------------------------------------------------
//TIM PWMモード時のパルス幅変更
void Tim_pulse_set(TIM_TypeDef *tim,int ch,unsigned int pulse){
TIM_OCInitTypeDef TIM_OCInitStructure; //TIMを設定するための構造体
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
if((ch&TIM_CH1) != 0){
TIM_OCInitStructure.TIM_Pulse = pulse;
TIM_OC1Init(tim,&TIM_OCInitStructure);
TIM_OC1PreloadConfig(tim,TIM_OCPreload_Disable);
}
if((ch&TIM_CH2) != 0){
TIM_OCInitStructure.TIM_Pulse = pulse;
TIM_OC2Init(tim,&TIM_OCInitStructure);
TIM_OC2PreloadConfig(tim,TIM_OCPreload_Disable);
}
if((ch&TIM_CH3) != 0){
TIM_OCInitStructure.TIM_Pulse = pulse;
TIM_OC3Init(tim,&TIM_OCInitStructure);
TIM_OC3PreloadConfig(tim,TIM_OCPreload_Disable);
}
if((ch&TIM_CH4) != 0){
TIM_OCInitStructure.TIM_Pulse = pulse;
TIM_OC4Init(tim,&TIM_OCInitStructure);
TIM_OC4PreloadConfig(tim,TIM_OCPreload_Disable);
}
TIM_Cmd(tim,ENABLE);
TIM_ARRPreloadConfig(tim,ENABLE);
}
void klPwmChannel_t::Init(TIM_TypeDef* PTimer, uint16_t ATopValue, uint32_t AFreqHz, uint8_t ANumber, uint16_t APolarity) {
klTimer_t::Init(PTimer, ATopValue, AFreqHz);
INumber = ANumber;
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OCInitStructure.TIM_OCPolarity = APolarity;
switch (ANumber) {
case 1:
TIM_OC1Init(PTimer, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(PTimer, TIM_OCPreload_Enable);
break;
case 2:
TIM_OC2Init(PTimer, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(PTimer, TIM_OCPreload_Enable);
break;
case 3:
TIM_OC3Init(PTimer, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(PTimer, TIM_OCPreload_Enable);
break;
case 4:
TIM_OC4Init(PTimer, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(PTimer, TIM_OCPreload_Enable);
break;
default: break;
}
TIM_ARRPreloadConfig(PTimer, ENABLE); // Enable autoreload of preload
klTimer_t::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 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);
}
void MyMotor_TIM2_PWM_Config(void)
{
TIM_TimeBaseInitTypeDef TIM_IS;
TIM_OCInitTypeDef TIM_OC_IS;
TIM_TimeBaseStructInit(&TIM_IS);
TIM_OCStructInit(&TIM_OC_IS);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);
TIM_IS.TIM_Period = 2000;
TIM_IS.TIM_Prescaler = 720;//PWM周期20ms 50Hz
TIM_IS.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_IS.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2,&TIM_IS);
TIM_OC_IS.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OC_IS.TIM_OutputState = TIM_OutputState_Enable;
TIM_OC_IS.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC_IS.TIM_Pulse = THROTTLE_BASE;
TIM_OC1Init(TIM2,&TIM_OC_IS);
TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_OC_IS.TIM_Pulse = THROTTLE_BASE;
TIM_OC2Init(TIM2,&TIM_OC_IS);
TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_OC_IS.TIM_Pulse = THROTTLE_BASE;
TIM_OC3Init(TIM2,&TIM_OC_IS);
TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_OC_IS.TIM_Pulse = THROTTLE_BASE;
TIM_OC4Init(TIM2,&TIM_OC_IS);
TIM_OC4PreloadConfig(TIM2, TIM_OCPreload_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 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);
}
static void TIMx_Config(TIM_TypeDef* TIMx, uint16_t period, uint16_t prescaler)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = period;
TIM_TimeBaseStructure.TIM_Prescaler = prescaler; //设置预分频
TIM_TimeBaseInit(TIMx, &TIM_TimeBaseStructure);
TIM_OC1PreloadConfig(TIMx, TIM_OCPreload_Enable);
TIM_OC2PreloadConfig(TIMx, TIM_OCPreload_Enable);
TIM_OC3PreloadConfig(TIMx, TIM_OCPreload_Enable);
TIM_OC4PreloadConfig(TIMx, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIMx, ENABLE);
TIM_ITConfig(TIMx, TIM_IT_Update, DISABLE);
}
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 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);
}
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);
}
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
}
/*
* 函数名：TIM4_Mode_Config
* 描述 ：配置TIM4输出的PWM信号的模式，如周期、极性、占空比
* 输入 ：无
* 输出 ：12us高电平，周期5.069ms
* 调用 ：内部调用
*/
void TIM4_Trig_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
/* PWM信号电平跳变值 */
u16 CCR2_Val = 12;
/* TIM3 clock enable */
//PCLK1经过2倍频后作为TIM3的时钟源等于72MHz
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
/* GPIOA and GPIOB clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
/*GPIOA Configuration: TIM3 channel 1 and 2 as alternate function push-pull */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; // 复用推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* -----------------------------------------------------------------------
TIM4 Configuration: generate 4 PWM signals with 4 different duty cycles:
TIM4CLK = 72 MHz, Prescaler = 0x0, TIM3 counter clock = 72 MHz
TIM4 ARR Register = 999 => TIM4 Frequency = TIM4 counter clock/(ARR + 1)
TIM4 Frequency = 72 KHz.
TIM4 Channel1 duty cycle = (TIM4_CCR1/ TIM4_ARR)* 100 = 50%
TIM4 Channel2 duty cycle = (TIM4_CCR2/ TIM4_ARR)* 100 = 37.5%
TIM4 Channel3 duty cycle = (TIM4_CCR3/ TIM4_ARR)* 100 = 25%
TIM4 Channel4 duty cycle = (TIM4_CCR4/ TIM4_ARR)* 100 = 12.5%
----------------------------------------------------------------------- */
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = 5000-1; //设置脉冲周期 = Prescaler刻度 * Period
TIM_TimeBaseStructure.TIM_Prescaler = 72; //设置预分频：72分频，也就是计时刻度72Mhz/72
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1 ; //设置时钟分频系数：不分频
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数模式
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
/* PWM1 Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //配置为PWM模式1
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR2_Val; //设置跳变值，当计数器计数到这个值时，电平发生跳变
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //当定时器计数值小于CCR1_Val时为高电平
TIM_OC2Init(TIM4, &TIM_OCInitStructure); //使能通道2
TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM4, ENABLE); // 使能TIM4重载寄存器ARR
/* TIM4 enable counter */
TIM_Cmd(TIM4, ENABLE); //使能定时器4
}
/*====================================================================================================*/
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 Configure TIM4
* @param None
* @retval None
*/
void TIM_Configuration(void)
{
/* -----------------------------------------------------------------------
TIM4 Configuration: generate 4 PWM signals with 4 different duty cycles:
TIM4CLK = 72 MHz, Prescaler = 18, TIM4 counter clock = 4 MHz
TIM4 ARR Register = 3999 => TIM4 Frequency = TIM4 counter clock/(ARR + 1)
TIM4 Frequency = 1 KHz.
----------------------------------------------------------------------- */
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = 3999;
TIM_TimeBaseStructure.TIM_Prescaler = 18;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
/* PWM1 Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 4000;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM4, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel2 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 4000;
TIM_OC2Init(TIM4, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel3 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 4000;
TIM_OC3Init(TIM4, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel4 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 4000;
TIM_OC4Init(TIM4, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM4, ENABLE);
/* TIM4 enable counter */
TIM_Cmd(TIM4, ENABLE);
}
RCOUT::RCOUT()
{
memset(channel_datas, 0, sizeof(channel_datas));
GPIO_InitTypeDef GPIO_InitStructure = {0};
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB|RCC_AHB1Periph_GPIOC, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
// open B0-1 as output (TIM3 channel 0~1)
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | 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);
// open C6-7 as output (TIM3 channel 3~4)
GPIO_PinAFConfig(GPIOB, GPIO_PinSource0, GPIO_AF_TIM3);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource1, GPIO_AF_TIM3);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource6, GPIO_AF_TIM3);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource7, GPIO_AF_TIM3);
// Time base configuration
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_TimeBaseStructure.TIM_Period = 2000*OC-1;
TIM_TimeBaseStructure.TIM_Prescaler = 84/OC-1;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_Cmd(TIM3, ENABLE);
TIM_ARRPreloadConfig(TIM3, ENABLE);
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);
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(TIM3, &TIM_OCInitStructure);
TIM_OC2Init(TIM3, &TIM_OCInitStructure);
TIM_OC3Init(TIM3, &TIM_OCInitStructure);
TIM_OC4Init(TIM3, &TIM_OCInitStructure);
}
void MotorInit_1(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_7 | GPIO_Pin_8 | GPIO_Pin_9;
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(TIM4);
// 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(TIM4,&TIM_OCInitStructure);
TIM_OC3Init(TIM4,&TIM_OCInitStructure);
TIM_OC4Init(TIM4,&TIM_OCInitStructure);
//TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable);
// 启动计时器。
TIM_Cmd(TIM4,ENABLE);
printf("TIM4 enable done...\r\n");
}
void Tim8_Configuration(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
u16 CCR1_Val = 75; //前面的电机
u16 CCR2_Val = 75; //后面的电机
u16 CCR3_Val = 75; //左面的电机
u16 CCR4_Val = 75; //右面的电机
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8,ENABLE);
TIM_DeInit(TIM8); //重设为缺省值
/*TIM1时钟配置*/
TIM_TimeBaseStructure.TIM_Prescaler = 1439; //预分频(时钟分频)72M/4000=18K
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数
TIM_TimeBaseStructure.TIM_Period = 999; //装载值 18k/144=125hz 就是说向上加的144便满了
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置了时钟分割 不懂得不管
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0x0; //周期计数器值 不懂得不管
TIM_TimeBaseInit(TIM8,&TIM_TimeBaseStructure); //初始化TIMx的时间基数单位
/* Channel 1 Configuration in PWM mode 通道一的PWM */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //PWM模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //正向通道有效 PA8
//TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable; //反向通道也有效 PB13
TIM_OCInitStructure.TIM_Pulse = CCR1_Val; //占空时间 144 中有40的时间为高，互补的输出正好相反
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //输出极性
//TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low; //互补端的极性
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset; //空闲状态下的非工作状态 不管
//TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset; //先不管
TIM_OC1Init(TIM8,&TIM_OCInitStructure); //数初始化外设TIMx通道1这里2.0库为TIM_OCInit
/* PWM1 Mode configuration: Channel2 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR2_Val; //设置通道2的电平跳变值，输出另外一个占空比的PWM
TIM_OC2Init(TIM8, &TIM_OCInitStructure); //使能通道2
TIM_OC2PreloadConfig(TIM8, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel3 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR3_Val; //设置通道3的电平跳变值，输出另外一个占空比的PWM
TIM_OC3Init(TIM8, &TIM_OCInitStructure); //使能通道3
TIM_OC3PreloadConfig(TIM8, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel4 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR4_Val; //设置通道4的电平跳变值，输出另外一个占空比的PWM
TIM_OC4Init(TIM8, &TIM_OCInitStructure); //使能通道4
TIM_OC4PreloadConfig(TIM8, TIM_OCPreload_Enable);
/* TIM1 counter enable开定时器 */
TIM_Cmd(TIM8,ENABLE);
/* TIM1 Main Output Enable 使能TIM1外设的主输出*/
TIM_CtrlPWMOutputs(TIM8,ENABLE);
}