/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f10x_xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f10x.c file
*/
/* System Clocks Configuration */
RCC_Configuration();
/* GPIO Configuration */
GPIO_Configuration();
/* DMA Configuration */
DMA_Configuration();
/* TIM1 DMA Transfer example -------------------------------------------------
TIM1CLK = SystemCoreClock, Prescaler = 0, TIM1 counter clock = SystemCoreClock
SystemCoreClock is set to 72 MHz for Low-density, Medium-density, High-density
and Connectivity line devices and to 24 MHz for Low-Density Value line and
Medium-Density Value line devices.
The objective is to configure TIM1 channel 3 to generate complementary PWM
signal with a frequency equal to 17.57 KHz:
- TIM1_Period = (SystemCoreClock / 17570) - 1
and a variable duty cycle that is changed by the DMA after a specific number of
Update DMA request.
The number of this repetitive requests is defined by the TIM1 Repetion counter,
each 3 Update Requests, the TIM1 Channel 3 Duty Cycle changes to the next new
value defined by the SRC_Buffer .
-----------------------------------------------------------------------------*/
/* Compute the value to be set in ARR regiter to generate signal frequency at 17.57 Khz */
TimerPeriod = (SystemCoreClock / 17570 ) - 1;
/* Compute CCR1 value to generate a duty cycle at 50% */
SRC_Buffer[0] = (uint16_t) (((uint32_t) 5 * (TimerPeriod - 1)) / 10);
/* Compute CCR1 value to generate a duty cycle at 37.5% */
SRC_Buffer[1] = (uint16_t) (((uint32_t) 375 * (TimerPeriod - 1)) / 1000);
/* Compute CCR1 value to generate a duty cycle at 25% */
SRC_Buffer[2] = (uint16_t) (((uint32_t) 25 * (TimerPeriod - 1)) / 100);
/* TIM1 Peripheral Configuration --------------------------------------------*/
/* Time Base configuration */
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = TimerPeriod;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 2;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
/* Channel 3 Configuration in PWM mode */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = SRC_Buffer[0];
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;
TIM_OC3Init(TIM1, &TIM_OCInitStructure);
/* TIM1 Update DMA Request enable */
TIM_DMACmd(TIM1, TIM_DMA_Update, ENABLE);
/* TIM1 counter enable */
TIM_Cmd(TIM1, ENABLE);
/* Main Output Enable */
TIM_CtrlPWMOutputs(TIM1, ENABLE);
while (1)
{}
}
void motorInit(/*float imotorKp,
float imotorKi,
float imotorKd,*/
float icurrentKp,
float icurrentKi,
uint32_t icpr)
{
// motorKp = imotorKp;
// motorKi = imotorKi;
// motorKd = imotorKd;
cpr = icpr;
currentKp = icurrentKp;
currentKi = icurrentKi;
maxWidthReached = false;
for(int i = 0; i < 2; i++){
cte_int[i] = 0; cte_prev[i] = 0;
prev_enc[i] = 0;
cur_speed[i] = 0;
cur_pos[i] = 0;
motor_width[i] = 0;
motorEnable[i] = false;
motorUpdate[i] = true;
set_speed[i] = 0;
des_set_speed[i] = 0;
set_pos[i] = 0;
maxWidthCoeff[i] = MAX_MAX_WIDTH_COEFF;
currentCteInt[i] = 0;
}
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
GPIO_InitTypeDef gpioInit;
gpioInit.GPIO_Mode = GPIO_Mode_AF_PP;
gpioInit.GPIO_Speed = GPIO_Speed_50MHz;
gpioInit.GPIO_Pin = OUT_FWD_1 | OUT_FWD_2;
GPIO_Init(OUT_PORT_FWD, &gpioInit);
gpioInit.GPIO_Pin = OUT_BCKWD_1 | OUT_BCKWD_2;
GPIO_Init(OUT_PORT_BCKWD, &gpioInit);
gpioInit.GPIO_Mode = GPIO_Mode_IN_FLOATING;
gpioInit.GPIO_Pin = IN_A_1 | IN_B_1;
GPIO_Init(IN_1_PORT, &gpioInit);
gpioInit.GPIO_Mode = GPIO_Mode_IN_FLOATING;
gpioInit.GPIO_Pin = IN_A_2 | IN_B_2;
GPIO_Init(IN_2_PORT, &gpioInit);
//Encoder left
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
TIM_ICInitTypeDef icInit;
icInit.TIM_Channel = TIM_Channel_1;
icInit.TIM_ICPolarity = TIM_ICPolarity_Rising;
icInit.TIM_ICFilter = 0;
icInit.TIM_ICPrescaler = TIM_ICPSC_DIV1;
icInit.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInit(TIM4, &icInit);
icInit.TIM_Channel = TIM_Channel_2;
TIM_ICInit(TIM4, &icInit);
TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_SetAutoreload(TIM4, 0xffff);
TIM_SetCounter(TIM4, 0);
TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);
NVIC_InitTypeDef initNVIC;
initNVIC.NVIC_IRQChannel = TIM4_IRQn;
initNVIC.NVIC_IRQChannelPreemptionPriority = 0;
initNVIC.NVIC_IRQChannelSubPriority = 0;
initNVIC.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&initNVIC);
TIM_Cmd(TIM4, ENABLE);
//Encoder right
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
icInit.TIM_Channel = TIM_Channel_1;
icInit.TIM_ICPolarity = TIM_ICPolarity_Rising;
icInit.TIM_ICFilter = 0;
icInit.TIM_ICPrescaler = TIM_ICPSC_DIV1;
icInit.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInit(TIM3, &icInit);
icInit.TIM_Channel = TIM_Channel_2;
TIM_ICInit(TIM3, &icInit);
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_SetAutoreload(TIM3, 0xffff);
TIM_SetCounter(TIM3, 0);
TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
initNVIC.NVIC_IRQChannel = TIM3_IRQn;
initNVIC.NVIC_IRQChannelPreemptionPriority = 0;
initNVIC.NVIC_IRQChannelSubPriority = 0;
initNVIC.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&initNVIC);
GPIO_PinRemapConfig(GPIO_FullRemap_TIM3, ENABLE);
TIM_Cmd(TIM3, ENABLE);
//PWM
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
TIM_TimeBaseInitTypeDef tim1Init;
TIM_OCInitTypeDef ocInit;
tim1Init.TIM_Period = MAX_WIDTH;
tim1Init.TIM_Prescaler = 1;
tim1Init.TIM_ClockDivision = 0;
tim1Init.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM1, &tim1Init);
/* PWM1 Mode configuration: Channel2 */
ocInit.TIM_OCMode = TIM_OCMode_Inactive;
ocInit.TIM_Pulse = 0;
ocInit.TIM_OCPolarity = TIM_OCPolarity_High;
ocInit.TIM_OCNPolarity = TIM_OCNPolarity_High;
ocInit.TIM_OutputState = TIM_OutputState_Enable;
ocInit.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OC1Init(TIM1, &ocInit);
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
ocInit.TIM_OutputState = TIM_OutputState_Disable;
ocInit.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OC2Init(TIM1, &ocInit);
TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);
ocInit.TIM_OutputState = TIM_OutputState_Disable;
ocInit.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OC3Init(TIM1, &ocInit);
TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);
ocInit.TIM_OutputState = TIM_OutputState_Enable;
ocInit.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OC4Init(TIM1, &ocInit);
TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_CtrlPWMOutputs(TIM1, ENABLE);
TIM_ARRPreloadConfig(TIM1, ENABLE);
/* TIM1 enable counter */
TIM_Cmd(TIM1, ENABLE);
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f4xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f4xx.c file
*/
/* TIM Configuration */
TIM_Config();
/* ---------------------------------------------------------------------------
TIM3 Configuration: Output Compare Toggle Mode:
In this example TIM3 input clock (TIM3CLK) is set to 2 * APB1 clock (PCLK1),
since APB1 prescaler is different from 1.
TIM3CLK = 2 * PCLK1
PCLK1 = HCLK / 4
=> TIM3CLK = HCLK / 2 = SystemCoreClock /2
To get TIM3 counter clock at 21 MHz, the prescaler is computed as follows:
Prescaler = (TIM3CLK / TIM3 counter clock) - 1
Prescaler = ((SystemCoreClock /2) /21 MHz) - 1
CC1 update rate = TIM3 counter clock / uhCCR1_Val = 512.68 Hz
==> So the TIM3 Channel 1 generates a periodic signal with a
frequency equal to 256.35 Hz.
CC2 update rate = TIM3 counter clock / uhCCR2_Val = 1025.39 Hz
==> So the TIM3 Channel 2 generates a periodic signal with a
frequency equal to 512.7 Hz.
CC3 update rate = TIM3 counter clock / uhCCR3_Val = 2050.8 Hz
==> So the TIM3 Channel 3 generates a periodic signal with a
frequency equal to 1025.4 Hz.
CC4 update rate = TIM3 counter clock / uhCCR4_Val = 4101.56 Hz
==> So the TIM3 Channel 4 generates a periodic signal with a
frequency equal to 2050.78 Hz.
Note:
SystemCoreClock variable holds HCLK frequency and is defined in system_stm32f4xx.c file.
Each time the core clock (HCLK) changes, user had to call SystemCoreClockUpdate()
function to update SystemCoreClock variable value. Otherwise, any configuration
based on this variable will be incorrect.
--------------------------------------------------------------------------- */
/* Compute the prescaler value */
uhPrescalerValue = (uint16_t) ((SystemCoreClock / 2) / 21000000) - 1;
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = 65535;
TIM_TimeBaseStructure.TIM_Prescaler = uhPrescalerValue;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
/* Output Compare Toggle Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Toggle;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = uhCCR1_Val;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OC1Init(TIM3, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Disable);
/* Output Compare Toggle Mode configuration: Channel2 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = uhCCR2_Val;
TIM_OC2Init(TIM3, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Disable);
/* Output Compare Toggle Mode configuration: Channel3 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = uhCCR3_Val;
TIM_OC3Init(TIM3, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Disable);
/* Output Compare Toggle Mode configuration: Channel4 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = uhCCR4_Val;
TIM_OC4Init(TIM3, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Disable);
/* TIM enable counter */
TIM_Cmd(TIM3, ENABLE);
/* TIM IT enable */
TIM_ITConfig(TIM3, TIM_IT_CC1 | TIM_IT_CC2 | TIM_IT_CC3 | TIM_IT_CC4, ENABLE);
while (1)
{
}
}
/**
* @brief Configure the TIM3 Pins.
* @param None
* @retval None
*/
void TIM_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
/* TIM3 clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
/* GPIOA and GPIOB clock enable */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB, ENABLE);
/* GPIOA Configuration: TIM3 CH1 (PA6) and TIM3 CH2 (PA7) */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP ;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* GPIOB Configuration: TIM3 CH2 (PB0) and TIM3 CH4 (PB1) */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* Connect TIM Channels to AF1 */
GPIO_PinAFConfig(GPIOA, GPIO_PinSource6, GPIO_AF_1);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource7, GPIO_AF_1);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource0, GPIO_AF_1);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource1, GPIO_AF_1);
/* Enable the TIM3 global Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* ---------------------------------------------------------------------------
TIM3 Configuration: Output Compare Toggle Mode:
In this example TIM3 input clock (TIM3CLK) is set to APB1 clock (PCLK1).
=> TIM3CLK = PCLK1 = 48 MHz
CC1 update rate = TIM3 counter clock / CCR1_Val = 1171.8 Hz
==> So the TIM3 Channel 1 generates a periodic signal with a
frequency equal to 585.9 Hz.
CC2 update rate = TIM3 counter clock / CCR2_Val = 2343.75 Hz
==> So the TIM3 Channel 2 generates a periodic signal with a
frequency equal to 1171.8 Hz.
CC3 update rate = TIM3 counter clock / CCR3_Val = 4687.5 Hz
==> So the TIM3 Channel 3 generates a periodic signal with a
frequency equal to 2343.75 Hz.
CC4 update rate = TIM3 counter clock / CCR4_Val = 9375 Hz
==> So the TIM3 Channel 4 generates a periodic signal with a
frequency equal to 4687.5 Hz.
--------------------------------------------------------------------------- */
/* Time base configuration */
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: Channel1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Toggle;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR1_Val;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OC1Init(TIM3, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Disable);
/* Output Compare Toggle Mode configuration: Channel2 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR2_Val;
TIM_OC2Init(TIM3, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Disable);
/* Output Compare Toggle Mode configuration: Channel3 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR3_Val;
TIM_OC3Init(TIM3, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Disable);
/* Output Compare Toggle Mode configuration: Channel4 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR4_Val;
TIM_OC4Init(TIM3, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Disable);
/* TIM enable counter */
TIM_Cmd(TIM3, ENABLE);
/* TIM IT enable */
TIM_ITConfig(TIM3, TIM_IT_CC1 | TIM_IT_CC2 | TIM_IT_CC3 | TIM_IT_CC4, ENABLE);
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f2xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f2xx.c file
*/
/* TIM Configuration */
TIM_Config();
/* -----------------------------------------------------------------------
TIM3 Configuration: generate 4 PWM signals with 4 different duty cycles.
In this example TIM3 input clock (TIM3CLK) is set to 2 * APB1 clock (PCLK1),
since APB1 prescaler is different from 1.
TIM3CLK = 2 * PCLK1
PCLK1 = HCLK / 4
=> TIM3CLK = HCLK / 2 = SystemCoreClock /2
To get TIM3 counter clock at 20 MHz, the prescaler is computed as follows:
Prescaler = (TIM3CLK / TIM3 counter clock) - 1
Prescaler = ((SystemCoreClock /2) /20 MHz) - 1
To get TIM3 output clock at 30 KHz, the period (ARR)) is computed as follows:
ARR = (TIM3 counter clock / TIM3 output clock) - 1
= 665
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%
Note:
SystemCoreClock variable holds HCLK frequency and is defined in system_stm32f2xx.c file.
Each time the core clock (HCLK) changes, user had to call SystemCoreClockUpdate()
function to update SystemCoreClock variable value. Otherwise, any configuration
based on this variable will be incorrect.
----------------------------------------------------------------------- */
/* Compute the prescaler value */
PrescalerValue = (uint16_t) ((SystemCoreClock /2) / 20000000) - 1;
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = 665;
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 = CCR1_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 = CCR2_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 = CCR3_Val;
TIM_OC3Init(TIM3, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel4 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR4_Val;
TIM_OC4Init(TIM3, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM3, ENABLE);
/* TIM3 enable counter */
TIM_Cmd(TIM3, ENABLE);
while (1)
{}
}
/*************************************************
名称：motor_init(void)
功能：相关管脚及timer外设初始化（中断 定时时间）
输入参数：无
输出参数：无
返回值： 无
**************************************************/
void motor_init(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_14 | GPIO_Pin_15;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* TIM4 */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = 2500 - 1;
TIM_TimeBaseStructure.TIM_Prescaler = 20 - 1;
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_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OC3Init(TIM4, &TIM_OCInitStructure);
TIM_OC4Init(TIM4, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable);
/* TIM4 enable counter */
TIM_Cmd(TIM4, ENABLE);
/* TIM1 */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = 2500 - 1;
TIM_TimeBaseStructure.TIM_Prescaler = 20 - 1;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OC2Init(TIM1, &TIM_OCInitStructure);
TIM_OC3Init(TIM1, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);
/* TIM1 enable counter */
TIM_Cmd(TIM1, ENABLE);
TIM_CtrlPWMOutputs(TIM1, ENABLE);
}
extern void pinMode( uint32_t ulPin, uint32_t ulMode )
{
if ( ulPin > PINS_COUNT )
{
return ;
}
GPIO_TypeDef *gpio_port = g_APinDescription[ulPin].pPort;
uint16_t gpio_pin = g_APinDescription[ulPin].ulPin;
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(g_APinDescription[ulPin].ulPeripheral,ENABLE);
GPIO_InitStructure.GPIO_Pin = gpio_pin;
switch ( ulMode )
{
case INPUT:
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
break ;
case INPUT_PULLUP:
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
break ;
case INPUT_PULLDOWN:
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;
break;
case OUTPUT:
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
break ;
case AF_OUTPUT_PUSHPULL: //Used internally for Alternate Function Output PushPull(TIM, UART, SPI etc)
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
break;
case AF_OUTPUT_DRAIN: //Used internally for Alternate Function Output Drain(I2C etc)
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
break;
case AN_INPUT: //Used internally for ADC Input
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
break;
case OUTPUT_OD : //Used internally for ADC Input
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
break;
#if 0
case TIMER_PWM:
{
uint32_t ulValue = 0;
uint32_t ulChannel;
if ( g_APinDescription[ulPin].ulTimerPeripheral == NULL)
{
// Defaults to digital write
pinMode(ulPin, OUTPUT);
ulValue = mapResolution(ulValue, _writeResolution, 8);
if (ulValue < 128)
digitalWrite(ulPin, LOW);
else
digitalWrite(ulPin, HIGH);
return;
}
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
uint16_t TIM_CCR = 0;
ulValue = mapResolution(ulValue, _writeResolution, PWM_RESOLUTION); //对于PWM 模块来说 该函数直接返回ulValue.
//PWM Frequency : 1000 Hz,Timer counter clk:1MHz
uint16_t TIM_Prescaler = (uint16_t)(SystemCoreClock / 1000000) - 1;
uint16_t TIM_ARR = (uint16_t)(1000000 / PWM_FREQUENCY) - 1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(gpio_port, &GPIO_InitStructure);
if (!pinEnabled[ulPin]) {
// Setup PWM for this pin
// AFIO clock enable
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
// TIM clock enable
if(g_APinDescription[ulPin].ulTimerPeripheral == TIM1)
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1 , ENABLE);
else if(g_APinDescription[ulPin].ulTimerPeripheral == TIM2)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
}
else if(g_APinDescription[ulPin].ulTimerPeripheral == TIM3)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
}
else if(g_APinDescription[ulPin].ulTimerPeripheral == TIM4)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
}
else if(g_APinDescription[ulPin].ulTimerPeripheral == TIM5)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
}
else if(g_APinDescription[ulPin].ulTimerPeripheral == TIM8)
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8 , ENABLE);
// Time base configuration
TIM_TimeBaseStructure.TIM_Period = TIM_ARR;
TIM_TimeBaseStructure.TIM_Prescaler = TIM_Prescaler;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//0
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
//for TIM1 and TIM8
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(g_APinDescription[ulPin].ulTimerPeripheral, &TIM_TimeBaseStructure);
pinEnabled[ulPin] = 1;
}
// PWM1 Mode configuration
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 = TIM_CCR;
//for TIM1 and TIM8
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;
if(g_APinDescription[ulPin].ulTimerChannel == TIM_Channel_1)
{
// PWM1 Mode configuration: Channel1
TIM_OC1Init(g_APinDescription[ulPin].ulTimerPeripheral, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(g_APinDescription[ulPin].ulTimerPeripheral, TIM_OCPreload_Enable);
}
else if(g_APinDescription[ulPin].ulTimerChannel == TIM_Channel_2)
{
// PWM1 Mode configuration: Channel2
TIM_OC2Init(g_APinDescription[ulPin].ulTimerPeripheral, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(g_APinDescription[ulPin].ulTimerPeripheral, TIM_OCPreload_Enable);
}
else if(g_APinDescription[ulPin].ulTimerChannel == TIM_Channel_3)
{
// PWM1 Mode configuration: Channel3
TIM_OC3Init(g_APinDescription[ulPin].ulTimerPeripheral, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(g_APinDescription[ulPin].ulTimerPeripheral, TIM_OCPreload_Enable);
}
else if(g_APinDescription[ulPin].ulTimerChannel == TIM_Channel_4)
{
// PWM1 Mode configuration: Channel4
TIM_OC4Init(g_APinDescription[ulPin].ulTimerPeripheral, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(g_APinDescription[ulPin].ulTimerPeripheral, TIM_OCPreload_Enable);
}
TIM_ARRPreloadConfig(g_APinDescription[ulPin].ulTimerPeripheral, ENABLE);
// TIM enable counter
TIM_Cmd(g_APinDescription[ulPin].ulTimerPeripheral, ENABLE);
//for TIM1 and TIM8
TIM_CtrlPWMOutputs(g_APinDescription[ulPin].ulTimerPeripheral, ENABLE);
}
return;
#endif
default:
break ;
}
GPIO_Init(gpio_port, &GPIO_InitStructure);
}
void pwmOutputInit(drv_pwm_output_config_t * init)
{
GPIO_InitTypeDef GPIO_InitStructure = { 0, };
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = { 0, };
TIM_OCInitTypeDef TIM_OCInitStructure = { 0, };
//RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB, ENABLE);
//RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
//RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
// Outputs
// PWM1 TIM1_CH1 PA8
// PWM2 TIM1_CH4 PA11
// PWM3 TIM4_CH1 PB6
// PWM4 TIM4_CH2 PB7
// PWM5 TIM4_CH3 PB8
// PWM6 TIM4_CH4 PB9
// Output pins
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_11;
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_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9;
GPIO_Init(GPIOB, &GPIO_InitStructure);
// Output timers
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = (36 - 1);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
if (init->useServos == true) {
// ch1, 2 for servo
TIM_TimeBaseStructure.TIM_Period = (2000000 / init->servoPwmRate) - 1;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_Pulse = PULSE_1p5MS;
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
TIM_OC4Init(TIM1, &TIM_OCInitStructure);
TIM_TimeBaseStructure.TIM_Period = (2000000 / init->escPwmRate) - 1;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_Pulse = PULSE_1MS;
TIM_OC1Init(TIM4, &TIM_OCInitStructure);
TIM_OC2Init(TIM4, &TIM_OCInitStructure);
TIM_OC3Init(TIM4, &TIM_OCInitStructure);
TIM_OC4Init(TIM4, &TIM_OCInitStructure);
}
else
{
TIM_TimeBaseStructure.TIM_Period = (2000000 / init->escPwmRate) - 1;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_Pulse = PULSE_1MS;
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
TIM_OC4Init(TIM1, &TIM_OCInitStructure);
TIM_OC1Init(TIM4, &TIM_OCInitStructure);
TIM_OC2Init(TIM4, &TIM_OCInitStructure);
TIM_OC3Init(TIM4, &TIM_OCInitStructure);
TIM_OC4Init(TIM4, &TIM_OCInitStructure);
}
TIM_Cmd(TIM1, ENABLE);
TIM_Cmd(TIM4, ENABLE);
TIM_CtrlPWMOutputs(TIM1, ENABLE);
TIM_CtrlPWMOutputs(TIM4, ENABLE);
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32l1xx_xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32l1xx.c file
*/
/* ------------------------- System Clocks Configuration ------------------------------*/
/* GPIOD clock enable */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOD, ENABLE);
/* TIM3 clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
/* ------------------------- GPIO Configuration ------------------------------*/
/* GPIOD Configuration: PD.00, PD.01, PD.04, PD.05 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1| GPIO_Pin_4 | GPIO_Pin_5 ;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_40MHz;
GPIO_Init(GPIOD, &GPIO_InitStructure);
/* ---------------------------------------------------------------
TIM3 Configuration:
The objective is to get TIM3 counter clock at 1 KHz:
- Prescaler = (TIM3CLK / TIM3 counter clock) - 1
And generate 4 signals with 4 different delays:
TIM3_CH1 delay = CCR1_Val/TIM3 counter clock = 1000 ms
TIM3_CH2 delay = CCR2_Val/TIM3 counter clock = 500 ms
TIM3_CH3 delay = CCR3_Val/TIM3 counter clock = 250 ms
TIM3_CH4 delay = CCR4_Val/TIM3 counter clock = 125 ms
--------------------------------------------------------------- */
PrescalerValue = (uint16_t) (SystemCoreClock / 1000) - 1;
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;
TIM_TimeBaseStructure.TIM_ClockDivision = 0x0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
/* Output Compare Timing Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Inactive;
TIM_OCInitStructure.TIM_Pulse = CCR1_Val;
TIM_OC1Init(TIM3, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Disable);
TIM_ARRPreloadConfig(TIM3, DISABLE);
/* Output Compare Timing Mode configuration: Channel2 */
TIM_OCInitStructure.TIM_Pulse = CCR2_Val;
TIM_OC2Init(TIM3, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Disable);
/* Output Compare Timing Mode configuration: Channel3 */
TIM_OCInitStructure.TIM_Pulse = CCR3_Val;
TIM_OC3Init(TIM3, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Disable);
/* Output Compare Timing Mode configuration: Channel4 */
TIM_OCInitStructure.TIM_Pulse = CCR4_Val;
TIM_OC4Init(TIM3, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Disable);
/* TIM Interrupt configuration */
TIM_ITConfig(TIM3, TIM_IT_CC1, ENABLE);
TIM_ITConfig(TIM3, TIM_IT_CC2, ENABLE);
TIM_ITConfig(TIM3, TIM_IT_CC3, ENABLE);
TIM_ITConfig(TIM3, TIM_IT_CC4, ENABLE);
/* ------------------------- NVIC Configuration ------------------------------ */
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Set PD.00, PD.01, PD.04 and PD.05 pins */
GPIO_SetBits(GPIOD, GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_4 | GPIO_Pin_5);
/* TIM enable counter */
TIM_Cmd(TIM3, ENABLE);
while (1)
{}
}
void PWM1_Config(int period) {
/* -----------------------------------------------------------------------
1/ Generate 3 complementary PWM signals with 3 different duty cycles:
In this example TIM1 input clock (TIM1CLK) is set to 2 * APB2 clock (PCLK2),
since APB2 prescaler is different from 1 (APB2 Prescaler = 2, see system_stm32f4xx.c file).
TIM1CLK = 2 * PCLK2
PCLK2 = HCLK / 2
=> TIM1CLK = 2*(HCLK / 2) = HCLK = SystemCoreClock
To get TIM1 counter clock at 168 MHz, the prescaler is computed as follows:
Prescaler = (TIM1CLK / TIM1 counter clock) - 1
Prescaler = (SystemCoreClock / 168 MHz) - 1 = 0
The objective is to generate PWM signal at 17.57 KHz:
- TIM1_Period = (SystemCoreClock / 17570) - 1
To get TIM1 output clock at 17.57 KHz, the period (ARR) is computed as follows:
ARR = (TIM1 counter clock / TIM1 output clock) - 1
= 9561
The Three Duty cycles are computed as the following description:
TIM1 Channel1 duty cycle = (TIM1_CCR1/ TIM1_ARR)* 100 = 50%
TIM1 Channel2 duty cycle = (TIM1_CCR2/ TIM1_ARR)* 100 = 25%
TIM1 Channel3 duty cycle = (TIM1_CCR3/ TIM1_ARR)* 100 = 12.5%
The Timer pulse is calculated as follows:
- TIM1_CCRx = (DutyCycle * TIM1_ARR)/ 100
2/ Insert a dead time equal to (11/SystemCoreClock) ns
3/ Configure the break feature, active at High level, and using the automatic
output enable feature
4/ Use the Locking parameters level1.
Note:
SystemCoreClock variable holds HCLK frequency and is defined in system_stm32f4xx.c file.
Each time the core clock (HCLK) changes, user had to call SystemCoreClockUpdate()
function to update SystemCoreClock variable value. Otherwise, any configuration
based on this variable will be incorrect.
----------------------------------------------------------------------- */
/* Time Base configuration */
uint16_t PrescalerValue = 0;
/* Compute the prescaler value */
PrescalerValue = (uint16_t)((SystemCoreClock / 2) / 1600000) - 1;
TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = period;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
/* Channel 1to 4 Configuration in PWM mode */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse = Channel2Pulse;
TIM_OC2Init(TIM1, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse = Channel3Pulse;
TIM_OC3Init(TIM1, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse = Channel4Pulse;
TIM_OC4Init(TIM1, &TIM_OCInitStructure);
/* Automatic Output enable, Break, dead time and lock configuration*/
TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;
TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_1;
TIM_BDTRInitStructure.TIM_DeadTime = 11;
TIM_BDTRInitStructure.TIM_Break = TIM_Break_Enable;
TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_High;
TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Enable;
TIM_BDTRConfig(TIM1, &TIM_BDTRInitStructure);
/* TIM1 counter enable */
TIM_Cmd(TIM1, ENABLE);
/* Main Output Enable */
TIM_CtrlPWMOutputs(TIM1, ENABLE);
}
/*******************************************************************************
* Function Name : main
* Description : Main program
* Input : None
* Output : None
* Return : None
*******************************************************************************/
int main(void)
{
#ifdef DEBUG
debug();
#endif
/* System Clocks Configuration */
RCC_Configuration();
/* NVIC Configuration */
NVIC_Configuration();
/* GPIO Configuration */
GPIO_Configuration();
/* ---------------------------------------------------------------
TIM2 Configuration: Output Compare Timing Mode:
TIM2CLK = 36 MHz, Prescaler = 4, TIM2 counter clock = 7.2 MHz
CC1 update rate = TIM2 counter clock / CCR1_Val = 146.48 Hz
CC2 update rate = TIM2 counter clock / CCR2_Val = 219.7 Hz
CC3 update rate = TIM2 counter clock / CCR3_Val = 439.4 Hz
CC4 update rate = TIM2 counter clock / CCR4_Val = 878.9 Hz
--------------------------------------------------------------- */
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = 65535;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
/* Prescaler configuration */
TIM_PrescalerConfig(TIM2, 4, TIM_PSCReloadMode_Immediate);
/* Output Compare Timing Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Timing;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR1_Val;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM2, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Disable);
/* Output Compare Timing Mode configuration: Channel2 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR2_Val;
TIM_OC2Init(TIM2, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Disable);
/* Output Compare Timing Mode configuration: Channel3 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR3_Val;
TIM_OC3Init(TIM2, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Disable);
/* Output Compare Timing Mode configuration: Channel4 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR4_Val;
TIM_OC4Init(TIM2, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM2, TIM_OCPreload_Disable);
/* TIM IT enable */
TIM_ITConfig(TIM2, TIM_IT_CC1 | TIM_IT_CC2 | TIM_IT_CC3 | TIM_IT_CC4, ENABLE);
/* TIM2 enable counter */
TIM_Cmd(TIM2, ENABLE);
while (1);
}
//Initialization. Will set all motors ratio to 0%
void motorsInit()
{
if (isInit)
return;
//Init structures
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
//Enable gpio and the timer
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | MOTORS_GPIO_PERIF, ENABLE);
RCC_APB1PeriphClockCmd(MOTORS_GPIO_TIM_PERIF | MOTORS_GPIO_TIM_M3_4_PERIF, ENABLE);
// Configure the GPIO for the timer output
GPIO_InitStructure.GPIO_Pin = (MOTORS_GPIO_M1 |
MOTORS_GPIO_M2 |
MOTORS_GPIO_M3 |
MOTORS_GPIO_M4);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(MOTORS_GPIO_PORT, &GPIO_InitStructure);
//Remap M2-4
GPIO_PinRemapConfig(MOTORS_REMAP , ENABLE);
//Timer configuration
TIM_TimeBaseStructure.TIM_Period = MOTORS_PWM_PERIOD;
TIM_TimeBaseStructure.TIM_Prescaler = MOTORS_PWM_PRESCALE;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(MOTORS_GPIO_TIM_M1_2, &TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = MOTORS_PWM_PERIOD;
TIM_TimeBaseStructure.TIM_Prescaler = MOTORS_PWM_PRESCALE;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(MOTORS_GPIO_TIM_M3_4, &TIM_TimeBaseStructure);
//PWM channels configuration (All identical!)
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_OC3Init(MOTORS_GPIO_TIM_M3_4, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(MOTORS_GPIO_TIM_M3_4, TIM_OCPreload_Enable);
TIM_OC4Init(MOTORS_GPIO_TIM_M3_4, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(MOTORS_GPIO_TIM_M3_4, TIM_OCPreload_Enable);
TIM_OC3Init(MOTORS_GPIO_TIM_M1_2, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(MOTORS_GPIO_TIM_M1_2, TIM_OCPreload_Enable);
TIM_OC4Init(MOTORS_GPIO_TIM_M1_2, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(MOTORS_GPIO_TIM_M1_2, TIM_OCPreload_Enable);
//Enable the timer
TIM_Cmd(MOTORS_GPIO_TIM_M1_2, ENABLE);
TIM_Cmd(MOTORS_GPIO_TIM_M3_4, ENABLE);
//Enable the timer PWM outputs
TIM_CtrlPWMOutputs(MOTORS_GPIO_TIM_M1_2, ENABLE);
TIM_CtrlPWMOutputs(MOTORS_GPIO_TIM_M3_4, ENABLE);
// Halt timer during debug halt.
DBGMCU_Config(MOTORS_GPIO_TIM_M1_2_DBG, ENABLE);
DBGMCU_Config(MOTORS_GPIO_TIM_M3_4_DBG, ENABLE);
isInit = true;
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/* System Clocks Configuration */
RCC_Configuration();
/* GPIO Configuration */
GPIO_Configuration();
/* -----------------------------------------------------------------------
TIM3 Configuration: generate 4 PWM signals with 4 different duty cycles:
TIM3CLK = 36 MHz, Prescaler = 0x0, TIM3 counter clock = 36 MHz
TIM3 ARR Register = 999 => TIM3 Frequency = TIM3 counter clock/(ARR + 1)
TIM3 Frequency = 36 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 = 999;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
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 = CCR1_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 = CCR2_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 = CCR3_Val;
TIM_OC3Init(TIM3, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel4 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR4_Val;
TIM_OC4Init(TIM3, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM3, ENABLE);
/* TIM3 enable counter */
TIM_Cmd(TIM3, ENABLE);
while (1)
{}
}
// 计时器设置为PWM发生器，可以四路输出
void Timer::mode_pwm_output(float freq, float duty, uint8_t CH_No, PinTypedef p) {
freq_ = freq;
Pin pin(p); // 函数调用后变量就消失了
uint8_t tmp = this->GPIO_AF_TIM(this->TIM);
// 看看tmp有没有问题
pin.mode_pwm_output(tmp);
// 时钟预分频
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructrue; // 计时器分频初始化器
uint16_t Period;
uint16_t Width;
Period = (uint16_t) (TIMER_CLOCK/freq);
Width = (uint16_t) (Period*duty);
TIM_TimeBaseStructrue.TIM_Period = Period - 1; //PWM周期
TIM_TimeBaseStructrue.TIM_Prescaler = PRESCALER;
switch (this->TIM_No) {
case (1):
case (8):
case (9):
case (10):
case (11): {
TIM_TimeBaseStructrue.TIM_Prescaler = PRESCALER_APB2;
break;
}
}
TIM_TimeBaseStructrue.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructrue.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInit(this->TIM, &TIM_TimeBaseStructrue);
/* Enable TIM4 Preload register on ARR */
TIM_ARRPreloadConfig(this->TIM, ENABLE);
TIM_OCInitTypeDef TIM_OCInitStructure;
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 = Width; // Period*duty //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
switch (CH_No) {
case (1):{
TIM_OC1Init(this->TIM, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(this->TIM, TIM_OCPreload_Enable);
break;
}
case (2):{
TIM_OC2Init(this->TIM, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(this->TIM, TIM_OCPreload_Enable);
break;
}
case (3):{
TIM_OC3Init(this->TIM, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(this->TIM, TIM_OCPreload_Enable);
break;
}
case (4):{
TIM_OC4Init(this->TIM, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(this->TIM, TIM_OCPreload_Enable);
break;
}
}
TIM_Cmd(this->TIM, ENABLE); //使能定时器
/* TIM1 Main Output Enable */
TIM_CtrlPWMOutputs(this->TIM, ENABLE);
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f10x_xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f10x.c file
*/
/* System Clocks Configuration */
RCC_Configuration();
/* NVIC Configuration */
NVIC_Configuration();
/* GPIO Configuration */
GPIO_Configuration();
/* ---------------------------------------------------------------
TIM2 Configuration:
TIM2CLK = SystemCoreClock / 2,
The objective is to get TIM2 counter clock at 1 KHz:
- Prescaler = (TIM2CLK / TIM2 counter clock) - 1
And generate 4 signals with 4 different delays:
TIM2_CH1 delay = CCR1_Val/TIM2 counter clock = 1000 ms
TIM2_CH2 delay = CCR2_Val/TIM2 counter clock = 500 ms
TIM2_CH3 delay = CCR3_Val/TIM2 counter clock = 250 ms
TIM2_CH4 delay = CCR4_Val/TIM2 counter clock = 125 ms
* SystemCoreClock is set to 72 MHz for Low-density, Medium-density, High-density
and Connectivity line devices and to 24 MHz for Low-Density Value line and
Medium-Density Value line devices
--------------------------------------------------------------- */
/* Compute the prescaler value */
PrescalerValue = (uint16_t) (SystemCoreClock / 2000) - 1;
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = 65535;
TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
/* Output Compare Active Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Inactive;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR1_Val;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM2, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Disable);
/* Output Compare Active Mode configuration: Channel2 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR2_Val;
TIM_OC2Init(TIM2, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Disable);
/* Output Compare Active Mode configuration: Channel3 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR3_Val;
TIM_OC3Init(TIM2, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Disable);
/* Output Compare Active Mode configuration: Channel4 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR4_Val;
TIM_OC4Init(TIM2, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM2, TIM_OCPreload_Disable);
TIM_ARRPreloadConfig(TIM2, ENABLE);
/* TIM IT enable */
TIM_ITConfig(TIM2, TIM_IT_CC1 | TIM_IT_CC2 | TIM_IT_CC3 | TIM_IT_CC4, ENABLE);
/* Set PC.06, PC.07, PC.08 and PC.09 pins */
GPIO_SetBits(GPIOC, GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9);
/* TIM2 enable counter */
TIM_Cmd(TIM2, ENABLE);
while (1)
{}
}
void pwmout_write(pwmout_t* obj, float value) {
TIM_TypeDef *tim = (TIM_TypeDef *)(obj->pwm);
TIM_OCInitTypeDef TIM_OCInitStructure;
if (value < 0.0) {
value = 0.0;
} else if (value > 1.0) {
value = 1.0;
}
obj->pulse = (uint32_t)((float)obj->period * value);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_Pulse = obj->pulse;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
// Configure channels
switch (obj->pin) {
// Channels 1
case PA_6:
case PA_8:
case PA_15:
case PB_4:
//case PB_6:
case PC_6:
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OC1PreloadConfig(tim, TIM_OCPreload_Enable);
TIM_OC1Init(tim, &TIM_OCInitStructure);
break;
// Channels 1N
//case PA_7:
case PB_13:
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OC1PreloadConfig(tim, TIM_OCPreload_Enable);
TIM_OC1Init(tim, &TIM_OCInitStructure);
break;
// Channels 2
case PA_1:
case PA_7:
case PA_9:
case PB_3:
case PB_5:
//case PB_7:
case PC_7:
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OC2PreloadConfig(tim, TIM_OCPreload_Enable);
TIM_OC2Init(tim, &TIM_OCInitStructure);
break;
// Channels 2N
//case PB_0:
case PB_14:
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OC2PreloadConfig(tim, TIM_OCPreload_Enable);
TIM_OC2Init(tim, &TIM_OCInitStructure);
break;
// Channels 3
case PA_2:
case PA_10:
case PB_0:
//case PB_8:
case PB_10:
case PC_8:
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OC3PreloadConfig(tim, TIM_OCPreload_Enable);
TIM_OC3Init(tim, &TIM_OCInitStructure);
break;
// Channels 3N
//case PB_1:
case PB_15:
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OC3PreloadConfig(tim, TIM_OCPreload_Enable);
TIM_OC3Init(tim, &TIM_OCInitStructure);
break;
// Channels 4
case PA_3:
case PA_11:
case PB_1:
//case PB_9:
case PB_11:
case PC_9:
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OC4PreloadConfig(tim, TIM_OCPreload_Enable);
TIM_OC4Init(tim, &TIM_OCInitStructure);
break;
default:
return;
}
TIM_CtrlPWMOutputs(tim, ENABLE);
}
void fetInit(void){
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Pin = FET_A_L_PIN;
GPIO_Init(FET_A_L_PORT, &GPIO_InitStructure);
GPIO_WriteBit(FET_A_L_PORT, FET_A_L_PIN, 0);
GPIO_InitStructure.GPIO_Pin = FET_B_L_PIN;
GPIO_Init(FET_B_L_PORT, &GPIO_InitStructure);
GPIO_WriteBit(FET_B_L_PORT, FET_B_L_PIN, 0);
GPIO_InitStructure.GPIO_Pin = FET_C_L_PIN;
GPIO_Init(FET_C_L_PORT, &GPIO_InitStructure);
GPIO_WriteBit(FET_C_L_PORT, FET_C_L_PIN, 0);
GPIO_InitStructure.GPIO_Pin = FET_A_H_PIN;
GPIO_Init(FET_A_H_PORT, &GPIO_InitStructure);
GPIO_WriteBit(FET_A_H_PORT, FET_A_H_PIN, 0);
GPIO_InitStructure.GPIO_Pin = FET_B_H_PIN;
GPIO_Init(FET_B_H_PORT, &GPIO_InitStructure);
GPIO_WriteBit(FET_B_H_PORT, FET_B_H_PIN, 0);
GPIO_InitStructure.GPIO_Pin = FET_C_H_PIN;
GPIO_Init(FET_C_H_PORT, &GPIO_InitStructure);
GPIO_WriteBit(FET_C_H_PORT, FET_C_H_PIN, 0);
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
TIM_TimeBaseInitStructure.TIM_Period = (uint16_t)(F_CPU / 2000)-1;
TIM_TimeBaseInitStructure.TIM_Prescaler = 0;
TIM_TimeBaseInitStructure.TIM_ClockDivision = 0;
TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_CenterAligned1;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseInitStructure);
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseInitStructure);
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_OCIdleState = TIM_OCIdleState_Reset;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC2Init(TIM3, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OC1Init(TIM4, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC3Init(TIM3, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OC2Init(TIM4, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC4Init(TIM3, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OC3Init(TIM4, &TIM_OCInitStructure);
TIM_SelectMasterSlaveMode(TIM3, TIM_MasterSlaveMode_Enable);
TIM_SelectOutputTrigger(TIM3, TIM_TRGOSource_Enable);
TIM_SelectSlaveMode(TIM4, TIM_SlaveMode_Gated);
TIM_SelectInputTrigger(TIM4, TIM_TS_ITR2);
DBGMCU_Config(DBGMCU_TIM3_STOP, DISABLE);
DBGMCU_Config(DBGMCU_TIM4_STOP, DISABLE);
TIM_Cmd(TIM4, ENABLE);
TIM_Cmd(TIM3, ENABLE);
TIM_SetCompare2(TIM3, 1000);
TIM_SetCompare1(TIM4, 1000);
TIM_SetCompare3(TIM3, 20000);
TIM_SetCompare2(TIM4, 20000);
TIM_SetCompare4(TIM3, 19000);
TIM_SetCompare3(TIM4, 19000);
TIM_GenerateEvent(TIM3, TIM_EventSource_COM);
}
/*MOTORS*/
void setup_PWM_with_TIM4_NVIC( ){
GPIO_InitTypeDef GPIO_InitStructure;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_TIM4);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource7, GPIO_AF_TIM4);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_TIM4);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_TIM4);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructure.TIM_Period = 500-1;
TIM_TimeBaseStructure.TIM_Prescaler = 84-1;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
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: Channel3 (GPIOB Pin 9)*/
TIM_OC3Init(TIM4, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel4 (GPIOB Pin 8)*/
TIM_OC4Init(TIM4, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel1 (GPIOB Pin 6)*/
TIM_OC1Init(TIM4, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel2 (GPIOB Pin 7)*/
TIM_OC2Init(TIM4, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_SetCompare1(TIM4, 0);
TIM_SetCompare2(TIM4, 0);
TIM_SetCompare3(TIM4, 0);
TIM_SetCompare4(TIM4, 0);
NVIC_InitTypeDef NVIC_InitStruct;
//NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
NVIC_InitStruct.NVIC_IRQChannel = TIM4_IRQn;
NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStruct.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStruct);
TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);
TIM_Cmd(TIM4, ENABLE);
}
bool Servo::attach(uint8_t pin,
uint16_t minPW,
uint16_t maxPW,
int16_t minAngle,
int16_t maxAngle) {
TIM_TypeDef* tdev = g_APinDescription[pin].ulTimerPeripheral;
uint8_t tchan = g_APinDescription[pin].ulTimerChannel;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);
if (tdev == NULL) {
// don't reset any fields or ASSERT(0), to keep driving any
// previously attach()ed servo.
return false;
}
if (this->attached()) {
this->detach();
}
this->pin = pin;
this->minPW = minPW;
this->maxPW = maxPW;
this->minAngle = minAngle;
this->maxAngle = maxAngle;
pinMode(pin, AF_OUTPUT_PUSHPULL);
TIM_Cmd(tdev, DISABLE);
// TIM clock enable
if(tdev == TIM1)
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1 , ENABLE);
#if defined (STM32F40_41xxx)
GPIO_AF_TIM = GPIO_AF_TIM1;
#endif
}
else if(tdev == TIM2)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
#if defined (STM32F40_41xxx)
GPIO_AF_TIM = GPIO_AF_TIM2;
#endif
}
else if(tdev == TIM3)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
#if defined (STM32F40_41xxx)
GPIO_AF_TIM = GPIO_AF_TIM3;
#endif
}
else if(tdev == TIM4)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
#if defined (STM32F40_41xxx)
GPIO_AF_TIM = GPIO_AF_TIM4;
#endif
}
else if(tdev == TIM5)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
#if defined (STM32F40_41xxx)
GPIO_AF_TIM = GPIO_AF_TIM5;
#endif
}
else if(tdev == TIM8)
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8 , ENABLE);
#if defined (STM32F40_41xxx)
GPIO_AF_TIM = GPIO_AF_TIM8;
#endif
}
// tdev.pause();
// Time base configuration
TIM_TimeBaseStructure.TIM_Period = SERVO_OVERFLOW;
TIM_TimeBaseStructure.TIM_Prescaler = SERVO_PRESCALER-1;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
//for TIM1 and TIM8
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(tdev, &TIM_TimeBaseStructure);
// PWM1 Mode configuration
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;
//for TIM1 and TIM8
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;
if(tchan == TIM_Channel_1)
{
// PWM1 Mode configuration: Channel1
TIM_OC1Init(tdev, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(tdev, TIM_OCPreload_Enable);
}
else if(tchan == TIM_Channel_2)
{
// PWM1 Mode configuration: Channel2
TIM_OC2Init(tdev, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(tdev, TIM_OCPreload_Enable);
}
else if(tchan == TIM_Channel_3)
{
// PWM1 Mode configuration: Channel3
TIM_OC3Init(tdev, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(tdev, TIM_OCPreload_Enable);
}
else if(tchan == TIM_Channel_4)
{
// PWM1 Mode configuration: Channel4
TIM_OC4Init(tdev, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(tdev, TIM_OCPreload_Enable);
}
TIM_ARRPreloadConfig(tdev, ENABLE);
// TIM enable counter
TIM_Cmd(tdev, ENABLE);
//for TIM1 and TIM8
TIM_CtrlPWMOutputs(tdev, ENABLE);
// tdev.setPrescaleFactor(SERVO_PRESCALER - 1);
// tdev.setOverflow(SERVO_OVERFLOW);
// tdev.setMode(TIMER_CH1, TIM_OCMode_PWM1);
// timer_pause(tdev);
// timer_set_prescaler(tdev, SERVO_PRESCALER - 1); // prescaler is 1-based
// timer_set_reload(tdev, SERVO_OVERFLOW);
// timer_generate_update(tdev);
// timer_resume(tdev);
return true;
}
u8 PWM_Out_Init(uint16_t hz)//50hz
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
uint16_t PrescalerValue = 0;
u32 hz_set = ACCURACY*hz;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_OCStructInit(&TIM_OCInitStructure);
hz_set = LIMIT (hz_set,1,84000000);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA|RCC_AHB1Periph_GPIOE, ENABLE);
/////////////////////////////////////////////////////////////////////////////
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP ;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource2, GPIO_AF_TIM5);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource3, GPIO_AF_TIM5);
/* Compute the prescaler value */
PrescalerValue = (uint16_t) ( ( SystemCoreClock /2 ) / hz_set ) - 1;
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = ACCURACY;
TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM5, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
// /* PWM1 Mode configuration: Channel1 */
// TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
// TIM_OCInitStructure.TIM_Pulse = INIT_DUTY;
// TIM_OC1Init(TIM5, &TIM_OCInitStructure);
// TIM_OC1PreloadConfig(TIM5, TIM_OCPreload_Enable);
// /* PWM1 Mode configuration: Channel2 */
// TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
// TIM_OCInitStructure.TIM_Pulse = INIT_DUTY;
// TIM_OC2Init(TIM5, &TIM_OCInitStructure);
// TIM_OC2PreloadConfig(TIM5, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel3 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = INIT_DUTY;
TIM_OC3Init(TIM5, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM5, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel4 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = INIT_DUTY;
TIM_OC4Init(TIM5, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM5, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM5, ENABLE);
TIM_Cmd(TIM5, ENABLE);
/////////////////////////////////////////////////////////////////////////////
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_11 | GPIO_Pin_13 | GPIO_Pin_14;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP ;
GPIO_Init(GPIOE, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource9, GPIO_AF_TIM1);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource11, GPIO_AF_TIM1);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource13, GPIO_AF_TIM1);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource14, GPIO_AF_TIM1);
/* Compute the prescaler value */
PrescalerValue = (uint16_t) ( ( SystemCoreClock ) / hz_set ) - 1;
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = ACCURACY;
TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
/* PWM1 Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = INIT_DUTY;
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
//TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel2 */
//TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = INIT_DUTY;
TIM_OC2Init(TIM1, &TIM_OCInitStructure);
//TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel3 */
//TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = INIT_DUTY;
TIM_OC3Init(TIM1, &TIM_OCInitStructure);
//TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel4 */
//TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = INIT_DUTY;
TIM_OC4Init(TIM1, &TIM_OCInitStructure);
//TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_CtrlPWMOutputs(TIM1, ENABLE);
TIM_ARRPreloadConfig(TIM1, ENABLE);
TIM_Cmd(TIM1, ENABLE);
////////////////////////////////////////////////////////////////////////////////////
if( hz_set > 84000000 )
{
return 0;
}
else
{
return 1;
}
}
void TMER_Iinitialization(void)
{
//GPIO
GPIO_InitTypeDef GPIO_InitStructure;
//Interrupt
NVIC_InitTypeDef NVIC_InitStructure;
//Tmer
TIM_BDTRInitTypeDef TIM_BDTRInitStructure; //死区刹车结构体变量定义
TIM_OCInitTypeDef TIM_OCInitStructure;
// TIM_ICInitTypeDef TIM_ICInitStructure; //定义结构体变量
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
/**************************************************************************
//---------------------------------TMER1 PWM-------------------------------
***************************************************************************/
PWM_Period=((SystemCoreClock / (2*PWM_FREQ) ) - 1);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1 , ENABLE);
/* TIM2 Configuration */
TIM_DeInit(TIM1);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_OCStructInit(&TIM_OCInitStructure);
/* GPIOA Configuration: Channel 1, 2, 3, 4 and Channel 1N as alternate function push-pull */
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP ;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* GPIOB Configuration: Channel 2N and 3N as alternate function push-pull */
GPIO_InitStructure.GPIO_Pin =GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14| GPIO_Pin_15;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource8, GPIO_AF_2);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource9, GPIO_AF_2);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource10, GPIO_AF_2);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource12, GPIO_AF_2); //TRIP
GPIO_PinAFConfig(GPIOB, GPIO_PinSource13, GPIO_AF_2);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource14, GPIO_AF_2);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource15, GPIO_AF_2);
/*----------------------------------------------------------------------- */
/* Compute the value to be set in ARR regiter to generate signal frequency at 12 Khz */
TIM_TimeBaseStructure.TIM_Prescaler = 0; //TIM基本初始化
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_CenterAligned1;//中央对齐计数模式
TIM_TimeBaseStructure.TIM_Period = PWM_PERIOD;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 1;
TIM_TimeBaseInit(TIM1,&TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //TIM输出通道初始化
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse =200;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
TIM_OC1Init(TIM1,&TIM_OCInitStructure);
TIM_OC2Init(TIM1,&TIM_OCInitStructure);
TIM_OC3Init(TIM1,&TIM_OCInitStructure);
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //TIM输出通道4初始化，用来触发AD采样
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 24; //100; //
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC4Init(TIM1,&TIM_OCInitStructure);
TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable; //死区刹车初始化
TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_OFF;
TIM_BDTRInitStructure.TIM_DeadTime = DEADTIME; //96-2us
TIM_BDTRInitStructure.TIM_Break = TIM_Break_Enable; // TIM_Break_Disable;//
TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_Low;
TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Disable;
TIM_BDTRConfig(TIM1,&TIM_BDTRInitStructure);
TIM_OC1PreloadConfig(TIM1,TIM_OCPreload_Enable); //使能捕获比较寄存器预装载（通道1）
TIM_OC2PreloadConfig(TIM1,TIM_OCPreload_Enable); //使能捕获比较寄存器预装载（通道2）
TIM_OC3PreloadConfig(TIM1,TIM_OCPreload_Enable); //使能捕获比较寄存器预装载（通道3）
/* Enable the TIM1 Trigger and commutation interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM1_BRK_UP_TRG_COM_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_ClearITPendingBit(TIM1, TIM_IT_Break);
TIM_ITConfig(TIM1, TIM_IT_Update, ENABLE);
TIM_ITConfig(TIM1, TIM_IT_Break, ENABLE);
TIM_ClearFlag(TIM1, TIM_FLAG_Update); // 清除TIM2的更新标志位 ；
TIM_ClearFlag(TIM1, TIM_FLAG_Break);
TIM_ClearFlag(TIM1, TIM_FLAG_COM);
/* TIM1 counter enable */
TIM_Cmd(TIM1, ENABLE);
/* TIM1 Main Output Enable */
TIM_CtrlPWMOutputs(TIM1, ENABLE);
}
void TIM_Config(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
uint16_t CCR1_Val = 0xfff;
uint16_t CCR2_Val = 249;
uint16_t CCR3_Val = 333;
uint16_t CCR4_Val = 83;
uint16_t PrescalerValue = 0;
GPIO_InitTypeDef GPIO_InitStructure;
/* TIM3 clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
/* GPIOC clock enable */
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
/* GPIOC Configuration: TIM3 CH3 (PB0)*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* Connect TIM3 pins to AF0 */
GPIO_PinAFConfig(GPIOB, GPIO_PinSource0, GPIO_AF_TIM3);
/* -----------------------------------------------------------------------
TIM3 Configuration: generate 4 PWM signals with 4 different duty cycles:
The TIM3CLK frequency is set to SystemCoreClock / 2 (Hz), to get TIM3 counter
clock at 20 MHz the Prescaler is computed as following:
- Prescaler = (TIM3CLK / TIM3 counter clock) - 1
SystemCoreClock is set to 120 MHz for STM32F2xx devices
The TIM3 is running at 30 KHz: TIM3 Frequency = TIM3 counter clock/(ARR + 1)
= 20 MHz / 666 = 30 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%
----------------------------------------------------------------------- */
/* Compute the prescaler value */
PrescalerValue = (uint16_t) (SystemCoreClock /100)-1;
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = 2;
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: Channel3 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR1_Val;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC3Init(TIM3, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM3, ENABLE);
/* TIM3 enable counter */
TIM_Cmd(TIM3, ENABLE);
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f2xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f2xx.c file
*/
/* SysTick Configuration */
SysTickConfig();
/* TIM1 Configuration */
TIM_Config();
/*----------------------------------------------------------------------------
The STM32F2xx TIM1 peripheral offers the possibility to program in advance the
configuration for the next TIM1 outputs behaviour (step) and change the configuration
of all the channels at the same time. This operation is possible when the COM
(commutation) event is used.
The COM event can be generated by software by setting the COM bit in the TIM1_EGR
register or by hardware (on TRC rising edge).
In this example, a software COM event is generated each 100 ms: using the SysTick
interrupt.
The TIM1 is configured in Timing Mode, each time a COM event occurs, a new TIM1
configuration will be set in advance.
The following Table describes the TIM1 Channels states:
-----------------------------------------------
| Step1 | Step2 | Step3 | Step4 | Step5 | Step6 |
----------------------------------------------------------
|Channel1 | 1 | 0 | 0 | 0 | 0 | 1 |
----------------------------------------------------------
|Channel1N | 0 | 0 | 1 | 1 | 0 | 0 |
----------------------------------------------------------
|Channel2 | 0 | 0 | 0 | 1 | 1 | 0 |
----------------------------------------------------------
|Channel2N | 1 | 1 | 0 | 0 | 0 | 0 |
----------------------------------------------------------
|Channel3 | 0 | 1 | 1 | 0 | 0 | 0 |
----------------------------------------------------------
|Channel3N | 0 | 0 | 0 | 0 | 1 | 1 |
----------------------------------------------------------
----------------------------------------------------------------------------*/
/* Time Base configuration */
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = 4095;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
/* Channel 1, 2,3 and 4 Configuration in PWM mode */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Timing;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = 2047;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Set;
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse = 1023;
TIM_OC2Init(TIM1, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse = 511;
TIM_OC3Init(TIM1, &TIM_OCInitStructure);
/* Automatic Output enable, Break, dead time and lock configuration*/
TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;
TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_OFF;
TIM_BDTRInitStructure.TIM_DeadTime = 1;
TIM_BDTRInitStructure.TIM_Break = TIM_Break_Enable;
TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_High;
TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Enable;
TIM_BDTRConfig(TIM1, &TIM_BDTRInitStructure);
TIM_CCPreloadControl(TIM1, ENABLE);
TIM_ITConfig(TIM1, TIM_IT_COM, ENABLE);
/* TIM1 counter enable */
TIM_Cmd(TIM1, ENABLE);
/* Main Output Enable */
TIM_CtrlPWMOutputs(TIM1, ENABLE);
while (1)
{}
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
files (startup_stm32f40_41xxx.s/startup_stm32f427_437xx.s/startup_stm32f429_439xx.s)
before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f4xx.c file
*/
/* TIM Configuration */
TIM_Config();
/* TIM1 DMA Transfer example -------------------------------------------------
TIM1 input clock (TIM1CLK) is set to 2 * APB2 clock (PCLK2), since APB2
prescaler is different from 1.
TIM1CLK = 2 * PCLK2
PCLK2 = HCLK / 2
=> TIM1CLK = 2 * (HCLK / 2) = HCLK = SystemCoreClock
TIM1CLK = SystemCoreClock, Prescaler = 0, TIM1 counter clock = SystemCoreClock
SystemCoreClock is set to 168 MHz for STM32F4xx devices.
The objective is to configure TIM1 channel 3 to generate complementary PWM
signal with a frequency equal to 17.57 KHz:
- TIM1_Period = (SystemCoreClock / 17570) - 1
and a variable duty cycle that is changed by the DMA after a specific number of
Update DMA request.
The number of this repetitive requests is defined by the TIM1 Repetion counter,
each 3 Update Requests, the TIM1 Channel 3 Duty Cycle changes to the next new
value defined by the aSRC_Buffer.
Note:
SystemCoreClock variable holds HCLK frequency and is defined in system_stm32f4xx.c file.
Each time the core clock (HCLK) changes, user had to call SystemCoreClockUpdate()
function to update SystemCoreClock variable value. Otherwise, any configuration
based on this variable will be incorrect.
-----------------------------------------------------------------------------*/
/* Compute the value to be set in ARR regiter to generate signal frequency at 17.57 Khz */
uhTimerPeriod = (SystemCoreClock / 17570 ) - 1;
/* Compute CCR1 value to generate a duty cycle at 50% */
aSRC_Buffer[0] = (uint16_t) (((uint32_t) 5 * (uhTimerPeriod - 1)) / 10);
/* Compute CCR1 value to generate a duty cycle at 37.5% */
aSRC_Buffer[1] = (uint16_t) (((uint32_t) 375 * (uhTimerPeriod - 1)) / 1000);
/* Compute CCR1 value to generate a duty cycle at 25% */
aSRC_Buffer[2] = (uint16_t) (((uint32_t) 25 * (uhTimerPeriod - 1)) / 100);
/* TIM1 Peripheral Configuration -------------------------------------------*/
/* TIM1 clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
/* Time Base configuration */
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = uhTimerPeriod;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 3;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
/* Channel 3 Configuration in PWM mode */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = aSRC_Buffer[0];
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;
TIM_OC3Init(TIM1, &TIM_OCInitStructure);
/* Enable preload feature */
TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);
/* TIM1 counter enable */
TIM_Cmd(TIM1, ENABLE);
/* DMA enable*/
DMA_Cmd(DMA2_Stream6, ENABLE);
/* TIM1 Update DMA Request enable */
TIM_DMACmd(TIM1, TIM_DMA_CC3, ENABLE);
/* Main Output Enable */
TIM_CtrlPWMOutputs(TIM1, ENABLE);
while (1)
{
}
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
files (startup_stm32f40_41xxx.s/startup_stm32f427_437xx.s/startup_stm32f429_439xx.s)
before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f4xx.c file
*/
/* TIM Configuration */
TIM_Config();
/* TIM1 Configuration ---------------------------------------------------
Generate 7 PWM signals with 4 different duty cycles:
TIM1 input clock (TIM1CLK) is set to 2 * APB2 clock (PCLK2), since APB2
prescaler is different from 1.
TIM1CLK = 2 * PCLK2
PCLK2 = HCLK / 2
=> TIM1CLK = 2 * (HCLK / 2) = HCLK = SystemCoreClock
TIM1CLK = SystemCoreClock, Prescaler = 0, TIM1 counter clock = SystemCoreClock
SystemCoreClock is set to 168 MHz for STM32F4xx devices
The objective is to generate 7 PWM signal at 17.57 KHz:
- TIM1_Period = (SystemCoreClock / 17570) - 1
The channel 1 and channel 1N duty cycle is set to 50%
The channel 2 and channel 2N duty cycle is set to 37.5%
The channel 3 and channel 3N duty cycle is set to 25%
The channel 4 duty cycle is set to 12.5%
The Timer pulse is calculated as follows:
- ChannelxPulse = DutyCycle * (TIM1_Period - 1) / 100
Note:
SystemCoreClock variable holds HCLK frequency and is defined in system_stm32f4xx.c file.
Each time the core clock (HCLK) changes, user had to call SystemCoreClockUpdate()
function to update SystemCoreClock variable value. Otherwise, any configuration
based on this variable will be incorrect.
----------------------------------------------------------------------- */
/* Compute the value to be set in ARR regiter to generate signal frequency at 17.57 Khz */
TimerPeriod = (SystemCoreClock / 17570 ) - 1;
/* Compute CCR1 value to generate a duty cycle at 50% for channel 1 and 1N */
Channel1Pulse = (uint16_t) (((uint32_t) 5 * (TimerPeriod - 1)) / 10);
/* Compute CCR2 value to generate a duty cycle at 37.5% for channel 2 and 2N */
Channel2Pulse = (uint16_t) (((uint32_t) 375 * (TimerPeriod - 1)) / 1000);
/* Compute CCR3 value to generate a duty cycle at 25% for channel 3 and 3N */
Channel3Pulse = (uint16_t) (((uint32_t) 25 * (TimerPeriod - 1)) / 100);
/* Compute CCR4 value to generate a duty cycle at 12.5% for channel 4 */
Channel4Pulse = (uint16_t) (((uint32_t) 125 * (TimerPeriod- 1)) / 1000);
/* TIM1 clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1 , ENABLE);
/* Time Base configuration */
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = TimerPeriod;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
/* Channel 1, 2,3 and 4 Configuration in PWM mode */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = Channel1Pulse;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse = Channel2Pulse;
TIM_OC2Init(TIM1, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse = Channel3Pulse;
TIM_OC3Init(TIM1, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse = Channel4Pulse;
TIM_OC4Init(TIM1, &TIM_OCInitStructure);
/* TIM1 counter enable */
TIM_Cmd(TIM1, ENABLE);
/* TIM1 Main Output Enable */
TIM_CtrlPWMOutputs(TIM1, ENABLE);
while (1)
{}
}
void initTimeBase(void)
{
uint16_t PrescalerValue = 0;
#if defined(TIMEBASE_INT1_FREQ)
if ((SystemCoreClock/TIMEBASE_CLOCK_PSC / TIMEBASE_INT1_FREQ - 1) < 1)
{
printf("TIMEBASE period 1 is too large. Increase frequency or decrease clock.");
ErrorTrap(ERROR_TIMEBASE_CONFIG);
}
#endif
#if defined(TIMEBASE_INT2_FREQ)
if ((SystemCoreClock/TIMEBASE_CLOCK_PSC / TIMEBASE_INT2_FREQ - 1) < 1)
{
printf("TIMEBASE period 2 is too large. Increase frequency or decrease clock.");
ErrorTrap(ERROR_TIMEBASE_CONFIG);
}
#endif
#if defined(TIMEBASE_INT3_FREQ)
if ((SystemCoreClock/TIMEBASE_CLOCK_PSC / TIMEBASE_INT3_FREQ - 1) < 1)
{
printf("TIMEBASE period 3 is too large. Increase frequency or decrease clock.");
ErrorTrap(ERROR_TIMEBASE_CONFIG);
}
#endif
#if defined(TIMEBASE_INT4_FREQ)
if ((SystemCoreClock/TIMEBASE_CLOCK_PSC / TIMEBASE_INT4_FREQ - 1) < 1)
{
printf("TIMEBASE period 4 is too large. Increase frequency or decrease clock.");
ErrorTrap(ERROR_TIMEBASE_CONFIG);
}
#endif
NVIC_InitTypeDef NVIC_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
/* TIM clock enable */
#if defined(STM32F303xC)
#if TIMEBASE_TIMER == 2 || TIMEBASE_TIMER == 3 || TIMEBASE_TIMER == 4 || TIMEBASE_TIMER == 6 || TIMEBASE_TIMER == 7
RCC_APB1PeriphClockCmd(MAKENAME(RCC_APB1Periph_TIM,TIMEBASE_TIMER), ENABLE);
#elif TIMEBASE_TIMER == 1 || TIMEBASE_TIMER == 8 || TIMEBASE_TIMER == 15 || TIMEBASE_TIMER == 16 || TIMEBASE_TIMER == 17
RCC_APB2PeriphClockCmd(MAKENAME(RCC_APB2Periph_TIM,TIMEBASE_TIMER), ENABLE);
#endif
#elif defined(STM32F37X)
#if TIMEBASE_TIMER == 15 || TIMEBASE_TIMER == 16 || TIMEBASE_TIMER == 17 || TIMEBASE_TIMER == 19
RCC_APB2PeriphClockCmd(MAKENAME(RCC_APB2Periph_TIM,TIMEBASE_TIMER), ENABLE);
#else
RCC_APB1PeriphClockCmd(MAKENAME(RCC_APB1Periph_TIM,TIMEBASE_TIMER), ENABLE);
#endif
#else
#error("Unrecognized target. The Makefile should define one of the following: {STM32F37X, STM32F303xC}")
#endif
/* Enable the TIM gloabal Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = MAKENAME(TIMER_INTERRUPT,n);
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Compute the prescaler value */
PrescalerValue = (uint16_t) (TIMEBASE_CLOCK_PSC - 1);
/* Time base configuration */
#if TIMEBASE_TIMER == 6 || TIMEBASE_TIMER == 7 || TIMEBASE_TIMER == 18
TIM_TimeBaseStructure.TIM_Period = (TIMEBASE_SIZE) (SystemCoreClock/TIMEBASE_CLOCK_PSC / TIMEBASE_INT1_FREQ - 1);
/* TIM Interrupts enable */
TIM_ITConfig(MAKENAME(TIM,TIMEBASE_TIMER), TIM_IT_Update, ENABLE);
#else
#if TIMEBASE_TIMER == 2 || TIMEBASE_TIMER == 5
TIM_TimeBaseStructure.TIM_Period = 4294967295;
#else
TIM_TimeBaseStructure.TIM_Period = 65535;
#endif
#endif
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(MAKENAME(TIM,TIMEBASE_TIMER), &TIM_TimeBaseStructure);
/* Prescaler configuration */
TIM_PrescalerConfig(MAKENAME(TIM,TIMEBASE_TIMER), PrescalerValue, TIM_PSCReloadMode_Immediate);
#if TIMEBASE_TIMER != 6 && TIMEBASE_TIMER != 7 && TIMEBASE_TIMER != 18
/* Output Compare Timing Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Timing;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = (TIMEBASE_SIZE) (SystemCoreClock/TIMEBASE_CLOCK_PSC / TIMEBASE_INT1_FREQ - 1);
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(MAKENAME(TIM,TIMEBASE_TIMER), &TIM_OCInitStructure);
TIM_OC1PreloadConfig(MAKENAME(TIM,TIMEBASE_TIMER), TIM_OCPreload_Disable);
/* TIM Interrupts enable */
TIM_ITConfig(MAKENAME(TIM,TIMEBASE_TIMER), TIM_IT_CC1, ENABLE);
#if defined(TIMEBASE_INT2_FREQ) && TIMEBASE_TIMER != 13 && TIMEBASE_TIMER != 14 && TIMEBASE_TIMER != 16 && TIMEBASE_TIMER != 17
/* Output Compare Timing Mode configuration: Channel2 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = (TIMEBASE_SIZE) (SystemCoreClock/TIMEBASE_CLOCK_PSC / TIMEBASE_INT2_FREQ - 1);
TIM_OC2Init(MAKENAME(TIM,TIMEBASE_TIMER), &TIM_OCInitStructure);
TIM_OC2PreloadConfig(MAKENAME(TIM,TIMEBASE_TIMER), TIM_OCPreload_Disable);
/* TIM Interrupts enable */
TIM_ITConfig(MAKENAME(TIM,TIMEBASE_TIMER), TIM_IT_CC2, ENABLE);
#if defined(TIMEBASE_INT3_FREQ) && TIMEBASE_TIMER != 12 && TIMEBASE_TIMER != 15
/* Output Compare Timing Mode configuration: Channel3 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = (TIMEBASE_SIZE) (SystemCoreClock/TIMEBASE_CLOCK_PSC / TIMEBASE_INT3_FREQ - 1);
TIM_OC3Init(MAKENAME(TIM,TIMEBASE_TIMER), &TIM_OCInitStructure);
TIM_OC3PreloadConfig(MAKENAME(TIM,TIMEBASE_TIMER), TIM_OCPreload_Disable);
/* TIM Interrupts enable */
TIM_ITConfig(MAKENAME(TIM,TIMEBASE_TIMER),TIM_IT_CC3, ENABLE);
#ifdef TIMEBASE_INT4_FREQ
/* Output Compare Timing Mode configuration: Channel4 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = (TIMEBASE_SIZE) (SystemCoreClock/TIMEBASE_CLOCK_PSC / TIMEBASE_INT4_FREQ - 1);
TIM_OC4Init(MAKENAME(TIM,TIMEBASE_TIMER), &TIM_OCInitStructure);
TIM_OC4PreloadConfig(MAKENAME(TIM,TIMEBASE_TIMER), TIM_OCPreload_Disable);
/* TIM Interrupts enable */
TIM_ITConfig(MAKENAME(TIM,TIMEBASE_TIMER),TIM_IT_CC4, ENABLE);
#endif //TIMEBASE_INT4_FREQ
#endif //defined(TIMEBASE_INT3_FREQ) && TIMEBASE_TIMER != 12 && TIMEBASE_TIMER != 15
#endif //defined(TIMEBASE_INT2_FREQ) && TIMEBASE_TIMER != 13 && TIMEBASE_TIMER != 14 && TIMEBASE_TIMER != 16 && TIMEBASE_TIMER != 17
#endif //TIMEBASE_TIMER != 6 || TIMEBASE_TIMER != 7 || TIMEBASE_TIMER != 18
/* TIM enable counter */
//TIM_Cmd(MAKENAME(TIM,TIMEBASE_TIMER), ENABLE); //Don't do this here, require a PlayTimebase call! Everyone loves PlayTime...base. All your base belong to PlayTime?
}
/* Need to change Tim8 for Tim2 since TIM8 is needed for dma2 request*/
void TIM_Configuration(void){
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
int TimerPeriod, Channel1Pulse, Channel2Pulse, Channel3Pulse;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3 ,ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1 ,ENABLE);
/* Pins GPIO A 1 and 8 for Control Signals*/
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_High_Speed;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL ;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_Init(GPIOE, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource11 ,GPIO_AF_TIM1);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
GPIO_Init(GPIOC, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource7 ,GPIO_AF_TIM3);
/*
VGA
800x600 50hz
Clock Tick = 1/72Mhz = 0.0138us
Timer Frequency = 35.15625kHz
TimerPeriod = (1/35.15625kHz)/0.006944us = 4096 (/2)
Channel 1 pulse / HSYNC Pulse Time= 2us
2us/0.006944us = 288 ticks (/2)
Channel 2 pulse / HSYNC+BackPorch
2us+3,55us-800ns(dma)/0,00694us = 704 ticks
*/
TimerPeriod = 4096;
Channel1Pulse = 288;
Channel2Pulse = 800;//785
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = TimerPeriod;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter=0;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
TIM_OCStructInit(&TIM_OCInitStructure);
//Channel 1
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = Channel1Pulse;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
TIM_OC2Init(TIM1, &TIM_OCInitStructure);
//Channel 2
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Inactive; // Dont actualize pin
TIM_OCInitStructure.TIM_Pulse = Channel2Pulse;
TIM_OC3Init(TIM1, &TIM_OCInitStructure);
TIM_CtrlPWMOutputs(TIM1, ENABLE);
/* Select TIM1 as Master */
TIM_SelectMasterSlaveMode(TIM1, TIM_MasterSlaveMode_Enable);
TIM_SelectOutputTrigger(TIM1, TIM_TRGOSource_Update);
/*
VSYNC
Lines
------------------------------
Visible area 600
Front porch 1
Sync pulse 2
Back porch 22
Whole frame 625
*/
TIM_SelectSlaveMode(TIM3, TIM_SlaveMode_Gated);//! was gated
TIM_SelectInputTrigger(TIM3, TIM_TS_ITR0);
TimerPeriod = 625; /* Vertical lines */
Channel2Pulse = 2; /* Sync pulse */
Channel3Pulse = 24; /* Sync pulse + Back porch */
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = TimerPeriod;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = Channel2Pulse;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
TIM_OC2Init(TIM3, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Inactive;
TIM_OCInitStructure.TIM_Pulse = Channel3Pulse;
TIM_OC3Init(TIM3, &TIM_OCInitStructure);
/* TIM8 counter enable and output enable */
TIM_CtrlPWMOutputs(TIM3, ENABLE);
/* Interrupt TIM8 */
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_ITConfig(TIM3, TIM_IT_CC3, ENABLE);
/* Interrupt TIM1 */
NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_ITConfig(TIM1, TIM_IT_CC3, ENABLE); // Enable only interrupt for CC2
/* Enable Timers */
TIM_Cmd(TIM3, ENABLE);
TIM_Cmd(TIM1, ENABLE);
//TIMER 5 --- UPDATE
}
static void configure_hsync_timers()
{
// Stop both timers
TIM_Cmd(dev_cfg->pixel_timer.timer, DISABLE);
// This is overkill but used for consistency. No interrupts used for pixel clock
// but this function calls the GPIO_Remap
uint32_t tim_id;
const struct pios_tim_channel *channels;
// Init the channel to output the pixel clock
channels = &dev_cfg->pixel_timer;
PIOS_TIM_InitChannels(&tim_id, channels, 1, &px_callback, 0);
// Init the channel to capture the pulse
channels = &dev_cfg->hsync_capture;
PIOS_TIM_InitChannels(&tim_id, channels, 1, &px_callback, 0);
// Configure the input capture channel
TIM_ICInitTypeDef TIM_ICInitStructure;
switch(dev_cfg->hsync_capture.timer_chan) {
case TIM_Channel_1:
TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;
break;
case TIM_Channel_2:
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
break;
default:
PIOS_Assert(0);
}
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
//TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0;
TIM_ICInit(dev_cfg->pixel_timer.timer, &TIM_ICInitStructure);
// Set up the channel to output the pixel clock
switch(dev_cfg->pixel_timer.timer_chan) {
case TIM_Channel_1:
TIM_OC1Init(dev_cfg->pixel_timer.timer, &dev_cfg->tim_oc_init);
TIM_OC1PreloadConfig(dev_cfg->pixel_timer.timer, TIM_OCPreload_Enable);
TIM_SetCompare1(dev_cfg->pixel_timer.timer, dc);
break;
case TIM_Channel_2:
TIM_OC2Init(dev_cfg->pixel_timer.timer, &dev_cfg->tim_oc_init);
TIM_OC2PreloadConfig(dev_cfg->pixel_timer.timer, TIM_OCPreload_Enable);
TIM_SetCompare2(dev_cfg->pixel_timer.timer, dc);
break;
case TIM_Channel_3:
TIM_OC3Init(dev_cfg->pixel_timer.timer, &dev_cfg->tim_oc_init);
TIM_OC3PreloadConfig(dev_cfg->pixel_timer.timer, TIM_OCPreload_Enable);
TIM_SetCompare3(dev_cfg->pixel_timer.timer, dc);
break;
case TIM_Channel_4:
TIM_OC4Init(dev_cfg->pixel_timer.timer, &dev_cfg->tim_oc_init);
TIM_OC4PreloadConfig(dev_cfg->pixel_timer.timer, TIM_OCPreload_Enable);
TIM_SetCompare4(dev_cfg->pixel_timer.timer, dc);
break;
}
TIM_ARRPreloadConfig(dev_cfg->pixel_timer.timer, ENABLE);
TIM_CtrlPWMOutputs(dev_cfg->pixel_timer.timer, ENABLE);
// This shouldn't be needed as it should come from the config struture. Something
// is clobbering that
TIM_PrescalerConfig(dev_cfg->pixel_timer.timer, 0, TIM_PSCReloadMode_Immediate);
TIM_SetAutoreload(dev_cfg->pixel_timer.timer, period);
}
//--------------------------------------------------------------
// interne Funktion
// Init vom Timer
//--------------------------------------------------------------
void P_PWM_InitTIM(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
PWM_TIM5_NAME_t pwm_name;
uint16_t wert;
// Clock enable
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
// Timer init
TIM_TimeBaseStructure.TIM_Period = PWM_TIM5_PERIODE;
TIM_TimeBaseStructure.TIM_Prescaler = PWM_TIM5_PRESCALE;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM5, &TIM_TimeBaseStructure);
for(pwm_name=0;pwm_name<PWM_TIM5_ANZ;pwm_name++) {
if(PWM_TIM5[pwm_name].CHANNEL==1) {
// Channel 1
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
wert=PWM_TIM5[pwm_name].PWM_INIT;
if(wert>PWM_TIM5_PERIODE) wert=PWM_TIM5_PERIODE;
TIM_OCInitStructure.TIM_Pulse = wert;
TIM_OCInitStructure.TIM_OCPolarity = PWM_TIM5_POLARITY;
TIM_OC1Init(TIM5, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM5, TIM_OCPreload_Enable);
}
if(PWM_TIM5[pwm_name].CHANNEL==2) {
// Channel 2
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
wert=PWM_TIM5[pwm_name].PWM_INIT;
if(wert>PWM_TIM5_PERIODE) wert=PWM_TIM5_PERIODE;
TIM_OCInitStructure.TIM_Pulse = wert;
TIM_OCInitStructure.TIM_OCPolarity = PWM_TIM5_POLARITY;
TIM_OC2Init(TIM5, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM5, TIM_OCPreload_Enable);
}
if(PWM_TIM5[pwm_name].CHANNEL==3) {
// Channel 3
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
wert=PWM_TIM5[pwm_name].PWM_INIT;
if(wert>PWM_TIM5_PERIODE) wert=PWM_TIM5_PERIODE;
TIM_OCInitStructure.TIM_Pulse = wert;
TIM_OCInitStructure.TIM_OCPolarity = PWM_TIM5_POLARITY;
TIM_OC3Init(TIM5, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM5, TIM_OCPreload_Enable);
}
if(PWM_TIM5[pwm_name].CHANNEL==4) {
// Channel 4
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
wert=PWM_TIM5[pwm_name].PWM_INIT;
if(wert>PWM_TIM5_PERIODE) wert=PWM_TIM5_PERIODE;
TIM_OCInitStructure.TIM_Pulse = wert;
TIM_OCInitStructure.TIM_OCPolarity = PWM_TIM5_POLARITY;
TIM_OC4Init(TIM5, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM5, TIM_OCPreload_Enable);
}
}
// Timer enable
TIM_ARRPreloadConfig(TIM5, ENABLE);
TIM_Cmd(TIM5, ENABLE);
}
/*=====================================================================================================*/
void PWM_Config( void )
{
GPIO_InitTypeDef GPIO_Struct;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStruct;
TIM_OCInitTypeDef TIM_OCInitStruct;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);
/* TIM2 PWM1 PA1 */ /* TIM2 PWM2 PA2 */ /* TIM2 PWM3 PA3 */ /* TIM3 PWM4 PA6 */ /* TIM3 PWM5 PA7 */
GPIO_Struct.GPIO_Pin = GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_6 | GPIO_Pin_7;
GPIO_Struct.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Struct.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOA, &GPIO_Struct);
/* TIM3 PWM6 PB0 */ /* TIM3 PWM7 PB1 */ /* TIM4 PWM8 PB6 */ /* TIM4 PWM9 PB7 */ /* TIM4 PWM10 PB8 */ /* TIM4 PWM11 PB9 */
GPIO_Struct.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9;
GPIO_Struct.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Struct.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOB, &GPIO_Struct);
TIM_DeInit(TIM2);
TIM_DeInit(TIM3);
TIM_DeInit(TIM4);
/************************** PWM Output **************************************/
/* 設定 TIM2 TIM3 TIM4 Time Base */
TIM_TimeBaseStruct.TIM_Period = (int16_t)(2500-1); // 週期 = 2.5ms, 400Hz
TIM_TimeBaseStruct.TIM_Prescaler = (int16_t)(72-1); // 除頻72 = 1M ( 1us )
TIM_TimeBaseStruct.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStruct.TIM_CounterMode = TIM_CounterMode_Up; // 上數
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStruct);
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStruct);
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStruct);
/* 設定 TIM2 TIM3 TIM4 OC */
TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1; // 配置為 PWM1 模式
TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable; // 致能 OC
TIM_OCInitStruct.TIM_Pulse = PWM_MOTOR_MIN; // 設置跳變值
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_OC3Init(TIM2, &TIM_OCInitStruct); // 初始化 TIM2 OC3
TIM_OC4Init(TIM2, &TIM_OCInitStruct); // 初始化 TIM2 OC4
TIM_OC1Init(TIM3, &TIM_OCInitStruct); // 初始化 TIM3 OC1
TIM_OC2Init(TIM3, &TIM_OCInitStruct); // 初始化 TIM3 OC2
TIM_OC3Init(TIM3, &TIM_OCInitStruct); // 初始化 TIM3 OC3
TIM_OC4Init(TIM3, &TIM_OCInitStruct); // 初始化 TIM3 OC4
TIM_OC1Init(TIM4, &TIM_OCInitStruct); // 初始化 TIM4 OC1
TIM_OC2Init(TIM4, &TIM_OCInitStruct); // 初始化 TIM4 OC2
TIM_OC3Init(TIM4, &TIM_OCInitStruct); // 初始化 TIM4 OC3
TIM_OC4Init(TIM4, &TIM_OCInitStruct); // 初始化 TIM4 OC4
TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable); // 致能 TIM2 OC2 預裝載
TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable); // 致能 TIM2 OC3 預裝載
TIM_OC4PreloadConfig(TIM2, TIM_OCPreload_Enable); // 致能 TIM2 OC4 預裝載
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable); // 致能 TIM3 OC1 預裝載
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable); // 致能 TIM3 OC2 預裝載
TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable); // 致能 TIM3 OC3 預裝載
TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable); // 致能 TIM3 OC4 預裝載
TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable); // 致能 TIM4 OC1 預裝載
TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable); // 致能 TIM4 OC2 預裝載
TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable); // 致能 TIM4 OC3 預裝載
TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable); // 致能 TIM4 OC4 預裝載
/* 啟動 */
TIM_ARRPreloadConfig(TIM2, ENABLE); // 致能 TIM2 重載寄存器ARR
TIM_ARRPreloadConfig(TIM3, ENABLE); // 致能 TIM3 重載寄存器ARR
TIM_ARRPreloadConfig(TIM4, ENABLE); // 致能 TIM4 重載寄存器ARR
TIM_Cmd(TIM2, ENABLE); // 致能 TIM2
TIM_Cmd(TIM3, ENABLE); // 致能 TIM3
TIM_Cmd(TIM4, ENABLE); // 致能 TIM4
}
