void pwmout_init(pwmout_t* obj, PinName pin)
{
// Get the peripheral name from the pin and assign it to the object
obj->pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
MBED_ASSERT(obj->pwm != (PWMName)NC);
// Get the functions (timer channel, (non)inverted) from the pin and assign it to the object
uint32_t function = pinmap_function(pin, PinMap_PWM);
MBED_ASSERT(function != (uint32_t)NC);
obj->channel = STM_PIN_CHANNEL(function);
obj->inverted = STM_PIN_INVERTED(function);
// Enable TIM clock
if (obj->pwm == PWM_1) __HAL_RCC_TIM1_CLK_ENABLE();
if (obj->pwm == PWM_2) __HAL_RCC_TIM2_CLK_ENABLE();
if (obj->pwm == PWM_3) __HAL_RCC_TIM3_CLK_ENABLE();
if (obj->pwm == PWM_4) __HAL_RCC_TIM4_CLK_ENABLE();
if (obj->pwm == PWM_8) __HAL_RCC_TIM8_CLK_ENABLE();
if (obj->pwm == PWM_9) __HAL_RCC_TIM9_CLK_ENABLE();
if (obj->pwm == PWM_10) __HAL_RCC_TIM10_CLK_ENABLE();
if (obj->pwm == PWM_11) __HAL_RCC_TIM11_CLK_ENABLE();
if (obj->pwm == PWM_12) __HAL_RCC_TIM12_CLK_ENABLE();
if (obj->pwm == PWM_13) __HAL_RCC_TIM13_CLK_ENABLE();
if (obj->pwm == PWM_14) __HAL_RCC_TIM14_CLK_ENABLE();
// Configure GPIO
pinmap_pinout(pin, PinMap_PWM);
obj->pin = pin;
obj->period = 0;
obj->pulse = 0;
obj->prescaler = 1;
pwmout_period_us(obj, 20000); // 20 ms per default
}
/**
* @brief TIM MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* - Peripheral's GPIO Configuration
* @param htim: TIM handle pointer
* @retval None
*/
void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
{
GPIO_InitTypeDef GPIO_InitStruct;
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* TIM1 Peripheral clock enable */
__HAL_RCC_TIM1_CLK_ENABLE();
/* Enable GPIO Channels Clock */
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
/*##-2- Configure I/Os #####################################################*/
/* Common configuration for all channels */
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
/* Channel 1 configuration */
GPIO_InitStruct.Pin = GPIO_PIN_8;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* Channel 2 configuration */
GPIO_InitStruct.Pin = GPIO_PIN_11;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
if(htim_base->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspInit 0 */
/* USER CODE END TIM1_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM1_CLK_ENABLE();
/* USER CODE BEGIN TIM1_MspInit 1 */
HAL_NVIC_SetPriority(TIM1_CC_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM1_CC_IRQn);
/* USER CODE END TIM1_MspInit 1 */
}
else if(htim_base->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspInit 0 */
/* USER CODE END TIM3_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM3_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM3_IRQn, 1, 1);
HAL_NVIC_EnableIRQ(TIM3_IRQn);
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
}
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
{
if(tim_baseHandle->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspInit 0 */
/* USER CODE END TIM1_MspInit 0 */
/* TIM1 clock enable */
__HAL_RCC_TIM1_CLK_ENABLE();
/* TIM1 interrupt Init */
HAL_NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn);
/* USER CODE BEGIN TIM1_MspInit 1 */
/* USER CODE END TIM1_MspInit 1 */
}
else if(tim_baseHandle->Instance==TIM13)
{
/* USER CODE BEGIN TIM13_MspInit 0 */
/* USER CODE END TIM13_MspInit 0 */
/* TIM13 clock enable */
__HAL_RCC_TIM13_CLK_ENABLE();
/* TIM13 interrupt Init */
HAL_NVIC_SetPriority(TIM8_UP_TIM13_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM8_UP_TIM13_IRQn);
/* USER CODE BEGIN TIM13_MspInit 1 */
/* USER CODE END TIM13_MspInit 1 */
}
}
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef *htim) {
if (htim->Instance == TIM1) {
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_TIM1_CLK_ENABLE();
initGPIO_PWM();
}
}
/**
* @brief TIM MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* - Peripheral's GPIO Configuration
* @param htim: TIM handle pointer
* @retval None
*/
void HAL_TIM_OC_MspInit(TIM_HandleTypeDef *htim)
{
GPIO_InitTypeDef GPIO_InitStruct;
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* TIMx Peripheral clock enable */
__HAL_RCC_TIM1_CLK_ENABLE();
/* Enable GPIO Channels Clock */
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
/* Configure (PA.08, TIM1_CH1), (PA.07, TIM1_CH1N), (PA.09, TIM1_CH2),
(PB.00, TIM1_CH2N), (PE.13, TIM1_CH3), (PB.01, TIM1_CH3N),
(PA.06, TIM1_BKIN) in push-pull, alternate function mode */
/* Common configuration for all channels */
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
/* GPIO TIM1_Channel1 configuration */
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
GPIO_InitStruct.Pin = GPIO_PIN_8;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* GPIO TIM1_Channel1N configuration */
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
GPIO_InitStruct.Pin = GPIO_PIN_7;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* GPIO TIM1_Channel2 configuration */
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
GPIO_InitStruct.Pin = GPIO_PIN_9;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* GPIO TIM1_Channel2N configuration */
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
GPIO_InitStruct.Pin = GPIO_PIN_0;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* GPIO TIM1_Channel3 configuration */
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
GPIO_InitStruct.Pin = GPIO_PIN_13;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/* GPIO TIM1_Channel3N configuration */
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
GPIO_InitStruct.Pin = GPIO_PIN_1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* GPIO TIM1_BKIN configuration */
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
GPIO_InitStruct.Pin = GPIO_PIN_6;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* Enable the TIM1 global Interrupt & set priority */
HAL_NVIC_SetPriority(TIM1_TRG_COM_TIM11_IRQn, 0, 1);
HAL_NVIC_EnableIRQ(TIM1_TRG_COM_TIM11_IRQn);
}
/**
* @brief TIM MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* - Peripheral's GPIO Configuration
* @param htim: TIM handle pointer
* @retval None
*/
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef *htim)
{
GPIO_InitTypeDef GPIO_InitStruct;
/* Enable TIM1, TIM3 & TIM4 clocks */
__HAL_RCC_TIM1_CLK_ENABLE();
__HAL_RCC_TIM3_CLK_ENABLE();
__HAL_RCC_TIM4_CLK_ENABLE();
/* Enable GPIOA, GPIOB & GPIOC Clocks */
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
/* Configure PA.8 (TIM1_Channel1), PC.6 (TIM3_Channel1) and PB.6 (TIM4_Channel1),
in push-pull, alternate function mode */
GPIO_InitStruct.Pin = GPIO_PIN_8;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
GPIO_InitStruct.Pin = GPIO_PIN_6;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
GPIO_InitStruct.Pin = GPIO_PIN_6;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}
/**
* @brief TIM MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* - Peripheral's GPIO Configuration
* @param htim: TIM handle pointer
* @retval None
*/
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef *htim)
{
GPIO_InitTypeDef GPIO_InitStruct;
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* TIMx Peripheral clock enable */
__HAL_RCC_TIM1_CLK_ENABLE();
/* Enable GPIO Channels Clock */
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
/* Configure (PA.08, TIM1_CH1), (PB.13, TIM1_CH1N), (PE.11, TIM1_CH2),
(PB.14, TIM1_CH2N), (PA.10, TIM1_CH3), (PB.15, TIM1_CH3N),
(PA.06, TIM1_BKIN) in push-pull, alternate function mode */
/* Common configuration for all channels */
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
/* GPIO TIM1_Channel1 configuration */
GPIO_InitStruct.Alternate = GPIO_AF6_TIM1;
GPIO_InitStruct.Pin = GPIO_PIN_8;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* GPIO TIM1_Channel1N configuration */
GPIO_InitStruct.Alternate = GPIO_AF6_TIM1;
GPIO_InitStruct.Pin = GPIO_PIN_13;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* GPIO TIM1_Channel2 configuration */
GPIO_InitStruct.Alternate = GPIO_AF2_TIM1;
GPIO_InitStruct.Pin = GPIO_PIN_11;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/* GPIO TIM1_Channel2N configuration */
GPIO_InitStruct.Alternate = GPIO_AF6_TIM1;
GPIO_InitStruct.Pin = GPIO_PIN_14;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* GPIO TIM1_Channel3 configuration */
GPIO_InitStruct.Alternate = GPIO_AF6_TIM1;
GPIO_InitStruct.Pin = GPIO_PIN_10;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* GPIO TIM1_Channel3N configuration */
GPIO_InitStruct.Alternate = GPIO_AF4_TIM1;
GPIO_InitStruct.Pin = GPIO_PIN_15;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* GPIO TIM1_BKIN configuration */
GPIO_InitStruct.Alternate = GPIO_AF6_TIM1;
GPIO_InitStruct.Pin = GPIO_PIN_6;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}
/**
* @brief TIM MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* - Peripheral's GPIO Configuration
* @param htim: TIM handle pointer
* @retval None
*/
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef *htim)
{
GPIO_InitTypeDef GPIO_InitStruct;
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* TIM1 Peripheral clock enable */
__HAL_RCC_TIM1_CLK_ENABLE();
/* Enable GPIO Port Clocks */
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
/*##-2- Configure I/Os #####################################################*/
/* Configure PA.8 (TIM1_Channel1), PE.11 (TIM1_Channel2), PA.10 (TIM1_Channel3),
PE.14 (TIM1_Channel4), PB.13 (TIM1_Channel1N), PB.14 (TIM1_Channel2N) &
PB.15 (TIM1_Channel3N) in output, push-pull, alternate function mode */
/* Common configuration for all channels */
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
/* Channel 1 output */
GPIO_InitStruct.Pin = GPIO_PIN_8;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* Channel 1 complementary output */
GPIO_InitStruct.Pin = GPIO_PIN_13;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* Channel 2 output */
GPIO_InitStruct.Pin = GPIO_PIN_11;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/* Channel 2 complementary output */
GPIO_InitStruct.Pin = GPIO_PIN_14;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* Channel 3 output */
GPIO_InitStruct.Pin = GPIO_PIN_10;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* Channel 3 complementary output */
GPIO_InitStruct.Pin = GPIO_PIN_15;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* Channel 4 output */
GPIO_InitStruct.Pin = GPIO_PIN_14;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
}
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
{
if(tim_pwmHandle->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspInit 0 */
/* USER CODE END TIM1_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM1_CLK_ENABLE();
/* USER CODE BEGIN TIM1_MspInit 1 */
/* USER CODE END TIM1_MspInit 1 */
}
}
/**
* @brief This function configures the TIM1 as a time base source.
* The time source is configured to have 1ms time base with a dedicated
* Tick interrupt priority.
* @note This function is called automatically at the beginning of program after
* reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig().
* @param TickPriority: Tick interrupt priorty.
* @retval HAL status
*/
HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
{
RCC_ClkInitTypeDef clkconfig;
uint32_t uwTimclock = 0;
uint32_t uwPrescalerValue = 0;
uint32_t pFLatency;
/*Configure the TIM1 IRQ priority */
HAL_NVIC_SetPriority(TIM1_UP_TIM16_IRQn, TickPriority ,0);
/* Enable the TIM1 global Interrupt */
HAL_NVIC_EnableIRQ(TIM1_UP_TIM16_IRQn);
/* Enable TIM1 clock */
__HAL_RCC_TIM1_CLK_ENABLE();
/* Get clock configuration */
HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
/* Compute TIM1 clock */
uwTimclock = HAL_RCC_GetPCLK2Freq();
/* Compute the prescaler value to have TIM1 counter clock equal to 1MHz */
uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000) - 1);
/* Initialize TIM1 */
htim1.Instance = TIM1;
/* Initialize TIMx peripheral as follow:
+ Period = [(TIM1CLK/1000) - 1]. to have a (1/1000) s time base.
+ Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
+ ClockDivision = 0
+ Counter direction = Up
*/
htim1.Init.Period = (1000000 / 1000) - 1;
htim1.Init.Prescaler = uwPrescalerValue;
htim1.Init.ClockDivision = 0;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
if(HAL_TIM_Base_Init(&htim1) == HAL_OK)
{
/* Start the TIM time Base generation in interrupt mode */
return HAL_TIM_Base_Start_IT(&htim1);
}
/* Return function status */
return HAL_ERROR;
}
/**
* @brief TIM MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* - Peripheral's GPIO Configuration
* @param htim: TIM handle pointer
* @retval None
*/
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef *htim)
{
GPIO_InitTypeDef GPIO_InitStruct;
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* TIMx Peripheral clock enable */
__HAL_RCC_TIM1_CLK_ENABLE();
/* Enable GPIO Channels Clock */
__HAL_RCC_GPIOA_CLK_ENABLE();
/* Configure (PA.08, TIM1_CH1), (PA.09, TIM1_CH2) and (PA.10, TIM1_CH3)
in output, push-pull, alternate function mode */
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF6_TIM1;
GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9 | GPIO_PIN_10;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}
void pwmout_init(pwmout_t* obj, PinName pin)
{
// Get the peripheral name from the pin and assign it to the object
obj->pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
MBED_ASSERT(obj->pwm != (PWMName)NC);
// Get the pin function and assign the used channel to the object
uint32_t function = pinmap_function(pin, PinMap_PWM);
MBED_ASSERT(function != (uint32_t)NC);
obj->channel = STM_PIN_CHANNEL(function);
obj->inverted = STM_PIN_INVERTED(function);
// Enable TIM clock
if (obj->pwm == PWM_1) __HAL_RCC_TIM1_CLK_ENABLE();
if (obj->pwm == PWM_2) __HAL_RCC_TIM2_CLK_ENABLE();
#if defined(TIM3_BASE)
if (obj->pwm == PWM_3) __HAL_RCC_TIM3_CLK_ENABLE();
#endif
#if defined(TIM4_BASE)
if (obj->pwm == PWM_4) __HAL_RCC_TIM4_CLK_ENABLE();
#endif
#if defined(TIM5_BASE)
if (obj->pwm == PWM_5) __HAL_RCC_TIM5_CLK_ENABLE();
#endif
#if defined(TIM8_BASE)
if (obj->pwm == PWM_8) __HAL_RCC_TIM8_CLK_ENABLE();
#endif
if (obj->pwm == PWM_15) __HAL_RCC_TIM15_CLK_ENABLE();
if (obj->pwm == PWM_16) __HAL_RCC_TIM16_CLK_ENABLE();
#if defined(TIM17_BASE)
if (obj->pwm == PWM_17) __HAL_RCC_TIM17_CLK_ENABLE();
#endif
// Configure GPIO
pinmap_pinout(pin, PinMap_PWM);
obj->pin = pin;
obj->period = 0;
obj->pulse = 0;
obj->prescaler = 1;
pwmout_period_us(obj, 20000); // 20 ms per default
}
void MX_TIM1_Init(void) {
TIM_ClockConfigTypeDef sClockSourceConfig;
TIM_MasterConfigTypeDef sMasterConfig;
__HAL_RCC_TIM1_CLK_ENABLE();
htim1.Instance = TIM1;
htim1.Init.Prescaler = 41999;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 1999;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
HAL_TIM_Base_Init(&htim1);
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig);
}
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
{
if(tim_pwmHandle->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspInit 0 */
/* USER CODE END TIM1_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM1_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM1_BRK_TIM9_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn);
HAL_NVIC_SetPriority(TIM1_TRG_COM_TIM11_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM1_TRG_COM_TIM11_IRQn);
/* USER CODE BEGIN TIM1_MspInit 1 */
/* USER CODE END TIM1_MspInit 1 */
}
}
/**
* @brief TIM MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* - Peripheral's GPIO Configuration
* @param htim: TIM handle pointer
* @retval None
*/
void HAL_TIM_OC_MspInit(TIM_HandleTypeDef *htim)
{
GPIO_InitTypeDef GPIO_InitStruct;
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* TIMs Peripheral clock enable */
__HAL_RCC_TIM1_CLK_ENABLE();
__HAL_RCC_TIM4_CLK_ENABLE();
__HAL_RCC_TIM5_CLK_ENABLE();
/* Enable GPIO Channels Clock */
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*##-2- Configure I/Os #####################################################*/
/* Configure PA.08 (TIM1_Channel1), PA.09 (TIM1_Channel2), PB.06 (TIM4_Channel1),
PA.00 (TIM5_Channel1) in output, pull-down, alternate function mode
*/
/* Common configuration for all channels */
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
GPIO_InitStruct.Pin = GPIO_PIN_8;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
GPIO_InitStruct.Pin = GPIO_PIN_9;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
GPIO_InitStruct.Pin = GPIO_PIN_6;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
GPIO_InitStruct.Pin = GPIO_PIN_0;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}
/**
* @brief TIM MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* - Peripheral's GPIO Configuration
* @param htim: TIM handle pointer
* @retval None
*/
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef *htim)
{
GPIO_InitTypeDef GPIO_InitStruct;
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* TIMx Peripheral clock enable */
__HAL_RCC_TIM1_CLK_ENABLE();
/* Enable all GPIO Channels Clock requested */
__HAL_RCC_GPIOE_CLK_ENABLE();
/* Configure PB.04 (pin 19 in CN7 connector) (TIM3_Channel1), PB.05 (pin 13 in CN7 connector) (TIM3_Channel2), PB.00 (pin 31 in CN10 connector) (TIM3_Channel3),
PB.01 (pin 7 in CN10 connector) (TIM3_Channel4) in output, push-pull, alternate function mode
*/
/* Common configuration for all channels */
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
GPIO_InitStruct.Pin = GPIO_PIN_9 | GPIO_PIN_11 | GPIO_PIN_13 | GPIO_PIN_14;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
}
/**
* @brief TIM Encoder MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* - Peripheral's GPIO Configuration
* @param htim: TIM handle pointer
* @retval None
*/
void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
{
GPIO_InitTypeDef GPIO_InitStruct;
/* Enable TIM1 clock */
__HAL_RCC_TIM1_CLK_ENABLE();
/* Enable TIM1 GPIOs Clock */
__HAL_RCC_GPIOA_CLK_ENABLE();
/* Configure PA.08 (TIM1_Channel1) and PA.09 (TIM1_Channel2),
in push-pull, alternate function mode */
GPIO_InitStruct.Pin = GPIO_PIN_8;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
GPIO_InitStruct.Pin = GPIO_PIN_9;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}
/*====================================================================================================*/
void TIM_PWM_Config( void )
{
GPIO_InitTypeDef GPIO_InitStruct;
TIM_HandleTypeDef TIM_InitStruct;
TIM_OC_InitTypeDef TIM_OC_InitStruct;
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_TIM1_CLK_ENABLE();
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Pin = GPIO_PIN_8;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* TIM1 use APB2 = 72 MHz */
TIM_InitStruct.Instance = TIM1;
TIM_InitStruct.Init.Prescaler = 720 - 1; // 72 MHz / 720 = 1 MHz
TIM_InitStruct.Init.Period = PWM_MAX - 1; // PWM Freq = 10 kHz
TIM_InitStruct.Init.ClockDivision = 0;
TIM_InitStruct.Init.CounterMode = TIM_COUNTERMODE_UP;
TIM_InitStruct.Init.RepetitionCounter = 0;
HAL_TIM_PWM_Init(&TIM_InitStruct);
TIM_OC_InitStruct.OCMode = TIM_OCMODE_PWM2;
TIM_OC_InitStruct.OCFastMode = TIM_OCFAST_DISABLE;
TIM_OC_InitStruct.OCPolarity = TIM_OCPOLARITY_LOW;
TIM_OC_InitStruct.OCNPolarity = TIM_OCNPOLARITY_HIGH;
TIM_OC_InitStruct.OCIdleState = TIM_OCIDLESTATE_SET;
TIM_OC_InitStruct.OCNIdleState= TIM_OCNIDLESTATE_RESET;
TIM_OC_InitStruct.Pulse = PWM_MED;
HAL_TIM_PWM_ConfigChannel(&TIM_InitStruct, &TIM_OC_InitStruct, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&TIM_InitStruct, TIM_CHANNEL_1);
}
/**
* @brief TIM MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* - Peripheral's GPIO Configuration
* @param htim: TIM handle pointer
* @retval None
*/
void HAL_TIM_OC_MspInit(TIM_HandleTypeDef *htim)
{
GPIO_InitTypeDef GPIO_InitStruct;
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* TIM1 Peripheral clock enable */
__HAL_RCC_TIM1_CLK_ENABLE();
/* Enable GPIO Port Clocks */
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
/*##-2- Configure I/Os #####################################################*/
/*
Configure PA.8 (TIM1_Channel1), PE.11 (TIM1_Channel2), PA.10 (TIM1_Channel3),
PE.14 (TIM1_Channel4), PB.13 (TIM1_Channel1N), PB.14 (TIM1_Channel2N),
PB.15 (TIM1_Channel3N) & PB.12 (TIM1_BREAK) in output, push-pull,
pull-down & alternate function mode
*/
/* Common configuration for all channels */
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
/* Channel 1 output */
GPIO_InitStruct.Pin = GPIO_PIN_8;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* Channel 1 complementary output */
GPIO_InitStruct.Pin = GPIO_PIN_13;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* Channel 2 output */
GPIO_InitStruct.Pin = GPIO_PIN_11;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/* Channel 2 complementary output */
GPIO_InitStruct.Pin = GPIO_PIN_14;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* Channel 3 output */
GPIO_InitStruct.Pin = GPIO_PIN_13;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/* Channel 3 complementary output */
GPIO_InitStruct.Pin = GPIO_PIN_15;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* TIM1 break input */
GPIO_InitStruct.Pin = GPIO_PIN_12;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* Enable the TIM1 global Interrupt & set priority */
HAL_NVIC_SetPriority(TIM1_TRG_COM_TIM11_IRQn, 0, 1);
HAL_NVIC_EnableIRQ(TIM1_TRG_COM_TIM11_IRQn);
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
if(htim_base->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspInit 0 */
/* USER CODE END TIM1_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM1_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn);
/* USER CODE BEGIN TIM1_MspInit 1 */
/* USER CODE END TIM1_MspInit 1 */
}
else if(htim_base->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM2_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM2_IRQn);
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
else if(htim_base->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspInit 0 */
/* USER CODE END TIM3_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM3_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM3_IRQn);
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
}
else if(htim_base->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspInit 0 */
/* USER CODE END TIM4_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM4_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM4_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM4_IRQn);
/* USER CODE BEGIN TIM4_MspInit 1 */
/* USER CODE END TIM4_MspInit 1 */
}
else if(htim_base->Instance==TIM5)
{
/* USER CODE BEGIN TIM5_MspInit 0 */
/* USER CODE END TIM5_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM5_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM5_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM5_IRQn);
/* USER CODE BEGIN TIM5_MspInit 1 */
/* USER CODE END TIM5_MspInit 1 */
}
else if(htim_base->Instance==TIM6)
{
/* USER CODE BEGIN TIM6_MspInit 0 */
/* USER CODE END TIM6_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM6_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM6_DAC_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
/* USER CODE BEGIN TIM6_MspInit 1 */
/* USER CODE END TIM6_MspInit 1 */
}
else if(htim_base->Instance==TIM7)
{
/* USER CODE BEGIN TIM7_MspInit 0 */
/* USER CODE END TIM7_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM7_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM7_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM7_IRQn);
/* USER CODE BEGIN TIM7_MspInit 1 */
/* USER CODE END TIM7_MspInit 1 */
}
else if(htim_base->Instance==TIM8)
{
/* USER CODE BEGIN TIM8_MspInit 0 */
/* USER CODE END TIM8_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM8_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM8_UP_TIM13_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM8_UP_TIM13_IRQn);
/* USER CODE BEGIN TIM8_MspInit 1 */
/* USER CODE END TIM8_MspInit 1 */
}
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(htim_base->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspInit 0 */
/* USER CODE END TIM1_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM1_CLK_ENABLE();
/**TIM1 GPIO Configuration
PE9 ------> TIM1_CH1
PE11 ------> TIM1_CH2
PE13 ------> TIM1_CH3
PE14 ------> TIM1_CH4
*/
GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_11|GPIO_PIN_13|GPIO_PIN_14;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/* USER CODE BEGIN TIM1_MspInit 1 */
/* USER CODE END TIM1_MspInit 1 */
}
else if(htim_base->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM2_CLK_ENABLE();
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
else if(htim_base->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspInit 0 */
/* USER CODE END TIM3_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM3_CLK_ENABLE();
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
}
else if(htim_base->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspInit 0 */
/* USER CODE END TIM4_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM4_CLK_ENABLE();
/* USER CODE BEGIN TIM4_MspInit 1 */
/* USER CODE END TIM4_MspInit 1 */
}
}
void enableGPIOPowerUsageAndNoiseReductions(void)
{
// AHB1
__HAL_RCC_BKPSRAM_CLK_ENABLE();
__HAL_RCC_DTCMRAMEN_CLK_ENABLE();
__HAL_RCC_DMA2_CLK_ENABLE();
__HAL_RCC_USB_OTG_HS_CLK_ENABLE();
__HAL_RCC_USB_OTG_HS_ULPI_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
__HAL_RCC_GPIOF_CLK_ENABLE();
__HAL_RCC_GPIOG_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOI_CLK_ENABLE();
#ifndef STM32F722xx
__HAL_RCC_DMA2D_CLK_ENABLE();
__HAL_RCC_GPIOJ_CLK_ENABLE();
__HAL_RCC_GPIOK_CLK_ENABLE();
#endif
//APB1
__HAL_RCC_TIM2_CLK_ENABLE();
__HAL_RCC_TIM3_CLK_ENABLE();
__HAL_RCC_TIM4_CLK_ENABLE();
__HAL_RCC_TIM5_CLK_ENABLE();
__HAL_RCC_TIM6_CLK_ENABLE();
__HAL_RCC_TIM7_CLK_ENABLE();
__HAL_RCC_TIM12_CLK_ENABLE();
__HAL_RCC_TIM13_CLK_ENABLE();
__HAL_RCC_TIM14_CLK_ENABLE();
__HAL_RCC_LPTIM1_CLK_ENABLE();
__HAL_RCC_SPI2_CLK_ENABLE();
__HAL_RCC_SPI3_CLK_ENABLE();
__HAL_RCC_USART2_CLK_ENABLE();
__HAL_RCC_USART3_CLK_ENABLE();
__HAL_RCC_UART4_CLK_ENABLE();
__HAL_RCC_UART5_CLK_ENABLE();
__HAL_RCC_I2C1_CLK_ENABLE();
__HAL_RCC_I2C2_CLK_ENABLE();
__HAL_RCC_I2C3_CLK_ENABLE();
__HAL_RCC_CAN1_CLK_ENABLE();
__HAL_RCC_DAC_CLK_ENABLE();
__HAL_RCC_UART7_CLK_ENABLE();
__HAL_RCC_UART8_CLK_ENABLE();
#ifndef STM32F722xx
__HAL_RCC_I2C4_CLK_ENABLE();
__HAL_RCC_CAN2_CLK_ENABLE();
__HAL_RCC_CEC_CLK_ENABLE();
#endif
//APB2
__HAL_RCC_TIM1_CLK_ENABLE();
__HAL_RCC_TIM8_CLK_ENABLE();
__HAL_RCC_USART1_CLK_ENABLE();
__HAL_RCC_USART6_CLK_ENABLE();
__HAL_RCC_ADC1_CLK_ENABLE();
__HAL_RCC_ADC2_CLK_ENABLE();
__HAL_RCC_ADC3_CLK_ENABLE();
__HAL_RCC_SDMMC1_CLK_ENABLE();
__HAL_RCC_SPI1_CLK_ENABLE();
__HAL_RCC_SPI4_CLK_ENABLE();
__HAL_RCC_TIM9_CLK_ENABLE();
__HAL_RCC_TIM10_CLK_ENABLE();
__HAL_RCC_TIM11_CLK_ENABLE();
__HAL_RCC_SPI5_CLK_ENABLE();
__HAL_RCC_SAI1_CLK_ENABLE();
__HAL_RCC_SAI2_CLK_ENABLE();
#ifndef STM32F722xx
__HAL_RCC_SPI6_CLK_ENABLE();
#endif
//
// GPIO_InitTypeDef GPIO_InitStructure;
// GPIO_StructInit(&GPIO_InitStructure);
// GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; // default is un-pulled input
//
// GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
// GPIO_InitStructure.GPIO_Pin &= ~(GPIO_Pin_11 | GPIO_Pin_12); // leave USB D+/D- alone
//
// GPIO_InitStructure.GPIO_Pin &= ~(GPIO_Pin_13 | GPIO_Pin_14); // leave JTAG pins alone
// GPIO_Init(GPIOA, &GPIO_InitStructure);
//
// GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
// GPIO_Init(GPIOB, &GPIO_InitStructure);
//
// GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
// GPIO_Init(GPIOC, &GPIO_InitStructure);
// GPIO_Init(GPIOD, &GPIO_InitStructure);
// GPIO_Init(GPIOE, &GPIO_InitStructure);
}
void MX_TIM_Init(void) {
__HAL_RCC_TIM1_CLK_ENABLE();
__HAL_RCC_TIM8_CLK_ENABLE();
TIM_MasterConfigTypeDef sMasterConfig;
TIM_OC_InitTypeDef sConfigOC;
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;
TIM_SlaveConfigTypeDef sTimConfig;
htim_right.Instance = RIGHT_TIM;
htim_right.Init.Prescaler = 0;
htim_right.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1;
htim_right.Init.Period = 64000000 / 2 / PWM_FREQ;
htim_right.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim_right.Init.RepetitionCounter = 0;
htim_right.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
HAL_TIM_PWM_Init(&htim_right);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_ENABLE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim_right, &sMasterConfig);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_LOW;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_SET;
HAL_TIM_PWM_ConfigChannel(&htim_right, &sConfigOC, TIM_CHANNEL_1);
HAL_TIM_PWM_ConfigChannel(&htim_right, &sConfigOC, TIM_CHANNEL_2);
HAL_TIM_PWM_ConfigChannel(&htim_right, &sConfigOC, TIM_CHANNEL_3);
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE;
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
sBreakDeadTimeConfig.DeadTime = DEAD_TIME;
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_LOW;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
HAL_TIMEx_ConfigBreakDeadTime(&htim_right, &sBreakDeadTimeConfig);
htim_left.Instance = LEFT_TIM;
htim_left.Init.Prescaler = 0;
htim_left.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1;
htim_left.Init.Period = 64000000 / 2 / PWM_FREQ;
htim_left.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim_left.Init.RepetitionCounter = 0;
htim_left.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
HAL_TIM_PWM_Init(&htim_left);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim_left, &sMasterConfig);
sTimConfig.InputTrigger = TIM_TS_ITR0;
sTimConfig.SlaveMode = TIM_SLAVEMODE_GATED;
HAL_TIM_SlaveConfigSynchronization(&htim_left, &sTimConfig);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_LOW;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_SET;
HAL_TIM_PWM_ConfigChannel(&htim_left, &sConfigOC, TIM_CHANNEL_1);
HAL_TIM_PWM_ConfigChannel(&htim_left, &sConfigOC, TIM_CHANNEL_2);
HAL_TIM_PWM_ConfigChannel(&htim_left, &sConfigOC, TIM_CHANNEL_3);
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE;
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
sBreakDeadTimeConfig.DeadTime = DEAD_TIME;
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_LOW;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
HAL_TIMEx_ConfigBreakDeadTime(&htim_left, &sBreakDeadTimeConfig);
LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;
RIGHT_TIM->BDTR &= ~TIM_BDTR_MOE;
HAL_TIM_PWM_Start(&htim_left, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim_left, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim_left, TIM_CHANNEL_3);
HAL_TIMEx_PWMN_Start(&htim_left, TIM_CHANNEL_1);
HAL_TIMEx_PWMN_Start(&htim_left, TIM_CHANNEL_2);
HAL_TIMEx_PWMN_Start(&htim_left, TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&htim_right, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim_right, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim_right, TIM_CHANNEL_3);
HAL_TIMEx_PWMN_Start(&htim_right, TIM_CHANNEL_1);
HAL_TIMEx_PWMN_Start(&htim_right, TIM_CHANNEL_2);
HAL_TIMEx_PWMN_Start(&htim_right, TIM_CHANNEL_3);
htim_left.Instance->RCR = 1;
__HAL_TIM_ENABLE(&htim_right);
}
