/**
* @brief TIM3 configuration
* @param None
* @retval None
*/
static void TIM_Config(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
/* ADC1 Peripheral clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
TIM_DeInit(TIM3);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_OCStructInit(&TIM_OCInitStructure);
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = 0xFF;
TIM_TimeBaseStructure.TIM_Prescaler = 0x0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0x0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
/* TIM3 TRGO selection */
TIM_SelectOutputTrigger(TIM3, TIM_TRGOSource_Update);
/* TIM3 enable counter */
TIM_Cmd(TIM3, ENABLE);
}
void MyMotor_TIM2_PWM_Config(void)
{
TIM_TimeBaseInitTypeDef TIM_IS;
TIM_OCInitTypeDef TIM_OC_IS;
TIM_TimeBaseStructInit(&TIM_IS);
TIM_OCStructInit(&TIM_OC_IS);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);
TIM_IS.TIM_Period = 2000;
TIM_IS.TIM_Prescaler = 720;//PWM周期20ms 50Hz
TIM_IS.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_IS.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2,&TIM_IS);
TIM_OC_IS.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OC_IS.TIM_OutputState = TIM_OutputState_Enable;
TIM_OC_IS.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC_IS.TIM_Pulse = THROTTLE_BASE;
TIM_OC1Init(TIM2,&TIM_OC_IS);
TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_OC_IS.TIM_Pulse = THROTTLE_BASE;
TIM_OC2Init(TIM2,&TIM_OC_IS);
TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_OC_IS.TIM_Pulse = THROTTLE_BASE;
TIM_OC3Init(TIM2,&TIM_OC_IS);
TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_OC_IS.TIM_Pulse = THROTTLE_BASE;
TIM_OC4Init(TIM2,&TIM_OC_IS);
TIM_OC4PreloadConfig(TIM2, TIM_OCPreload_Enable);
}
void motor_pwm_setup(void)
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM17, ENABLE);
TIM_TimeBaseInitTypeDef recue_tim;
TIM_TimeBaseStructInit(&recue_tim);
recue_tim.TIM_CounterMode = TIM_CounterMode_Down;
recue_tim.TIM_Period = 4000;
recue_tim.TIM_Prescaler = 48 - 1;
TIM_TimeBaseInit(TIM17, &recue_tim);
TIM_OCInitTypeDef pwm_motor_channel;
TIM_OCStructInit(&pwm_motor_channel);
pwm_motor_channel.TIM_OCMode = TIM_OCMode_PWM1;
pwm_motor_channel.TIM_OutputState = TIM_OutputState_Enable;
pwm_motor_channel.TIM_Pulse = MOTOR_PWM_PERIOD;
TIM_OC1Init(TIM17, &pwm_motor_channel);
TIM_OC1PreloadConfig(TIM17, ENABLE);
/* without enabling there will be no signal on corresponding channels */
TIM_CtrlPWMOutputs(TIM17, DISABLE);
TIM_Cmd(TIM17, DISABLE);
}
/*******************************************************************************
* Function Name : LedShow_Init
* Description : Configure the leds pins as output pushpull: LED1, LED2, LED3
* and LED4
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void LedShow_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_OCStructInit(&TIM_OCInitStructure);
/* PF.06, PF.07, PF.08 and PF.09 as output push-pull */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOF, &GPIO_InitStructure);
/* Time Base configuration */
TIM_TimeBaseStructure.TIM_Prescaler = 719;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = 0x270F;
TIM_TimeBaseStructure.TIM_ClockDivision = 0x0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0x0;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
/* Channel 1 Configuration in Timing mode */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Timing;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_Pulse = 0x0;
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
}
/******************************************************************************
* Function Name : hwtm_ctrl_config
* Description : Initialize the TIM Controller
* Input : None
* Output : None
* Return : 0
******************************************************************************/
int hwtm_ctrl_config(void) {
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
/* Enable TIM2 APB1 clock */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
TIM_OCStructInit(&TIM_OCInitStructure);
/* TIM2 used for timing, the timing period depends on wav file sample rate */
TIM_TimeBaseStructure.TIM_Prescaler = 0x00; /* TIM2CLK = 72 MHz */
TIM_TimeBaseStructure.TIM_Period = tim_arr_val;
TIM_TimeBaseStructure.TIM_ClockDivision = 0x0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
/* Channel 1 Configuration in Timing mode */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Timing;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_Pulse = 0x0;
TIM_OC1Init(TIM2, &TIM_OCInitStructure);
TIM_Cmd(TIM2, DISABLE);
return 0;
}
/**
* @brief Initialize the timer channel linked to the servo in PWM mode.
* @param servo: pointer to a ausbeeServo structure that contains the
* configuration information for the specified servo.
* @retval None
*/
void ausbeeInitServo(ausbeeServo* servo)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructure.TIM_Period = 1999;
TIM_TimeBaseStructure.TIM_Prescaler = 812;
#ifdef SLOW_MCU
TIM_TimeBaseStructure.TIM_Prescaler /= 5;
#endif
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(servo->TIMx, &TIM_TimeBaseStructure);
TIM_OCInitTypeDef OCInit_PWM; // Create a OCInitTypeDef for PWM
TIM_OCStructInit(&OCInit_PWM);
OCInit_PWM.TIM_OCMode = TIM_OCMode_PWM1; // Set PWM Mode
OCInit_PWM.TIM_Pulse = 1500; // Duty cycle to 5%
OCInit_PWM.TIM_OutputState = TIM_OutputState_Enable;
if(servo->CHANx == TIM_Channel_1)
TIM_OC1Init(servo->TIMx, &OCInit_PWM); // Initialize OSC1
else if(servo->CHANx == TIM_Channel_2)
TIM_OC2Init(servo->TIMx, &OCInit_PWM); // Initialize OSC2
else if(servo->CHANx == TIM_Channel_3)
TIM_OC3Init(servo->TIMx, &OCInit_PWM); // Initialize OSC3
else if(servo->CHANx == TIM_Channel_4)
TIM_OC4Init(servo->TIMx, &OCInit_PWM); // Initialize OSC4
}
void RGBLED_Update(uint8_t RED_Val, uint8_t GREEN_Val, uint8_t BLUE_Val)
{
//printf("r: %x g: %x b:%x\n", RED_Val, GREEN_Val, BLUE_Val);
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCStructInit(&TIM_OCInitStructure);
/* PWM1 Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = GREEN_Val;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM3, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel2 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = BLUE_Val;
TIM_OC2Init(TIM3, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel3 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = RED_Val;
TIM_OC3Init(TIM3, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
}
/**
* @brief configure the TIM4 for PWM mode
* @param None
* @retval None
*/
void TIM_Configuration(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
TIM_OCInitTypeDef TIM_OCInitStruct;
// Let PWM frequency equal 100Hz.
// Let period equal 1000. Therefore, timer runs from zero to 1000. Gives 0.1Hz resolution.
// Solving for prescaler gives 240.
TIM_TimeBaseStructInit( &TIM_TimeBaseInitStruct );
TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV4;
TIM_TimeBaseInitStruct.TIM_Period = 1000 - 1;
TIM_TimeBaseInitStruct.TIM_Prescaler = 72 - 1;
TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit( TIM3, &TIM_TimeBaseInitStruct );
TIM_OCStructInit( &TIM_OCInitStruct );
TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1;
// Initial duty cycle equals 0%. Value can range from zero to 65535.
//TIM_Pulse = TIM4_CCR1 register (16 bits)
TIM_OCInitStruct.TIM_Pulse = 100 - 1; //(0=Always Off, 65535=Always On)
TIM_OC1Init( TIM3, &TIM_OCInitStruct ); // Channel 1 LED
TIM_OC2Init( TIM3, &TIM_OCInitStruct ); // Channel 2 LED
TIM_OC3Init( TIM3, &TIM_OCInitStruct ); // Channel 3 LED
TIM_OC4Init( TIM3, &TIM_OCInitStruct ); // Channel 4 LED
TIM_Cmd( TIM3, ENABLE );
}
void TIMER2_CH2_PWM_Init(int prescaler,int autoreload){
//USER LED / PB3 / TIM2_CH2 / AF1
RCC_AHBPeriphClockCmd(RCC_AHBENR_GPIOBEN ,ENABLE);
GPIO_InitTypeDef myGPIO;
GPIO_StructInit(&myGPIO);
myGPIO.GPIO_Pin=GPIO_Pin_3;
myGPIO.GPIO_Mode=GPIO_Mode_AF;
myGPIO.GPIO_Speed=GPIO_Speed_10MHz;
GPIO_Init(GPIOB,&myGPIO);
GPIO_PinAFConfig(GPIOB,GPIO_PinSource3,GPIO_AF_1);
//select the output mode by writing the CCS bits in the CCMRx register
//Timer time base configuration
RCC_APB1PeriphClockCmd(RCC_APB1ENR_TIM2EN,ENABLE);
TIM_TimeBaseInitTypeDef myTimeBase;
TIM_TimeBaseStructInit(&myTimeBase);
myTimeBase.TIM_CounterMode=TIM_CounterMode_Up;
myTimeBase.TIM_Period=autoreload;
myTimeBase.TIM_Prescaler=prescaler;
myTimeBase.TIM_ClockDivision= TIM_CKD_DIV1;
TIM_TimeBaseInit(TIM2,&myTimeBase);
//Timer capture compare configuration
TIM_OCInitTypeDef myTimerOC;
TIM_OCStructInit(&myTimerOC);
myTimerOC.TIM_OCMode=TIM_OCMode_PWM1;
myTimerOC.TIM_OCPolarity=TIM_OCPolarity_High;
myTimerOC.TIM_OutputState=TIM_OutputState_Enable;
myTimerOC.TIM_Pulse=autoreload;//0 Duty cycle at start
TIM_OC2Init(TIM2,&myTimerOC);
TIM_CCxCmd(TIM2,TIM_Channel_2,TIM_CCx_Enable);//enable CCP2
//start Timer
TIM_Cmd(TIM2,ENABLE);//Counter enabled
}
static void _ws_Timer_Init(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = WS_PERIOD;
TIM_TimeBaseStructure.TIM_Prescaler = WS_PRESCALE;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(WS_OUTPUT_TIM, &TIM_TimeBaseStructure);
/* PWM1 Mode configuration */
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = WS_PERIOD+1;
WS_OUTPUT_TIM_OC_INIT_CMD(WS_OUTPUT_TIM, &TIM_OCInitStructure);
WS_OUTPUT_TIM_OC_PLOAD_CMD(WS_OUTPUT_TIM, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(WS_OUTPUT_TIM, ENABLE);
TIM_CCxCmd(WS_OUTPUT_TIM, WS_OUTPUT_TIM_CH, TIM_CCx_Enable);
/* WS_OUTPUT_TIM enable/disable counter */
TIM_Cmd(WS_OUTPUT_TIM, ENABLE);
}
void Buzzer_Configuration(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCStructInit(&TIM_OCInitStructure);
// Timer Base Init - Buzzer
TIM_DeInit(TIM4);
TIM_TimeBaseStructure.TIM_Prescaler = 72-1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = 2000;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
// PWM Init - Buzzer
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_Pulse = TIM_TimeBaseStructure. TIM_Period / 2;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OC4Init(TIM4, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Disable);
TIM_Cmd(TIM4, ENABLE);
TIM_CtrlPWMOutputs(TIM4, ENABLE);
}
static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value)
{
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_Pulse = value;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
switch (channel) {
case TIM_Channel_1:
TIM_OC1Init(tim, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(tim, TIM_OCPreload_Enable);
break;
case TIM_Channel_2:
TIM_OC2Init(tim, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(tim, TIM_OCPreload_Enable);
break;
case TIM_Channel_3:
TIM_OC3Init(tim, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(tim, TIM_OCPreload_Enable);
break;
case TIM_Channel_4:
TIM_OC4Init(tim, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(tim, TIM_OCPreload_Enable);
break;
}
}
static void configBeeperPWMTimer(const beeperDevConfig_t *config)
{
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = (1000000 / BEEPER_PWM_FREQUENCY) * 50 / 100; // 50% duty cycle
TIM_OCInitStructure.TIM_OCPolarity = config->isInverted ? TIM_OCPolarity_High : TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_OCIdleState = config->isInverted ? TIM_OCIdleState_Reset : TIM_OCIdleState_Set;
configTimeBase(BEEPER_PWM_TIMER, 1000000 / BEEPER_PWM_FREQUENCY, PWM_TIMER_MHZ);
TIM_Cmd(BEEPER_PWM_TIMER, ENABLE);
switch (BEEPER_PWM_TIMER_CH) {
case TIM_Channel_1:
TIM_OC1Init(BEEPER_PWM_TIMER, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(BEEPER_PWM_TIMER, TIM_OCPreload_Enable);
break;
case TIM_Channel_2:
TIM_OC2Init(BEEPER_PWM_TIMER, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(BEEPER_PWM_TIMER, TIM_OCPreload_Enable);
break;
case TIM_Channel_3:
TIM_OC3Init(BEEPER_PWM_TIMER, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(BEEPER_PWM_TIMER, TIM_OCPreload_Enable);
break;
case TIM_Channel_4:
TIM_OC4Init(BEEPER_PWM_TIMER, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(BEEPER_PWM_TIMER, TIM_OCPreload_Enable);
break;
}
TIM_CtrlPWMOutputs(BEEPER_PWM_TIMER, DISABLE);
}
/**
* @brief Configures the Timer.
* @param None
* @retval None
*/
void TIMER_Configuration(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; // Timer base configuration
TIM_OCInitTypeDef TIM_OCInitStructure; // Timer for PWM mode
// Time Base configuration
TIM_TimeBaseStructInit( &TIM_TimeBaseStructure );
TIM_TimeBaseStructure.TIM_Period = 720; // 72MHz / 720 = 100kHz
TIM_TimeBaseStructure.TIM_Prescaler = 0x0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0x0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Down;
TIM_TimeBaseInit( TIM1, &TIM_TimeBaseStructure );
// TIM1 channel1 configuration in PWM mode
TIM_OCStructInit( &TIM_OCInitStructure );
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init( TIM1, &TIM_OCInitStructure );
TIM_ITConfig(TIM1, TIM_IT_Update, ENABLE);
TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
// TIM1 counter enable
TIM_Cmd( TIM1, ENABLE );
// TIM1 main Output Enable
TIM_CtrlPWMOutputs( TIM1, ENABLE );
}
void pwmServoInit(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
GPIO_StructInit(&GPIO_InitStructure);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_OCStructInit(&TIM_OCInitStructure);
// Outputs
// SERVO PWM0 TIM5 CH1 PA0
// SERVO PWM1 TIM5 CH2 PA1
// SERVO PWM2 TIM5 CH3 PA2
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_1 | GPIO_Pin_0;
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_NOPULL;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource2, GPIO_AF_TIM5);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource1, GPIO_AF_TIM5);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource0, GPIO_AF_TIM5);
// Output timers
TIM_TimeBaseStructure.TIM_Period = (uint16_t)(2000000 / eepromConfig.servoPwmRate) - 1;
TIM_TimeBaseStructure.TIM_Prescaler = 42 - 1;
//TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
//TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
//TIM_TimeBaseStructure.TIM_RepititionCounter = 0x0000;
TIM_TimeBaseInit(TIM5, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
//TIM_OCInitStructure.TIMOutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_Pulse = SERVO_PULSE_1p5MS;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
//TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
//TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
TIM_OC1Init(TIM5, &TIM_OCInitStructure);
TIM_OC2Init(TIM5, &TIM_OCInitStructure);
TIM_Cmd(TIM5, ENABLE);
TIM_CtrlPWMOutputs(TIM5, ENABLE);
}
/***********************************************
函数名：MotorInit(void)
功能：输出PWM的定时器2初始化
输入参数：无
输出:无
描述：调用该函数，即初始化定时器2为PWM输出模式
备注：
***********************************************/
void MotorInit(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
uint16_t PrescalerValue = 0; //控制电机PWM频率
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); //打开外设A的时钟和复用时钟
RCC_APB1PeriphClockCmd(RCC_APB2Periph_TIM1 ,ENABLE); //打开定时器1时钟
//RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); //打开外设A的时钟和复用时钟
//RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4 ,ENABLE); //打开定时器4时钟
// 设置GPIO功能。
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// 复位定时器。
TIM_DeInit(TIM1);
// 配置计时器。
PrescalerValue = (uint16_t) (SystemCoreClock / 24000000) - 1;
TIM_TimeBaseStructure.TIM_Period = 999; //计数上线
TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue; //pwm时钟分频
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数
TIM_TimeBaseInit(TIM1,&TIM_TimeBaseStructure);
// 配置TIM1为PWM输出模式
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0; //0
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM1,&TIM_OCInitStructure);
//TIM_OC2Init(TIM2,&TIM_OCInitStructure);
//TIM_OC3Init(TIM2,&TIM_OCInitStructure);
//TIM_OC4Init(TIM2,&TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
//TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);
//TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable);
//TIM_OC4PreloadConfig(TIM2, TIM_OCPreload_Enable);
// 启动计时器。
TIM_Cmd(TIM1,ENABLE);
printf("TIM1 enable done...\r\n");
MotorInit_1();
}
void Timer_Configuration(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_DeInit(TIM2);
/* 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, 722, TIM_PSCReloadMode_Immediate);
/* Output Compare Timing Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Timing;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
/*
TIM_OCInitStructure.TIM_Pulse = CCR1_Val ;
TIM_OC1Init(TIM2, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Disable);
*/
/*
TIM_OCInitStructure.TIM_Pulse = CCR2_Val ;
TIM_OC2Init(TIM2, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Disable);
TIM_OCInitStructure.TIM_Pulse = CCR3_Val ;
TIM_OC3Init(TIM2, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Disable);
*/
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);
}
/**
* @brief Clock_Init
* Initialize local timer for clock visualization
*/
void Clock_Init(){
// Timer configuration
TIM_TimeBaseInitTypeDef timerConfig;
TIM_OCInitTypeDef TIM_OCInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
// now we need a timer to decide if we received a bit or not
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
TIM_DeInit(TIM4);
TIM_TimeBaseStructInit(&timerConfig);
/* Time base configuration */
timerConfig.TIM_Period = 0xFFFF;
timerConfig.TIM_Prescaler = PRESCALER-1;
timerConfig.TIM_ClockDivision = 0;
timerConfig.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM4, &timerConfig);
TIM_ITConfig(TIM4, TIM_IT_CC1, ENABLE);
TIM_ClearITPendingBit(TIM4, TIM_IT_CC1);
/* Compare interrupt */
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Active;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable;
//TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
//TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OC1Init(TIM4, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Disable);
// set compare value
lastCompareDuration = COUNTERVALUE40MS;
TIM4->CCR1 = COUNTERVALUE40MS;
// total time
totalDuration = COUNTERVALUE40MS * RATE_MIN;
newTotalDuration = totalDuration;
// Enable Interrupt
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
// reset interrupt
NVIC_ClearPendingIRQ(TIM4_IRQn);
NVIC_Init(&NVIC_InitStructure);
// now start the timer
TIM_Cmd(TIM4, ENABLE);
}
void brewbotOutput(int peripheral, int on)
{
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
TIM_OCInitTypeDef outputChannelInit = {0,};
TIM_OCStructInit( &outputChannelInit );
outputChannelInit.TIM_OCMode = TIM_OCMode_PWM1;
outputChannelInit.TIM_Pulse = 0;
outputChannelInit.TIM_OutputState = TIM_OutputState_Enable;
outputChannelInit.TIM_OCPolarity = TIM_OCPolarity_Low;
switch (peripheral)
{
case SSR:
outputChannelInit.TIM_Pulse = 0;
if (on)
outputChannelInit.TIM_Pulse = on * 20;
TIM_OC1Init(TIM5, &outputChannelInit);
break;
case STIRRER:
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
GPIO_Init( GPIOE, &GPIO_InitStructure );
GPIO_WriteBit( GPIOE, GPIO_Pin_2, on == 0 );
break;
case PUMP:
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
GPIO_Init( GPIOE, &GPIO_InitStructure );
GPIO_WriteBit( GPIOE, GPIO_Pin_4, on == 0 );
break;
case VALVE:
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_Init( GPIOE, &GPIO_InitStructure );
GPIO_WriteBit( GPIOE, GPIO_Pin_6, on != 0 );
break;
case HOPS1:
case HOPS2:
case HOPS3:
outputChannelInit.TIM_Pulse = on;
if (!on)
outputChannelInit.TIM_OutputState = TIM_OutputState_Disable;
if (peripheral == HOPS1)
TIM_OC3Init(TIM5, &outputChannelInit);
if (peripheral == HOPS2)
TIM_OC2Init(TIM5, &outputChannelInit);
if (peripheral == HOPS3)
TIM_OC4Init(TIM5, &outputChannelInit);
break;
}
}
// Use TIMER_TIM to create a us system clock
void timerInit(void) {
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
// Enable the TIMER_TIM global Interrupt
NVIC_InitStructure.NVIC_IRQChannel = TIMER_IRQ_CH;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIMER_EN;
// stop timer when core halted (debug)
DBGMCU_APB1PeriphConfig(TIMER_CORE_HALT, ENABLE);
/* Time base configuration for 1MHz (us)*/
TIM_TimeBaseStructure.TIM_Period = 0xFFFFFFFF;
TIM_TimeBaseStructure.TIM_Prescaler = (TIMER_CLOCK / 1000000) - 1;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIMER_TIM, &TIM_TimeBaseStructure);
// reset
TIM_SetCounter(TIMER_TIM, 0);
timerCancelAlarm1();
timerCancelAlarm2();
timerCancelAlarm3();
timerCancelAlarm4();
// Output Compare for alarms
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Inactive;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIMER_TIM, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIMER_TIM, TIM_OCPreload_Disable);
TIM_OC2Init(TIMER_TIM, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIMER_TIM, TIM_OCPreload_Disable);
TIM_OC3Init(TIMER_TIM, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIMER_TIM, TIM_OCPreload_Disable);
TIM_OC4Init(TIMER_TIM, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIMER_TIM, TIM_OCPreload_Disable);
// go...
TIM_Cmd(TIMER_TIM, ENABLE);
}
// TODO: modify PWM frequency for controlling servos
// Analog servo : 50 Hz
// Digital servo :
void TIM4_PWM_Configuration()
{
/* RCC Initialization */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
/* Timer 4 Initialization */
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
TIM_OCInitTypeDef TIM_OCInitStruct;
// Set PWM frequency equal 100 Hz.which is standard frequency of servo
// Let period equal 1000. Therefore, timer runs from zero to 1000. Gives 0.1Hz resolution.
// Solving for prescaler gives 240.
TIM_TimeBaseStructInit( &TIM_TimeBaseInitStruct );
TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV4;
TIM_TimeBaseInitStruct.TIM_Period = 3360 - 1;
TIM_TimeBaseInitStruct.TIM_Prescaler = 500 - 1;
TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit( TIM4, &TIM_TimeBaseInitStruct );
TIM_OCStructInit( &TIM_OCInitStruct );
TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1;
// Initial duty cycle equals 0%. Value can range from zero to 65535.
// TIM_Pulse = TIM4_CCR1 register (16 bits)
TIM_OCInitStruct.TIM_Pulse = 0;
TIM_OC1Init( TIM4, &TIM_OCInitStruct ); // Channel 1 LED
TIM_OC2Init( TIM4, &TIM_OCInitStruct ); // Channel 2 LED
TIM_OC3Init( TIM4, &TIM_OCInitStruct ); // Channel 3 LED
TIM_OC4Init( TIM4, &TIM_OCInitStruct ); // Channel 4 LED
TIM_Cmd( TIM4, ENABLE );
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure); // Reset init structure
GPIO_PinAFConfig(GPIOD, GPIO_PinSource12, GPIO_AF_TIM4);
GPIO_PinAFConfig(GPIOD, GPIO_PinSource13, GPIO_AF_TIM4);
GPIO_PinAFConfig(GPIOD, GPIO_PinSource14, GPIO_AF_TIM4);
GPIO_PinAFConfig(GPIOD, GPIO_PinSource15, GPIO_AF_TIM4);
// Setup Blue & Green LED on STM32-Discovery Board to use PWM.
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13| GPIO_Pin_14| GPIO_Pin_15;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; // Alt Function - Push Pull
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init( GPIOD, &GPIO_InitStructure );
}
NODEBUG2 void BUZZER_Init( void )
{
#if !AUDIO_AVAIL
GPIO_InitTypeDef GPIO_InitStructure;
/* Enable GPIOB clock */
RCC_PERIPH_GPIO_CLOCK_CMD( RCC_APB2Periph_GPIOB, ENABLE );
/* GPIOB Configuration: TIM3 3in Output */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init( GPIOB, &GPIO_InitStructure );
/* TIM3 Configuration ------------------------------------------------------*/
/* TIM3CLK = 18 MHz, Prescaler = 0x0, TIM3 counter clock = 18 MHz */
/* CC update rate = TIM3 counter clock / (2* CCR_Val) ~= 750 Hz */
/* Enable TIM3 clock */
RCC_APB1PeriphClockCmd( RCC_APB1Periph_TIM3, ENABLE );
TIM_DeInit( TIM3 );
TIM_TimeBaseStructInit( &TIM_TimeBaseStructure );
TIM_OCStructInit( &TIM_OCInitStructure );
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
TIM_TimeBaseStructure.TIM_Prescaler = 0x0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0x0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit( TIM3, &TIM_TimeBaseStructure );
/* Output Compare Toggle Mode configuration: Channel3 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Toggle;
/* in FWLib v1.0 : TIM_OCInitStructure.TIM_Channel = TIM_Channel_3;*/
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; /* now in in FWLib v2.0*/
TIM_OCInitStructure.TIM_Pulse = CCR_Val;
TIM_OC3Init( TIM3, &TIM_OCInitStructure ); /* changed against FWLib v2.0*/
TIM_OC3PreloadConfig( TIM3, TIM_OCPreload_Disable );
BUZZER_SetFrequency( 440 );
#endif
#if AUDIO_AVAIL
/* RQ : init done by Audio init*/
#endif
BUZZER_SetMode( BUZZER_OFF );
}
/********************************************************************
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void motor_init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
uint16_t PrescalerValue = 0; //¿ØÖƵç»úPWMƵÂÊ
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); //´ò¿ªÍâÉèAµÄʱÖӺ͸´ÓÃʱÖÓ
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 ,ENABLE); //´ò¿ª¶¨Ê±Æ÷2ʱÖÓ
// ÉèÖÃGPIO¹¦ÄÜ¡£
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// ¸´Î»¶¨Ê±Æ÷¡£
TIM_DeInit(TIM2);
// ÅäÖüÆʱÆ÷¡£
PrescalerValue = (uint16_t) (SystemCoreClock / 24000000) - 1;
TIM_TimeBaseStructure.TIM_Period = 999; //¼ÆÊýÉÏÏß
TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue; //pwmʱÖÓ·ÖƵ
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //ÏòÉϼÆÊý
TIM_TimeBaseInit(TIM2,&TIM_TimeBaseStructure);
// ÅäÖÃTIM2ΪPWMÊä³öģʽ
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0; //0
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM2,&TIM_OCInitStructure);
TIM_OC2Init(TIM2,&TIM_OCInitStructure);
TIM_OC3Init(TIM2,&TIM_OCInitStructure);
TIM_OC4Init(TIM2,&TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_OC4PreloadConfig(TIM2, TIM_OCPreload_Enable);
// Æô¶¯¼ÆʱÆ÷¡£
TIM_Cmd(TIM2,ENABLE);
//printf("-> motor enable...\r\n");
}
void pwmInit(void){
RCC_AHB1PeriphClockCmd( RCC_AHB1Periph_GPIOD, ENABLE ); //Enables the AHB1 peripheral clock.
RCC_APB1PeriphClockCmd( RCC_APB1Periph_TIM4, ENABLE ); //Enables the APB1 peripheral clock.
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
TIM_OCInitTypeDef TIM_OCInitStruct;
GPIO_StructInit(&GPIO_InitStructure); // Reset init structure
GPIO_PinAFConfig(GPIOD, GPIO_PinSource12, GPIO_AF_TIM4); //Change mapping of pins
GPIO_PinAFConfig(GPIOD, GPIO_PinSource13, GPIO_AF_TIM4);
GPIO_PinAFConfig(GPIOD, GPIO_PinSource14, GPIO_AF_TIM4);
GPIO_PinAFConfig(GPIOD, GPIO_PinSource15, GPIO_AF_TIM4);
// Setup All LED on STM32-Discovery Board to use PWM.
GPIO_InitStructure.GPIO_Pin = 0xf000;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; // Alt Function - Push Pull
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init( GPIOD, &GPIO_InitStructure );
// Let PWM frequency equal 100Hz.
// Let period equal 1000. Therefore, timer runs from zero to 1000. Gives 0.1Hz resolution.
// Solving for prescaler gives 240.
TIM_TimeBaseStructInit( &TIM_TimeBaseInitStruct );
TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV4;
TIM_TimeBaseInitStruct.TIM_Period = 1000 ; // 0..999
TIM_TimeBaseInitStruct.TIM_Prescaler = 240; // Div 240
TIM_TimeBaseInit( TIM4, &TIM_TimeBaseInitStruct );
TIM_OCStructInit( &TIM_OCInitStruct );
TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1;
// Initial duty cycle equals 0%. Value can range from zero to 1000.
TIM_OCInitStruct.TIM_Pulse = 500; // 0 .. 1000 (0=Always Off, 1000=Always On)
//Channel 1-4 for the 4 LEDs
TIM_OC1Init( TIM4, &TIM_OCInitStruct );
TIM_OC2Init( TIM4, &TIM_OCInitStruct );
TIM_OC3Init( TIM4, &TIM_OCInitStruct );
TIM_OC4Init( TIM4, &TIM_OCInitStruct );
TIM_Cmd( TIM4, ENABLE );
void BUZZER_Init( void )
{
GPIO_InitTypeDef GPIO_InitStructure;
/* Enable GPIOB clock */
RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOB, ENABLE );
/* GPIOB Configuration: TIM3 3in Output */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init( GPIOB, &GPIO_InitStructure );
/* TIM3 Configuration ------------------------------------------------------*/
/* TIM3CLK = 18 MHz, Prescaler = 0x0, TIM3 counter clock = 18 MHz */
/* CC update rate = TIM3 counter clock / (2* CCR_Val) ~= 750 Hz */
/* Enable TIM3 clock */
RCC_APB1PeriphClockCmd( RCC_APB1Periph_TIM3, ENABLE );
TIM_DeInit( TIM3 );
TIM_TimeBaseStructInit( &TIM_TimeBaseStructure );
TIM_OCStructInit( &TIM_OCInitStructure );
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
TIM_TimeBaseStructure.TIM_Prescaler = 0x0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0x0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit( TIM3, &TIM_TimeBaseStructure );
/* Output Compare Toggle Mode configuration: Channel3 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Toggle;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR_Val;
TIM_OC3Init( TIM3, &TIM_OCInitStructure );
TIM_OC3PreloadConfig( TIM3, TIM_OCPreload_Disable );
BUZZER_SetFrequency( 440 );
/* Enable TIM3 IT */
TIM_ITConfig( TIM3, TIM_IT_CC3, ENABLE );
Buzzer_Mode = BUZZER_OFF;
}
/*---------------------------------------------------------------------------*/
void
rtimer_arch_init(void)
{
/* to init, we use structures that are filled in and passed to the HAL */
TIM_TimeBaseInitTypeDef tim_init_s;
TIM_OCInitTypeDef tim_ocinit_s;
NVIC_InitTypeDef nvic_init_s;
/* Enable TIM2 peripheral clock */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
/* configure TIM2 */
tim_init_s.TIM_Prescaler = PRESCALER;
tim_init_s.TIM_CounterMode = TIM_CounterMode_Up;
tim_init_s.TIM_ClockDivision = 0;
tim_init_s.TIM_Period = 1;
/* tim_init_s.TIM_Period = RTIMER_SECOND/2;*/
TIM_TimeBaseInit(TIM2, &tim_init_s);
/* Configure the timer for output compare interrupt */
TIM_OCStructInit(&tim_ocinit_s);
tim_ocinit_s.TIM_OCMode = TIM_OCMode_Timing;
tim_ocinit_s.TIM_Pulse = 0;
/* tim_ocinit_s.TIM_OutputState = TIM_OutputState_Enable;*/
/* tim_ocinit_s.TIM_OCPolarity = TIM_OCPolarity_High;*/
TIM_OC1Init(TIM2, &tim_ocinit_s);
/* Immediate load of TIM2 Precaler value */
/* TIM_PrescalerConfig(TIM2, (F_CPU/RTIMER_SECOND), TIM_PSCReloadMode_Immediate);*/
/* TIM_PrescalerConfig(TIM2, ((SystemCoreClock/1200) - 1), TIM_PSCReloadMode_Immediate);*/
/* Clear TIM2 update pending flag */
TIM_ClearFlag(TIM2, TIM_FLAG_Update);
/* Enable TIM2 Update interrupt */
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
TIM_Cmd(TIM2, ENABLE);
/* Enable the TIM2 Interrupt in the NVIC */
nvic_init_s.NVIC_IRQChannel = TIM2_IRQn;
nvic_init_s.NVIC_IRQChannelPreemptionPriority = 0;
nvic_init_s.NVIC_IRQChannelSubPriority = 0;
nvic_init_s.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&nvic_init_s);
}
void TIM_Config(void)
{
// timer runs at 5MHz. timer frequency= sysclock/prescaler(the counting speed)
Prescaler= (uint16_t) (72000000 / 0xFFFF);
/* TIM2 configuration */
// generate 1Hz interrupts
TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
TIM_TimeBaseStructure.TIM_Prescaler = Prescaler;
TIM_TimeBaseStructure.TIM_ClockDivision = 0x0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0; /*update every time when counter overflows*/
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
TIM_OCStructInit(&TIM_OCInitStructure);
/* Output Compare Timing Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Timing;
TIM_OCInitStructure.TIM_Pulse = 0x0;
TIM_OC1Init(TIM2, &TIM_OCInitStructure);
TIM_PrescalerConfig(TIM2,Prescaler,TIM_PSCReloadMode_Immediate);
TIM_ClearFlag(TIM2, TIM_FLAG_Update);
/* Configure two bits for preemption priority */
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
/* Enable the TIM2 Interrupt */
//NVIC_SetVectorTable(NVIC_VectTab_FLASH,0x0);
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Enable TIM2 Update interrupts */
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
/* TIM2 enable counters */
TIM_Cmd(TIM2, ENABLE);
}
void PWM_Init(void)
{
uint16_t PrescalerValue = 0; /* Control the frequency rate of PWM */
GPIO_InitTypeDef GPIO_InitStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
/* Set GPIO function */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
TIM_DeInit(TIM2);
/* Configure timer */
PrescalerValue = (uint16_t) (SystemCoreClock / 24000000) - 1;
TIM_TimeBaseStructure.TIM_Period = 999; /* The upper limit of counter */
TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue; /* The timer fractional frequency of PWM */
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
/* Configure the model of the TIM2 is PWM */
TIM_OCStructInit(&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;
TIM_OC1Init(TIM2, &TIM_OCInitStructure);
TIM_OC2Init(TIM2, &TIM_OCInitStructure);
TIM_OC3Init(TIM2, &TIM_OCInitStructure);
TIM_OC4Init(TIM2, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_OC4PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_Cmd(TIM2, ENABLE);
}
static void init_timer2(void) {
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_TimeBaseStructure.TIM_Period = 65535 - 1;
TIM_TimeBaseStructure.TIM_Prescaler = (uint16_t) (SystemCoreClock / 1000000) - 1;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
TIM_Cmd(TIM2, ENABLE);
}
void pwmOCInit(const TIM_TypeDef *tim, uint16_t channel, uint32_t inititalValue) {
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_Pulse = inititalValue;
switch (channel) {
case TIM_Channel_1:
TIM_OC1Init((TIM_TypeDef *)tim, &TIM_OCInitStructure);
break;
case TIM_Channel_2:
TIM_OC2Init((TIM_TypeDef *)tim, &TIM_OCInitStructure);
break;
case TIM_Channel_3:
TIM_OC3Init((TIM_TypeDef *)tim, &TIM_OCInitStructure);
break;
case TIM_Channel_4:
TIM_OC4Init((TIM_TypeDef *)tim, &TIM_OCInitStructure);
break;
}
}
