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
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
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 */
}
}
/**
* @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);
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
GPIO_InitTypeDef GPIO_InitStruct;
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, 15, 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();
/**TIM3 GPIO Configuration
PB1 ------> TIM3_CH4
*/
GPIO_InitStruct.Pin = IR_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(IR_GPIO_Port, &GPIO_InitStruct);
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM3_IRQn, 15, 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, 15, 0);
HAL_NVIC_EnableIRQ(TIM4_IRQn);
/* USER CODE BEGIN TIM4_MspInit 1 */
/* USER CODE END TIM4_MspInit 1 */
}
}
void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(tim_encoderHandle->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspInit 0 */
/* USER CODE END TIM4_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM4_CLK_ENABLE();
/**TIM4 GPIO Configuration
PD12 ------> TIM4_CH1
PD13 ------> TIM4_CH2
*/
GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_13;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM4_IRQn, 2, 0);
HAL_NVIC_EnableIRQ(TIM4_IRQn);
/* USER CODE BEGIN TIM4_MspInit 1 */
/* USER CODE END TIM4_MspInit 1 */
}
else if(tim_encoderHandle->Instance==TIM8)
{
/* USER CODE BEGIN TIM8_MspInit 0 */
/* USER CODE END TIM8_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM8_CLK_ENABLE();
/**TIM8 GPIO Configuration
PC6 ------> TIM8_CH1
PC7 ------> TIM8_CH2
*/
GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM8_BRK_TIM12_IRQn, 2, 0);
HAL_NVIC_EnableIRQ(TIM8_BRK_TIM12_IRQn);
/* USER CODE BEGIN TIM8_MspInit 1 */
/* USER CODE END TIM8_MspInit 1 */
}
}
/**
* @brief TIM Input Capture 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_IC_MspInit(TIM_HandleTypeDef *htim)
{
/*## Enable peripherals and GPIO Clocks ####################################*/
/* TIMx Peripheral clock enable */
__HAL_RCC_TIM4_CLK_ENABLE();
/*## Configure the NVIC for TIMx ###########################################*/
HAL_NVIC_SetPriority(TIM4_IRQn,0,0);
/* Enable the TIM4 global Interrupt */
HAL_NVIC_EnableIRQ(TIM4_IRQn);
}
void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(tim_encoderHandle->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspInit 0 */
/* USER CODE END TIM3_MspInit 0 */
/* TIM3 clock enable */
__HAL_RCC_TIM3_CLK_ENABLE();
/**TIM3 GPIO Configuration
PB4 ------> TIM3_CH1
PB5 ------> TIM3_CH2
*/
GPIO_InitStruct.Pin = M0_ENC_A_Pin|M0_ENC_B_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
}
else if(tim_encoderHandle->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspInit 0 */
/* USER CODE END TIM4_MspInit 0 */
/* TIM4 clock enable */
__HAL_RCC_TIM4_CLK_ENABLE();
/**TIM4 GPIO Configuration
PB6 ------> TIM4_CH1
PB7 ------> TIM4_CH2
*/
GPIO_InitStruct.Pin = M1_ENC_A_Pin|M1_ENC_B_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN TIM4_MspInit 1 */
/* USER CODE END TIM4_MspInit 1 */
}
}
/**
* @brief TIM_Base MSP Initialization
* This function configures the hardware resources used in this example
* @param htim_base: TIM_Base handle pointer
* @retval None
*/
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
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 */
}
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();
/* USER CODE BEGIN TIM5_MspInit 1 */
/* USER CODE END TIM5_MspInit 1 */
}
}
// Configures TIM4 Peripheral for LEDs lighting.
static void TIM_LED_Config(void) {
__HAL_RCC_TIM4_CLK_ENABLE();
HAL_NVIC_SetPriority(TIM4_IRQn, 7, 0);
HAL_NVIC_EnableIRQ(TIM4_IRQn);
/* -----------------------------------------------------------------------
TIM4 Configuration: Output Compare Timing Mode:
To get TIM4 counter clock at 250 KHz, the prescaler is computed as follows:
Prescaler = (TIM4CLK / TIM4 counter clock) - 1
Prescaler = ((f(APB1) * 2) / 250 KHz) - 1
CC update rate = TIM4 counter clock / CCR_Val = 32.687 Hz
==> Toggling frequency = 16.343 Hz
----------------------------------------------------------------------- */
/* Compute the prescaler value */
uint16_t prescalervalue = (uint16_t) ((HAL_RCC_GetPCLK1Freq() * 2) / 250000)
- 1;
/* Time base configuration */
ledTimer.Instance = TIM4;
ledTimer.Init.Period = 65535;
ledTimer.Init.Prescaler = prescalervalue;
ledTimer.Init.ClockDivision = 0;
ledTimer.Init.CounterMode = TIM_COUNTERMODE_UP;
if (HAL_TIM_OC_Init(&ledTimer) != HAL_OK) {
Error_Handler();
}
/* Output Compare Timing Mode configuration: Channel1 */
ledConfig.OCMode = TIM_OCMODE_TIMING;
ledConfig.OCIdleState = TIM_OCIDLESTATE_SET;
ledConfig.Pulse = CCR1Val;
ledConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
ledConfig.OCNPolarity = TIM_OCNPOLARITY_HIGH;
ledConfig.OCFastMode = TIM_OCFAST_ENABLE;
ledConfig.OCNIdleState = TIM_OCNIDLESTATE_SET;
/* Initialize the TIM4 Channel1 with the structure above */
if (HAL_TIM_OC_ConfigChannel(&ledTimer, &ledConfig, TIM_CHANNEL_1)
!= HAL_OK) {
Error_Handler();
}
/* Start the Output Compare */
if (HAL_TIM_OC_Start_IT(&ledTimer, TIM_CHANNEL_1) != HAL_OK) {
Error_Handler();
}
}
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* htim_pwm)
{
if(htim_pwm->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 */
}
}
/*
* This function initializes pin and enables clocks for output PWM pins. These pins
* are the input pins for motors MTy1, MTy2, MTx1, MTx2
*/
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef *htim)
{
GPIO_InitTypeDef GPIO_InitStruct;
/*Left & Right Motors input pins in TIM4*/
__HAL_RCC_TIM4_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7|GPIO_PIN_8|GPIO_PIN_9; //Motor Left -> PB6 & PB7, Motor Right -> PB8 & PB9
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}
/**
* @brief 初始化电机PWM.
* @param None
* @retval None
*/
void Motor_Pwm_Init(void){
//PWM引脚
GPIO_InitTypeDef GPIO_InitStruct;
__HAL_RCC_TIM4_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
//TIM4
TimHandleT4.Instance = TIM4;
TimHandleT4.Init.Period = 1000 - 1;;
TimHandleT4.Init.Prescaler = 10-1;
TimHandleT4.Init.ClockDivision = 0;
TimHandleT4.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_PWM_Init(&TimHandleT4);
pwmConfig.OCMode=TIM_OCMODE_PWM1;
pwmConfig.Pulse=700;
HAL_TIM_PWM_ConfigChannel(&TimHandleT4, &pwmConfig, TIM_CHANNEL_3);
HAL_TIM_PWM_ConfigChannel(&TimHandleT4, &pwmConfig, TIM_CHANNEL_4);
HAL_TIM_PWM_Start(&TimHandleT4, TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&TimHandleT4, TIM_CHANNEL_4);
//电机控制引脚
/*
__HAL_RCC_GPIOB_CLK_ENABLE();
GPIO_InitTypeDef GPIO_InitStruct;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
GPIO_InitStruct.Pin =GPIO_PIN_13|GPIO_PIN_14;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pin =GPIO_PIN_2|GPIO_PIN_12;
HAL_GPIO_Init(GPIOB, &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
}
/**
* @brief Initializes the TIM PWM MSP.
* @param htim: TIM handle
* @retval None
*/
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef *htim)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* --------------------------- System Clocks Configuration -----------------*/
/* TIM4 clock enable */
__HAL_RCC_TIM4_CLK_ENABLE();
/* GPIOD clock enable */
__HAL_RCC_GPIOD_CLK_ENABLE();
/*-------------------------- GPIO Configuration ----------------------------*/
/* GPIOD Configuration: Pins 12, 13, 14 and 15 in output push-pull */
GPIO_InitStructure.Pin = GPIO_PIN_12 | GPIO_PIN_13 | GPIO_PIN_14 | GPIO_PIN_15;
GPIO_InitStructure.Mode = GPIO_MODE_AF_PP;
GPIO_InitStructure.Pull = GPIO_NOPULL;
GPIO_InitStructure.Speed = GPIO_SPEED_HIGH;
GPIO_InitStructure.Alternate = GPIO_AF2_TIM4;
HAL_GPIO_Init(GPIOD, &GPIO_InitStructure);
}
/**
* @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);
}
static void TIM_Config(void)
{
TimHandle.Instance = TIM4;
__HAL_RCC_TIM4_CLK_ENABLE();
/* Initialize TIM4 peripheral as follow:
* Period = 10000 - 1
* Prescaler = ((SystemCoreClock/2)/10000) - 1
* ClockDivision = 0
* Counter direction = Up
*/
TimHandle.Init.Period = (CDC_POLLING_INTERVAL*1000) - 1;
TimHandle.Init.Prescaler = 84-1;
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
if (HAL_TIM_Base_Init(&TimHandle) != HAL_OK) {
Error_Handler();
}
HAL_NVIC_SetPriority(TIM4_IRQn, 6, 0);
HAL_NVIC_EnableIRQ(TIM4_IRQn);
}
/**
* @brief Configures TIM4 Peripheral for LEDs lighting.
* @param None
* @retval None
*/
static void TIM_LED_Config(void)
{
uint16_t prescalervalue = 0;
uint32_t tmpvalue = 0;
/* TIM4 clock enable */
__HAL_RCC_TIM4_CLK_ENABLE();
/* Enable the TIM4 global Interrupt */
HAL_NVIC_SetPriority(TIM4_IRQn, 7, 0);
HAL_NVIC_EnableIRQ(TIM4_IRQn);
/* -----------------------------------------------------------------------
TIM4 Configuration: Output Compare Timing Mode:
To get TIM4 counter clock at 550 KHz, the prescaler is computed as follows:
Prescaler = (TIM4CLK / TIM4 counter clock) - 1
Prescaler = ((f(APB1) * 2) /550 KHz) - 1
CC update rate = TIM4 counter clock / CCR_Val = 32.687 Hz
==> Toggling frequency = 16.343 Hz
----------------------------------------------------------------------- */
/* Compute the prescaler value */
tmpvalue = HAL_RCC_GetPCLK1Freq();
prescalervalue = (uint16_t) ((tmpvalue * 2) / 550000) - 1;
/* Time base configuration */
hTimLed.Instance = TIM4;
hTimLed.Init.Period = 65535;
hTimLed.Init.Prescaler = prescalervalue;
hTimLed.Init.ClockDivision = 0;
hTimLed.Init.CounterMode = TIM_COUNTERMODE_UP;
if(HAL_TIM_OC_Init(&hTimLed) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Output Compare Timing Mode configuration: Channel1 */
sConfigLed.OCMode = TIM_OCMODE_TIMING;
sConfigLed.OCIdleState = TIM_OCIDLESTATE_SET;
sConfigLed.Pulse = CCR1Val;
sConfigLed.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigLed.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sConfigLed.OCFastMode = TIM_OCFAST_ENABLE;
sConfigLed.OCNIdleState = TIM_OCNIDLESTATE_SET;
/* Initialize the TIM4 Channel1 with the structure above */
if(HAL_TIM_OC_ConfigChannel(&hTimLed, &sConfigLed, TIM_CHANNEL_1) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Start the Output Compare */
if(HAL_TIM_OC_Start_IT(&hTimLed, TIM_CHANNEL_1) != HAL_OK)
{
/* Start Error */
Error_Handler();
}
}
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 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 */
}
}
/** \brief 温度控制硬件初始化
*
* \return void
*/
void hw_TemperatureManageInit(void)
{
///ADC配置，ADC1,in10,in11,in12,in13
GPIO_InitTypeDef GPIO_InitStruct;
TIM_OC_InitTypeDef TIM_InitStruct;
ADC_ChannelConfTypeDef sConfig;
ADC_HandleStruct.Instance = ADC1;
if (HAL_ADC_DeInit(&ADC_HandleStruct) != HAL_OK)
{
return;
}
ADC_HandleStruct.Init.ScanConvMode = ADC_SCAN_ENABLE;
ADC_HandleStruct.Init.ContinuousConvMode = ENABLE;
ADC_HandleStruct.Init.DiscontinuousConvMode = DISABLE;
ADC_HandleStruct.Init.DataAlign = ADC_DATAALIGN_RIGHT;
ADC_HandleStruct.Init.ExternalTrigConv = ADC_SOFTWARE_START;
ADC_HandleStruct.Init.NbrOfConversion = HEATER_COUNT;
init_BeforeADC();
HAL_ADC_Init(&ADC_HandleStruct);
sConfig.Channel = ADC_CHANNEL_10; ///Channel_Extruder_0
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_71CYCLES_5;
HAL_ADC_ConfigChannel(&ADC_HandleStruct, &sConfig);
#ifdef HEATBED_ENABLED
sConfig.Channel = ADC_CHANNEL_11; ///Channel_bed
sConfig.Rank = 2;
sConfig.SamplingTime = ADC_SAMPLETIME_71CYCLES_5;
HAL_ADC_ConfigChannel(&ADC_HandleStruct, &sConfig);
#endif
#ifdef EXTRUDER_2_ENABLED
sConfig.Channel = ADC_CHANNEL_12; ///Channel_Extruder_1
sConfig.Rank = 3;
sConfig.SamplingTime = ADC_SAMPLETIME_71CYCLES_5;
HAL_ADC_ConfigChannel(&ADC_HandleStruct, &sConfig);
#endif
#ifdef EXTRUDER_3_ENABLED
sConfig.Channel = ADC_CHANNEL_13; ///Channel_Extruder_2
sConfig.Rank = 4;
sConfig.SamplingTime = ADC_SAMPLETIME_71CYCLES_5;
HAL_ADC_ConfigChannel(&ADC_HandleStruct, &sConfig);
#endif
HAL_ADCEx_Calibration_Start(&ADC_HandleStruct);
///ADC时钟配置 采样周期100ms
__HAL_RCC_TIM6_CLK_ENABLE();
TIM_ADC_HandleStruct.Instance = TIM6;
TIM_ADC_HandleStruct.Init.Period = 1000 - 1;
TIM_ADC_HandleStruct.Init.Prescaler = (uint32_t) (SystemCoreClock/2/10000) - 1;
TIM_ADC_HandleStruct.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
TIM_ADC_HandleStruct.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_Base_Init(&TIM_ADC_HandleStruct);
__HAL_TIM_SET_COUNTER(&TIM_ADC_HandleStruct, 0);
HAL_NVIC_SetPriority(TIM6_IRQn, 4, 0);
HAL_NVIC_EnableIRQ(TIM6_IRQn);
///加热PWM配置 PB6,7,8,9
__HAL_RCC_GPIOB_CLK_ENABLE();
GPIO_InitStruct.Pin = GPIO_PIN_6;
#ifdef HEATBED_ENABLED
GPIO_InitStruct.Pin |= GPIO_PIN_7;
#endif
#ifdef EXTRUDER_2_ENABLED
GPIO_InitStruct.Pin |= GPIO_PIN_8;
#endif
#ifdef EXTRUDER_3_ENABLED
GPIO_InitStruct.Pin |= GPIO_PIN_9;
#endif
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL; ///内部不做上下拉电阻
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
///PWM时钟配置
__HAL_RCC_TIM4_CLK_ENABLE();
TIM_PWM_HandleStruct.Instance = TIM4;
TIM_PWM_HandleStruct.Init.Prescaler = (uint32_t) (SystemCoreClock/2/250000) - 1;
TIM_PWM_HandleStruct.Init.Period = 254; ///总共255
TIM_PWM_HandleStruct.Init.ClockDivision = 0;
TIM_PWM_HandleStruct.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_PWM_Init(&TIM_PWM_HandleStruct);
TIM_InitStruct.OCMode = TIM_OCMODE_PWM1;
TIM_InitStruct.OCPolarity = TIM_OCPOLARITY_HIGH;
TIM_InitStruct.OCFastMode = TIM_OCFAST_DISABLE;
TIM_InitStruct.Pulse = 0;
HAL_TIM_PWM_ConfigChannel(&TIM_PWM_HandleStruct, &TIM_InitStruct, TIM_CHANNEL_1);
#ifdef HEATBED_ENABLED
HAL_TIM_PWM_ConfigChannel(&TIM_PWM_HandleStruct, &TIM_InitStruct, TIM_CHANNEL_2);
#endif
#ifdef EXTRUDER_2_ENABLED
HAL_TIM_PWM_ConfigChannel(&TIM_PWM_HandleStruct, &TIM_InitStruct, TIM_CHANNEL_3);
#endif
#ifdef EXTRUDER_3_ENABLED
HAL_TIM_PWM_ConfigChannel(&TIM_PWM_HandleStruct, &TIM_InitStruct, TIM_CHANNEL_4);
#endif
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(tim_baseHandle->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM2_CLK_ENABLE();
/**TIM2 GPIO Configuration
PA0-WKUP ------> TIM2_CH1
*/
GPIO_InitStruct.Pin = ECHO_SENS__0_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
HAL_GPIO_Init(ECHO_SENS__0_GPIO_Port, &GPIO_InitStruct);
/* 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(tim_baseHandle->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspInit 0 */
/* USER CODE END TIM3_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM3_CLK_ENABLE();
/**TIM3 GPIO Configuration
PA6 ------> TIM3_CH1
*/
GPIO_InitStruct.Pin = ECHO_SENS__1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
HAL_GPIO_Init(ECHO_SENS__1_GPIO_Port, &GPIO_InitStruct);
/* 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(tim_baseHandle->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspInit 0 */
/* USER CODE END TIM4_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM4_CLK_ENABLE();
/**TIM4 GPIO Configuration
PB6 ------> TIM4_CH1
*/
GPIO_InitStruct.Pin = ECHO_SENS__2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
HAL_GPIO_Init(ECHO_SENS__2_GPIO_Port, &GPIO_InitStruct);
/* 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(tim_baseHandle->Instance==TIM5)
{
/* USER CODE BEGIN TIM5_MspInit 0 */
/* USER CODE END TIM5_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM5_CLK_ENABLE();
/**TIM5 GPIO Configuration
PA1 ------> TIM5_CH2
*/
GPIO_InitStruct.Pin = ECHO_SENS__3_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
HAL_GPIO_Init(ECHO_SENS__3_GPIO_Port, &GPIO_InitStruct);
/* 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(tim_baseHandle->Instance==TIM10)
{
/* USER CODE BEGIN TIM10_MspInit 0 */
/* USER CODE END TIM10_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM10_CLK_ENABLE();
/* USER CODE BEGIN TIM10_MspInit 1 */
/* USER CODE END TIM10_MspInit 1 */
}
else if(tim_baseHandle->Instance==TIM11)
{
/* USER CODE BEGIN TIM11_MspInit 0 */
/* USER CODE END TIM11_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM11_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(TIM1_TRG_COM_TIM11_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM1_TRG_COM_TIM11_IRQn);
/* USER CODE BEGIN TIM11_MspInit 1 */
/* USER CODE END TIM11_MspInit 1 */
}
}
