void STM32FrequencyChannel::ISR ()
{
pinState = !pinState;
auto capture = __HAL_TIM_GET_COMPARE (timer.handle, channel);
if (!pinState)
{
if (CycleCompleted != nullptr)
{
EventArgs args;
CycleCompleted (this, args);
}
if (stopRequested)
{
Enable (false);
stopRequested = false;
}
}
__HAL_TIM_SET_COMPARE (timer.handle, channel, capture + reloadValue);
}
int main(void) {
HAL_Init();
Nucleo_BSP_Init();
MX_TIM1_Init();
MX_TIM3_Init();
HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);
HAL_TIM_OC_Start(&htim1, TIM_CHANNEL_1);
HAL_TIM_OC_Start(&htim1, TIM_CHANNEL_2);
cnt1 = __HAL_TIM_GET_COUNTER(&htim3);
tick = HAL_GetTick();
while (1) {
if (HAL_GetTick() - tick > 1000L) {
cnt2 = __HAL_TIM_GET_COUNTER(&htim3);
if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&htim3)) {
if (cnt2 < cnt1) /* Check for counter underflow */
diff = cnt1 - cnt2;
else
diff = (65535 - cnt2) + cnt1;
} else {
if (cnt2 > cnt1) /* Check for counter overflow */
diff = cnt2 - cnt1;
else
diff = (65535 - cnt1) + cnt2;
}
sprintf(msg, "Difference: %d\r\n", diff);
HAL_UART_Transmit(&huart2, (uint8_t*) msg, strlen(msg), HAL_MAX_DELAY);
speed = ((diff / PULSES_PER_REVOLUTION) / 60);
/* If the first three bits of SMCR register are set to 0x3
* then the timer is set in X4 mode (TIM_ENCODERMODE_TI12)
* and we need to divide the pulses counter by two, because
* they include the pulses for both the channels */
if ((TIM3->SMCR & 0x3) == 0x3)
speed /= 2;
sprintf(msg, "Speed: %d RPM\r\n", speed);
HAL_UART_Transmit(&huart2, (uint8_t*) msg, strlen(msg), HAL_MAX_DELAY);
dir = __HAL_TIM_IS_TIM_COUNTING_DOWN(&htim3);
sprintf(msg, "Direction: %d\r\n", dir);
HAL_UART_Transmit(&huart2, (uint8_t*) msg, strlen(msg), HAL_MAX_DELAY);
tick = HAL_GetTick();
cnt1 = __HAL_TIM_GET_COUNTER(&htim3);
}
if (HAL_GPIO_ReadPin(GPIOC, GPIO_PIN_13) == GPIO_PIN_RESET) {
/* Invert rotation by swapping CH1 and CH2 CCR value */
tim1_ch1_pulse = __HAL_TIM_GET_COMPARE(&htim1, TIM_CHANNEL_1);
tim1_ch2_pulse = __HAL_TIM_GET_COMPARE(&htim1, TIM_CHANNEL_2);
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, tim1_ch2_pulse);
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2, tim1_ch1_pulse);
}
}
}
// 输出比较 回调函数
void HAL_TIM_OC_DelayElapsedCallback(TIM_HandleTypeDef *htim)
{
uint16_t delay_new = 0;
// TIM4
if (htim->Instance == TIM4) {
// 1
// 排烟风机 通道
if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1) {
// 排烟风机 delay_on， 打开输出
// 输出：On
HAL_GPIO_WritePin(PORT_SCR, SCR0_smoke, GPIO_PIN_RESET);
HAL_TIM_OC_Stop_IT( &htim4, TIM_CHANNEL_1);
// 启动波峰
if (is_lower_blow) {
is_lower_blow = false;
delay_new = __HAL_TIM_GET_COMPARE(&htim4, TIM_CHANNEL_1);
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_1, delay_new + 10000 - 1);
HAL_TIM_OC_Start_IT( &htim4, TIM_CHANNEL_1);
}
//设置停止时间
delay_new = __HAL_TIM_GET_COMPARE(&htim1, TIM_CHANNEL_1);
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, delay_new + uS_DELAY_OFF);
// 启动定时器
HAL_TIM_OC_Start_IT( &htim1, TIM_CHANNEL_1);
}
// 2
// 循环风机通道
if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_2) {
// 循环风机 delay_on， 打开输出
// 输出：On
HAL_GPIO_WritePin(PORT_SCR, SCR1_exchange, GPIO_PIN_RESET);
HAL_TIM_OC_Stop_IT( &htim4, TIM_CHANNEL_2);
// 启动波峰
if (is_lower_exchange) {
is_lower_exchange = false;
delay_new = __HAL_TIM_GET_COMPARE(&htim4, TIM_CHANNEL_2);
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_2, delay_new + 10000 - 1);
HAL_TIM_OC_Start_IT( &htim4, TIM_CHANNEL_2);
}
//设置停止时间
uint16_t delay_new = __HAL_TIM_GET_COMPARE(&htim1, TIM_CHANNEL_2);
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2, delay_new + uS_DELAY_OFF);
// 启动定时器
HAL_TIM_OC_Start_IT( &htim1, TIM_CHANNEL_2);
}
// 3
// 送料电机 通道
if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_3) {
HAL_GPIO_WritePin(PORT_SCR, SCR2_feed, GPIO_PIN_RESET);
HAL_TIM_OC_Stop_IT( &htim4, TIM_CHANNEL_3);
// 启动波峰
if (is_lower_feed) {
is_lower_feed = false;
uint16_t delay_new = __HAL_TIM_GET_COMPARE(&htim4, TIM_CHANNEL_3);
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, delay_new + 10000 - 1);
HAL_TIM_OC_Start_IT( &htim4, TIM_CHANNEL_3);
}
//设置停止时间
uint16_t delay_new = __HAL_TIM_GET_COMPARE(&htim1, TIM_CHANNEL_3);
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_3, delay_new + uS_DELAY_OFF);
}
}
// TIM1
// 延时1ms关闭触发
if (htim->Instance == TIM1) {
// 1
if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1) {
HAL_GPIO_WritePin(PORT_SCR, SCR0_smoke, GPIO_PIN_SET);
HAL_TIM_OC_Stop_IT( &htim1, TIM_CHANNEL_1);
}
// 2
if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_2) {
// 输出 循环：Off
HAL_GPIO_WritePin(PORT_SCR, SCR1_exchange, GPIO_PIN_SET);
HAL_TIM_OC_Stop_IT( &htim1, TIM_CHANNEL_2);
}
// 3
if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_3) {
// 输出 送料： Off
HAL_GPIO_WritePin(PORT_SCR, SCR2_feed, GPIO_PIN_SET);
HAL_TIM_OC_Stop_IT( &htim1, TIM_CHANNEL_3);
}
} // TIM1
//
}