void HAL_TIM_IC_MspInit(TIM_HandleTypeDef* htim_ic)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(htim_ic->Instance==TIM5)
{
/* USER CODE BEGIN TIM5_MspInit 0 */
/* USER CODE END TIM5_MspInit 0 */
/* Peripheral clock enable */
__TIM5_CLK_ENABLE();
/**TIM5 GPIO Configuration
PA0-WKUP ------> TIM5_CH1
*/
GPIO_InitStruct.Pin = GPIO_PIN_0;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
HAL_GPIO_Init(GPIOA, &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 */
}
}
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);
if (obj->pwm == (PWMName)NC) {
error("PWM error: pinout mapping failed.");
}
// Enable TIM clock
if (obj->pwm == PWM_2) __TIM2_CLK_ENABLE();
if (obj->pwm == PWM_3) __TIM3_CLK_ENABLE();
if (obj->pwm == PWM_4) __TIM4_CLK_ENABLE();
if (obj->pwm == PWM_5) __TIM5_CLK_ENABLE();
if (obj->pwm == PWM_9) __TIM9_CLK_ENABLE();
if (obj->pwm == PWM_10) __TIM10_CLK_ENABLE();
if (obj->pwm == PWM_11) __TIM11_CLK_ENABLE();
// Configure GPIO
pinmap_pinout(pin, PinMap_PWM);
obj->pin = pin;
obj->period = 0;
obj->pulse = 0;
pwmout_period_us(obj, 20000); // 20 ms per default
}
void TickTock_Init(void)
{
__TIM5_CLK_ENABLE();
TIM_Handle.Instance = TIM5;
TIM_Handle.Init.Period = 0xFFFFFFFF;
TIM_Handle.Init.Prescaler = 83;
TIM_Handle.Init.ClockDivision = 0;
TIM_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_Base_Init(&TIM_Handle);
HAL_TIM_Base_Start(&TIM_Handle);
}
/**
* @brief TIM MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* @param htim: TIM handle pointer
* @retval None
*/
void HAL_TIM_IC_MspInit(TIM_HandleTypeDef *htim)
{
/* TIM5 Peripheral clock enable */
__TIM5_CLK_ENABLE();
/* Configure the NVIC for TIM5 */
HAL_NVIC_SetPriority(TIM5_IRQn, 0, 0);
/* Enable the TIM5 global Interrupt */
HAL_NVIC_EnableIRQ(TIM5_IRQn);
}
// TIM5 is set-up for the servo controller
// This function inits but does not start the timer
void timer_tim5_init(void) {
// TIM5 clock enable
__TIM5_CLK_ENABLE();
// set up and enable interrupt
HAL_NVIC_SetPriority(TIM5_IRQn, 6, 0);
HAL_NVIC_EnableIRQ(TIM5_IRQn);
// PWM clock configuration
TIM5_Handle.Instance = TIM5;
TIM5_Handle.Init.Period = 2000; // timer cycles at 50Hz
TIM5_Handle.Init.Prescaler = ((SystemCoreClock / 2) / 100000) - 1; // timer runs at 100kHz
TIM5_Handle.Init.ClockDivision = 0;
TIM5_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_PWM_Init(&TIM5_Handle);
}
void TIMER5_Init_(void)
{
/* TIMx Peripheral clock enable */
__TIM5_CLK_ENABLE();
/* Set TIMx instance */
timer_hd.Instance = TIMER_STOPWATCH;
/* Initialize TIMx peripheral */
timer_hd.Init.Period = ~0;
timer_hd.Init.Prescaler = 0;
timer_hd.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
timer_hd.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_ASSERT(HAL_OK == HAL_TIM_Base_Init(&timer_hd));
/*##-2- Configure the NVIC for TIMx ########################################*/
/* Set Interrupt Group Priority */
HAL_NVIC_SetPriority(TIMER_STOPWATCH_IRQ, HAL_IRQ_PRIO_TIMER_STOPWATCH, 0);
/* Enable the TIMx global Interrupt */
HAL_NVIC_EnableIRQ(TIMER_STOPWATCH_IRQ);
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base) {
GPIO_InitTypeDef GPIO_InitStruct;
if(htim_base->Instance==TIM5) {
__TIM5_CLK_ENABLE();
/**TIM5 GPIO Configuration
PA0 ------> TIM1_CH1
*/
GPIO_InitStruct.Pin = GPIO_PIN_0;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}
if(htim_base->Instance==TIM1)
__TIM1_CLK_ENABLE();
}
void Timer_Init(void)
{
#ifndef _MS_VS
__TIM6_CLK_ENABLE(); // Для отсчёта миллисекунд
__TIM2_CLK_ENABLE(); // Для тиков
__TIM5_CLK_ENABLE();
#endif
HAL_TIM_Base_Init((TIM_HandleTypeDef*)&handleTIM6);
HAL_TIM_Base_Start_IT((TIM_HandleTypeDef*)&handleTIM6);
TIM_HandleTypeDef handleTIM2 =
{
TIM2,
{
0,
TIM_COUNTERMODE_UP,
0xffffffff,
TIM_CLOCKDIVISION_DIV4
}
};
HAL_TIM_Base_Init((TIM_HandleTypeDef*)&handleTIM2);
HAL_TIM_Base_Start((TIM_HandleTypeDef*)&handleTIM2);
TIM_HandleTypeDef handleTIM5 =
{
TIM5,
{
8999, // WARN Так и не разобрался, как настроить таймер на 1мс. При 8999 период счета - 10мс.
TIM_COUNTERMODE_UP,
0xffffffff,
TIM_CLOCKDIVISION_DIV1
}
};
HAL_TIM_Base_Init((TIM_HandleTypeDef*)&handleTIM5);
HAL_TIM_Base_Start((TIM_HandleTypeDef*)&handleTIM5);
}
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 */
__TIM1_CLK_ENABLE();
/**TIM1 GPIO Configuration
PE9 ------> TIM1_CH1
PE11 ------> TIM1_CH2
PE13 ------> TIM1_CH3
*/
GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_13;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/* Peripheral interrupt init*/
HAL_NVIC_SetPriority(TIM1_CC_IRQn, 0, 9);
HAL_NVIC_EnableIRQ(TIM1_CC_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 */
__TIM2_CLK_ENABLE();
/* Peripheral interrupt init*/
HAL_NVIC_SetPriority(TIM2_IRQn, 0, 5);
HAL_NVIC_EnableIRQ(TIM2_IRQn);
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
else if(htim_base->Instance==TIM5)
{
/* USER CODE BEGIN TIM5_MspInit 0 */
/* USER CODE END TIM5_MspInit 0 */
/* Peripheral clock enable */
__TIM5_CLK_ENABLE();
/**TIM5 GPIO Configuration
PA1 ------> TIM5_CH2
*/
GPIO_InitStruct.Pin = GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* Peripheral interrupt init*/
HAL_NVIC_SetPriority(TIM5_IRQn, 0, 13);
HAL_NVIC_EnableIRQ(TIM5_IRQn);
/* USER CODE BEGIN TIM5_MspInit 1 */
/* USER CODE END TIM5_MspInit 1 */
}
else if(htim_base->Instance==TIM9)
{
/* USER CODE BEGIN TIM9_MspInit 0 */
/* USER CODE END TIM9_MspInit 0 */
/* Peripheral clock enable */
__TIM9_CLK_ENABLE();
/**TIM9 GPIO Configuration
PE5 ------> TIM9_CH1
PE6 ------> TIM9_CH2
*/
GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF3_TIM9;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/* USER CODE BEGIN TIM9_MspInit 1 */
/* USER CODE END TIM9_MspInit 1 */
}
else if(htim_base->Instance==TIM10)
{
/* USER CODE BEGIN TIM10_MspInit 0 */
/* USER CODE END TIM10_MspInit 0 */
/* Peripheral clock enable */
__TIM10_CLK_ENABLE();
/**TIM10 GPIO Configuration
PF6 ------> TIM10_CH1
*/
GPIO_InitStruct.Pin = GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF3_TIM10;
HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
/* USER CODE BEGIN TIM10_MspInit 1 */
/* USER CODE END TIM10_MspInit 1 */
}
else if(htim_base->Instance==TIM11)
{
/* USER CODE BEGIN TIM11_MspInit 0 */
/* USER CODE END TIM11_MspInit 0 */
/* Peripheral clock enable */
__TIM11_CLK_ENABLE();
/**TIM11 GPIO Configuration
PF7 ------> TIM11_CH1
*/
GPIO_InitStruct.Pin = GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF3_TIM11;
HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
/* USER CODE BEGIN TIM11_MspInit 1 */
/* USER CODE END TIM11_MspInit 1 */
}
else if(htim_base->Instance==TIM13)
{
/* USER CODE BEGIN TIM13_MspInit 0 */
/* USER CODE END TIM13_MspInit 0 */
/* Peripheral clock enable */
__TIM13_CLK_ENABLE();
/**TIM13 GPIO Configuration
PF8 ------> TIM13_CH1
*/
GPIO_InitStruct.Pin = GPIO_PIN_8;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF9_TIM13;
HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
/* USER CODE BEGIN TIM13_MspInit 1 */
/* USER CODE END TIM13_MspInit 1 */
}
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(htim_base->Instance == TIM1)
{
// I am too lazy to enable GPIO clocks one by one. Just assume that
// all the GPIO clocks are already enabled.
__TIM1_CLK_ENABLE();
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Pin = TIM1_CHAN1_PIN;
GPIO_InitStruct.Alternate = TIM1_CHAN1_AF;
HAL_GPIO_Init(TIM1_CHAN1_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = TIM1_CHAN2_PIN;
GPIO_InitStruct.Alternate = TIM1_CHAN2_AF;
HAL_GPIO_Init(TIM1_CHAN2_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = TIM1_CHAN3_PIN;
GPIO_InitStruct.Alternate = TIM1_CHAN3_AF;
HAL_GPIO_Init(TIM1_CHAN3_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = TIM1_CHAN4_PIN;
GPIO_InitStruct.Alternate = TIM1_CHAN4_AF;
HAL_GPIO_Init(TIM1_CHAN4_PORT, &GPIO_InitStruct);
}
else if (htim_base->Instance == TIM3)
{
// I am too lazy to enable GPIO clocks one by one. Just assume that
// all the GPIO clocks are already enabled.
__TIM3_CLK_ENABLE();
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Pin = TIM3_CHAN1_PIN;
GPIO_InitStruct.Alternate = TIM3_CHAN1_AF;
HAL_GPIO_Init(TIM3_CHAN1_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = TIM3_CHAN2_PIN;
GPIO_InitStruct.Alternate = TIM3_CHAN2_AF;
HAL_GPIO_Init(TIM3_CHAN2_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = TIM3_CHAN3_PIN;
GPIO_InitStruct.Alternate = TIM3_CHAN3_AF;
HAL_GPIO_Init(TIM3_CHAN3_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = TIM3_CHAN4_PIN;
GPIO_InitStruct.Alternate = TIM3_CHAN4_AF;
HAL_GPIO_Init(TIM3_CHAN4_PORT, &GPIO_InitStruct);
}
else if (htim_base->Instance == TIM5)
{
__TIM5_CLK_ENABLE();
}
}
void encodersbsp_init(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
TIM_Encoder_InitTypeDef sConfig;
__TIM2_CLK_ENABLE();
GPIO_InitStruct.Pin = GPIO_PIN_15;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
__TIM5_CLK_ENABLE();
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
mst_htim2.Instance = TIM2;
mst_htim2.Init.Prescaler = 0;
mst_htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
mst_htim2.Init.Period = 0xffffffff;
mst_htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 3;
sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 3;
HAL_TIM_Encoder_Init(&mst_htim2, &sConfig);
mst_htim5.Instance = TIM5;
mst_htim5.Init.Prescaler = 0;
mst_htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
mst_htim5.Init.Period = 0xffffffff;
mst_htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 3;
sConfig.IC2Polarity = TIM_ICPOLARITY_FALLING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 3;
HAL_TIM_Encoder_Init(&mst_htim5, &sConfig);
HAL_TIM_Encoder_Start(&mst_htim2, TIM_CHANNEL_1);
HAL_TIM_Encoder_Start(&mst_htim2, TIM_CHANNEL_2);
HAL_TIM_Encoder_Start(&mst_htim5, TIM_CHANNEL_1);
HAL_TIM_Encoder_Start(&mst_htim5, TIM_CHANNEL_2);
}
