621 lines
19 KiB
C
621 lines
19 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file tim.c
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* @brief This file provides code for the configuration
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* of the TIM instances.
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2025 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "tim.h"
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/* USER CODE BEGIN 0 */
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/* USER CODE END 0 */
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TIM_HandleTypeDef htim1;
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TIM_HandleTypeDef htim3;
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TIM_HandleTypeDef htim4;
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TIM_HandleTypeDef htim8;
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/* TIM1 init function */
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void MX_TIM1_Init(void)
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{
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/* USER CODE BEGIN TIM1_Init 0 */
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/* USER CODE END TIM1_Init 0 */
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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TIMEx_BreakInputConfigTypeDef sBreakInputConfig = {0};
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TIM_OC_InitTypeDef sConfigOC = {0};
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TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
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/* USER CODE BEGIN TIM1_Init 1 */
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/* USER CODE END TIM1_Init 1 */
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htim1.Instance = TIM1;
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htim1.Init.Prescaler = 0;
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htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim1.Init.Period = 65535;
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htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim1.Init.RepetitionCounter = 0;
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htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
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{
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Error_Handler();
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}
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sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
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sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
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sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
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if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
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{
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Error_Handler();
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}
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sBreakInputConfig.Source = TIM_BREAKINPUTSOURCE_BKIN;
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sBreakInputConfig.Enable = TIM_BREAKINPUTSOURCE_ENABLE;
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sBreakInputConfig.Polarity = TIM_BREAKINPUTSOURCE_POLARITY_HIGH;
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if (HAL_TIMEx_ConfigBreakInput(&htim1, TIM_BREAKINPUT_BRK, &sBreakInputConfig) != HAL_OK)
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{
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Error_Handler();
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}
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sConfigOC.OCMode = TIM_OCMODE_PWM1;
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sConfigOC.Pulse = 0;
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sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
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sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
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sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
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sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
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sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
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if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
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{
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Error_Handler();
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}
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sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
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sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
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sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
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sBreakDeadTimeConfig.DeadTime = 0;
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sBreakDeadTimeConfig.BreakState = TIM_BREAK_ENABLE;
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sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
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sBreakDeadTimeConfig.BreakFilter = 0;
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sBreakDeadTimeConfig.BreakAFMode = TIM_BREAK_AFMODE_INPUT;
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sBreakDeadTimeConfig.Break2State = TIM_BREAK2_DISABLE;
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sBreakDeadTimeConfig.Break2Polarity = TIM_BREAK2POLARITY_HIGH;
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sBreakDeadTimeConfig.Break2Filter = 0;
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sBreakDeadTimeConfig.Break2AFMode = TIM_BREAK_AFMODE_INPUT;
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sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
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if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN TIM1_Init 2 */
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/* USER CODE END TIM1_Init 2 */
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HAL_TIM_MspPostInit(&htim1);
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}
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/* TIM3 init function */
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void MX_TIM3_Init(void)
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{
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/* USER CODE BEGIN TIM3_Init 0 */
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/* USER CODE END TIM3_Init 0 */
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TIM_Encoder_InitTypeDef sConfig = {0};
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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TIMEx_EncoderIndexConfigTypeDef sEncoderIndexConfig = {0};
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/* USER CODE BEGIN TIM3_Init 1 */
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/* USER CODE END TIM3_Init 1 */
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htim3.Instance = TIM3;
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htim3.Init.Prescaler = 0;
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htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim3.Init.Period = 65535;
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htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
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sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
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sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
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sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
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sConfig.IC1Filter = 0;
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sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
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sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
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sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
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sConfig.IC2Filter = 0;
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if (HAL_TIM_Encoder_Init(&htim3, &sConfig) != HAL_OK)
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{
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Error_Handler();
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}
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sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
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sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
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if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
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{
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Error_Handler();
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}
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sEncoderIndexConfig.Polarity = TIM_ENCODERINDEX_POLARITY_NONINVERTED;
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sEncoderIndexConfig.Prescaler = TIM_ENCODERINDEX_PRESCALER_DIV1;
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sEncoderIndexConfig.Filter = 0;
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sEncoderIndexConfig.FirstIndexEnable = DISABLE;
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sEncoderIndexConfig.Position = TIM_ENCODERINDEX_POSITION_00;
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sEncoderIndexConfig.Direction = TIM_ENCODERINDEX_DIRECTION_UP_DOWN;
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if (HAL_TIMEx_ConfigEncoderIndex(&htim3, &sEncoderIndexConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN TIM3_Init 2 */
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/* USER CODE END TIM3_Init 2 */
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}
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/* TIM4 init function */
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void MX_TIM4_Init(void)
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{
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/* USER CODE BEGIN TIM4_Init 0 */
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/* USER CODE END TIM4_Init 0 */
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TIM_Encoder_InitTypeDef sConfig = {0};
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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/* USER CODE BEGIN TIM4_Init 1 */
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/* USER CODE END TIM4_Init 1 */
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htim4.Instance = TIM4;
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htim4.Init.Prescaler = 0;
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htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim4.Init.Period = 65535;
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htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
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sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
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sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
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sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
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sConfig.IC1Filter = 0;
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sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
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sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
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sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
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sConfig.IC2Filter = 0;
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if (HAL_TIM_Encoder_Init(&htim4, &sConfig) != HAL_OK)
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{
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Error_Handler();
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}
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sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
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sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
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if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN TIM4_Init 2 */
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/* USER CODE END TIM4_Init 2 */
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}
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/* TIM8 init function */
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void MX_TIM8_Init(void)
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{
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/* USER CODE BEGIN TIM8_Init 0 */
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/* USER CODE END TIM8_Init 0 */
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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TIMEx_BreakInputConfigTypeDef sBreakInputConfig = {0};
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TIM_OC_InitTypeDef sConfigOC = {0};
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TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
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/* USER CODE BEGIN TIM8_Init 1 */
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/* USER CODE END TIM8_Init 1 */
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htim8.Instance = TIM8;
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htim8.Init.Prescaler = 0;
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htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim8.Init.Period = 65535;
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htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim8.Init.RepetitionCounter = 0;
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htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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if (HAL_TIM_PWM_Init(&htim8) != HAL_OK)
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{
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Error_Handler();
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}
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sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
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sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
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sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
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if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK)
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{
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Error_Handler();
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}
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sBreakInputConfig.Source = TIM_BREAKINPUTSOURCE_BKIN;
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sBreakInputConfig.Enable = TIM_BREAKINPUTSOURCE_ENABLE;
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sBreakInputConfig.Polarity = TIM_BREAKINPUTSOURCE_POLARITY_HIGH;
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if (HAL_TIMEx_ConfigBreakInput(&htim8, TIM_BREAKINPUT_BRK, &sBreakInputConfig) != HAL_OK)
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{
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Error_Handler();
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}
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sConfigOC.OCMode = TIM_OCMODE_PWM1;
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sConfigOC.Pulse = 0;
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sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
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sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
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sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
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sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
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sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
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if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
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{
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Error_Handler();
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}
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sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
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sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
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sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
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sBreakDeadTimeConfig.DeadTime = 0;
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sBreakDeadTimeConfig.BreakState = TIM_BREAK_ENABLE;
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sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
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sBreakDeadTimeConfig.BreakFilter = 0;
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sBreakDeadTimeConfig.BreakAFMode = TIM_BREAK_AFMODE_INPUT;
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sBreakDeadTimeConfig.Break2State = TIM_BREAK2_DISABLE;
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sBreakDeadTimeConfig.Break2Polarity = TIM_BREAK2POLARITY_HIGH;
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sBreakDeadTimeConfig.Break2Filter = 0;
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sBreakDeadTimeConfig.Break2AFMode = TIM_BREAK_AFMODE_INPUT;
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sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
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if (HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN TIM8_Init 2 */
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/* USER CODE END TIM8_Init 2 */
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HAL_TIM_MspPostInit(&htim8);
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}
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void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
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{
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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if(tim_pwmHandle->Instance==TIM1)
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{
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/* USER CODE BEGIN TIM1_MspInit 0 */
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/* USER CODE END TIM1_MspInit 0 */
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/* TIM1 clock enable */
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__HAL_RCC_TIM1_CLK_ENABLE();
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__HAL_RCC_GPIOA_CLK_ENABLE();
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/**TIM1 GPIO Configuration
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PA15 ------> TIM1_BKIN
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*/
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GPIO_InitStruct.Pin = MOTOR1_BKIN_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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GPIO_InitStruct.Alternate = GPIO_AF9_TIM1;
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HAL_GPIO_Init(MOTOR1_BKIN_GPIO_Port, &GPIO_InitStruct);
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/* USER CODE BEGIN TIM1_MspInit 1 */
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/* USER CODE END TIM1_MspInit 1 */
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}
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else if(tim_pwmHandle->Instance==TIM8)
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{
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/* USER CODE BEGIN TIM8_MspInit 0 */
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/* USER CODE END TIM8_MspInit 0 */
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/* TIM8 clock enable */
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__HAL_RCC_TIM8_CLK_ENABLE();
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__HAL_RCC_GPIOA_CLK_ENABLE();
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/**TIM8 GPIO Configuration
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PA6 ------> TIM8_BKIN
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*/
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GPIO_InitStruct.Pin = MOTOR2_BKIN_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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GPIO_InitStruct.Alternate = GPIO_AF4_TIM8;
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HAL_GPIO_Init(MOTOR2_BKIN_GPIO_Port, &GPIO_InitStruct);
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/* USER CODE BEGIN TIM8_MspInit 1 */
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/* USER CODE END TIM8_MspInit 1 */
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}
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}
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void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
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{
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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if(tim_encoderHandle->Instance==TIM3)
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{
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/* USER CODE BEGIN TIM3_MspInit 0 */
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/* USER CODE END TIM3_MspInit 0 */
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/* TIM3 clock enable */
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__HAL_RCC_TIM3_CLK_ENABLE();
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__HAL_RCC_GPIOA_CLK_ENABLE();
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__HAL_RCC_GPIOB_CLK_ENABLE();
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/**TIM3 GPIO Configuration
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PA4 ------> TIM3_CH2
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PB3 ------> TIM3_ETR
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PB4 ------> TIM3_CH1
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*/
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GPIO_InitStruct.Pin = MOTOR1_ENCODER_B_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
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HAL_GPIO_Init(MOTOR1_ENCODER_B_GPIO_Port, &GPIO_InitStruct);
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GPIO_InitStruct.Pin = MOTOR1_ENCODER_Z_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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GPIO_InitStruct.Alternate = GPIO_AF10_TIM3;
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HAL_GPIO_Init(MOTOR1_ENCODER_Z_GPIO_Port, &GPIO_InitStruct);
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GPIO_InitStruct.Pin = MOTOR1_ENCODER_A_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
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HAL_GPIO_Init(MOTOR1_ENCODER_A_GPIO_Port, &GPIO_InitStruct);
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/* USER CODE BEGIN TIM3_MspInit 1 */
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/* USER CODE END TIM3_MspInit 1 */
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}
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else if(tim_encoderHandle->Instance==TIM4)
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{
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/* USER CODE BEGIN TIM4_MspInit 0 */
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/* USER CODE END TIM4_MspInit 0 */
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/* TIM4 clock enable */
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__HAL_RCC_TIM4_CLK_ENABLE();
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__HAL_RCC_GPIOB_CLK_ENABLE();
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/**TIM4 GPIO Configuration
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PB6 ------> TIM4_CH1
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PB7 ------> TIM4_CH2
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*/
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GPIO_InitStruct.Pin = MOTOR2_ENCODER_A_Pin|MOTOR2_ENCODER_B_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
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/* USER CODE BEGIN TIM4_MspInit 1 */
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/* USER CODE END TIM4_MspInit 1 */
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}
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}
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void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
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{
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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if(timHandle->Instance==TIM1)
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{
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/* USER CODE BEGIN TIM1_MspPostInit 0 */
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/* USER CODE END TIM1_MspPostInit 0 */
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__HAL_RCC_GPIOC_CLK_ENABLE();
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__HAL_RCC_GPIOB_CLK_ENABLE();
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__HAL_RCC_GPIOA_CLK_ENABLE();
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/**TIM1 GPIO Configuration
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PC13 ------> TIM1_CH1N
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PB14 ------> TIM1_CH2N
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PB15 ------> TIM1_CH3N
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PA8 ------> TIM1_CH1
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PA9 ------> TIM1_CH2
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PA10 ------> TIM1_CH3
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*/
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GPIO_InitStruct.Pin = MOTOR1_1N_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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GPIO_InitStruct.Alternate = GPIO_AF4_TIM1;
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HAL_GPIO_Init(MOTOR1_1N_GPIO_Port, &GPIO_InitStruct);
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GPIO_InitStruct.Pin = MOTOR1_2N_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
|
GPIO_InitStruct.Alternate = GPIO_AF6_TIM1;
|
|
HAL_GPIO_Init(MOTOR1_2N_GPIO_Port, &GPIO_InitStruct);
|
|
|
|
GPIO_InitStruct.Pin = MOTOR1_3N_Pin;
|
|
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
|
GPIO_InitStruct.Alternate = GPIO_AF4_TIM1;
|
|
HAL_GPIO_Init(MOTOR1_3N_GPIO_Port, &GPIO_InitStruct);
|
|
|
|
GPIO_InitStruct.Pin = MOTOR1_1P_Pin|MOTOR1_2P_Pin|MOTOR1_3P_Pin;
|
|
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
|
GPIO_InitStruct.Alternate = GPIO_AF6_TIM1;
|
|
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
|
|
|
/* USER CODE BEGIN TIM1_MspPostInit 1 */
|
|
|
|
/* USER CODE END TIM1_MspPostInit 1 */
|
|
}
|
|
else if(timHandle->Instance==TIM8)
|
|
{
|
|
/* USER CODE BEGIN TIM8_MspPostInit 0 */
|
|
|
|
/* USER CODE END TIM8_MspPostInit 0 */
|
|
|
|
__HAL_RCC_GPIOC_CLK_ENABLE();
|
|
__HAL_RCC_GPIOB_CLK_ENABLE();
|
|
/**TIM8 GPIO Configuration
|
|
PC6 ------> TIM8_CH1
|
|
PC10 ------> TIM8_CH1N
|
|
PC11 ------> TIM8_CH2N
|
|
PB5 ------> TIM8_CH3N
|
|
PB8-BOOT0 ------> TIM8_CH2
|
|
PB9 ------> TIM8_CH3
|
|
*/
|
|
GPIO_InitStruct.Pin = MOTOR2_1P_Pin|MOTOR2_1N_Pin|MOTOR2_2N_Pin;
|
|
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
|
GPIO_InitStruct.Alternate = GPIO_AF4_TIM8;
|
|
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
|
|
|
|
GPIO_InitStruct.Pin = MOTOR2_3N_Pin;
|
|
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
|
GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
|
|
HAL_GPIO_Init(MOTOR2_3N_GPIO_Port, &GPIO_InitStruct);
|
|
|
|
GPIO_InitStruct.Pin = MOTOR2_2P_Pin|MOTOR2_3P_Pin;
|
|
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
|
GPIO_InitStruct.Alternate = GPIO_AF10_TIM8;
|
|
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
|
|
|
/* USER CODE BEGIN TIM8_MspPostInit 1 */
|
|
|
|
/* USER CODE END TIM8_MspPostInit 1 */
|
|
}
|
|
|
|
}
|
|
|
|
void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle)
|
|
{
|
|
|
|
if(tim_pwmHandle->Instance==TIM1)
|
|
{
|
|
/* USER CODE BEGIN TIM1_MspDeInit 0 */
|
|
|
|
/* USER CODE END TIM1_MspDeInit 0 */
|
|
/* Peripheral clock disable */
|
|
__HAL_RCC_TIM1_CLK_DISABLE();
|
|
|
|
/**TIM1 GPIO Configuration
|
|
PC13 ------> TIM1_CH1N
|
|
PB14 ------> TIM1_CH2N
|
|
PB15 ------> TIM1_CH3N
|
|
PA8 ------> TIM1_CH1
|
|
PA9 ------> TIM1_CH2
|
|
PA10 ------> TIM1_CH3
|
|
PA15 ------> TIM1_BKIN
|
|
*/
|
|
HAL_GPIO_DeInit(MOTOR1_1N_GPIO_Port, MOTOR1_1N_Pin);
|
|
|
|
HAL_GPIO_DeInit(GPIOB, MOTOR1_2N_Pin|MOTOR1_3N_Pin);
|
|
|
|
HAL_GPIO_DeInit(GPIOA, MOTOR1_1P_Pin|MOTOR1_2P_Pin|MOTOR1_3P_Pin|MOTOR1_BKIN_Pin);
|
|
|
|
/* USER CODE BEGIN TIM1_MspDeInit 1 */
|
|
|
|
/* USER CODE END TIM1_MspDeInit 1 */
|
|
}
|
|
else if(tim_pwmHandle->Instance==TIM8)
|
|
{
|
|
/* USER CODE BEGIN TIM8_MspDeInit 0 */
|
|
|
|
/* USER CODE END TIM8_MspDeInit 0 */
|
|
/* Peripheral clock disable */
|
|
__HAL_RCC_TIM8_CLK_DISABLE();
|
|
|
|
/**TIM8 GPIO Configuration
|
|
PA6 ------> TIM8_BKIN
|
|
PC6 ------> TIM8_CH1
|
|
PC10 ------> TIM8_CH1N
|
|
PC11 ------> TIM8_CH2N
|
|
PB5 ------> TIM8_CH3N
|
|
PB8-BOOT0 ------> TIM8_CH2
|
|
PB9 ------> TIM8_CH3
|
|
*/
|
|
HAL_GPIO_DeInit(MOTOR2_BKIN_GPIO_Port, MOTOR2_BKIN_Pin);
|
|
|
|
HAL_GPIO_DeInit(GPIOC, MOTOR2_1P_Pin|MOTOR2_1N_Pin|MOTOR2_2N_Pin);
|
|
|
|
HAL_GPIO_DeInit(GPIOB, MOTOR2_3N_Pin|MOTOR2_2P_Pin|MOTOR2_3P_Pin);
|
|
|
|
/* USER CODE BEGIN TIM8_MspDeInit 1 */
|
|
|
|
/* USER CODE END TIM8_MspDeInit 1 */
|
|
}
|
|
}
|
|
|
|
void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle)
|
|
{
|
|
|
|
if(tim_encoderHandle->Instance==TIM3)
|
|
{
|
|
/* USER CODE BEGIN TIM3_MspDeInit 0 */
|
|
|
|
/* USER CODE END TIM3_MspDeInit 0 */
|
|
/* Peripheral clock disable */
|
|
__HAL_RCC_TIM3_CLK_DISABLE();
|
|
|
|
/**TIM3 GPIO Configuration
|
|
PA4 ------> TIM3_CH2
|
|
PB3 ------> TIM3_ETR
|
|
PB4 ------> TIM3_CH1
|
|
*/
|
|
HAL_GPIO_DeInit(MOTOR1_ENCODER_B_GPIO_Port, MOTOR1_ENCODER_B_Pin);
|
|
|
|
HAL_GPIO_DeInit(GPIOB, MOTOR1_ENCODER_Z_Pin|MOTOR1_ENCODER_A_Pin);
|
|
|
|
/* USER CODE BEGIN TIM3_MspDeInit 1 */
|
|
|
|
/* USER CODE END TIM3_MspDeInit 1 */
|
|
}
|
|
else if(tim_encoderHandle->Instance==TIM4)
|
|
{
|
|
/* USER CODE BEGIN TIM4_MspDeInit 0 */
|
|
|
|
/* USER CODE END TIM4_MspDeInit 0 */
|
|
/* Peripheral clock disable */
|
|
__HAL_RCC_TIM4_CLK_DISABLE();
|
|
|
|
/**TIM4 GPIO Configuration
|
|
PB6 ------> TIM4_CH1
|
|
PB7 ------> TIM4_CH2
|
|
*/
|
|
HAL_GPIO_DeInit(GPIOB, MOTOR2_ENCODER_A_Pin|MOTOR2_ENCODER_B_Pin);
|
|
|
|
/* USER CODE BEGIN TIM4_MspDeInit 1 */
|
|
|
|
/* USER CODE END TIM4_MspDeInit 1 */
|
|
}
|
|
}
|
|
|
|
/* USER CODE BEGIN 1 */
|
|
|
|
/* USER CODE END 1 */
|