AG_WEIGHT/hardware/tim.c

/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file    tim.c
 * @brief   This file provides code for the configuration
 *          of the TIM instances.
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2022 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "tim.h"

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

TIM_HandleTypeDef htim4;
TIM_HandleTypeDef htim3;

/* TIM4 init function */
void MX_TIM4_Init(void)
{

    /* USER CODE BEGIN TIM4_Init 0 */

    /* USER CODE END TIM4_Init 0 */

    TIM_ClockConfigTypeDef sClockSourceConfig = {0};
    TIM_MasterConfigTypeDef sMasterConfig = {0};

    /* USER CODE BEGIN TIM4_Init 1 */

    /* USER CODE END TIM4_Init 1 */
    htim4.Instance = TIM4;
    htim4.Init.Prescaler = 7200 - 1; // 配置成10K时钟，1s计数10000
    htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim4.Init.Period = 125 - 1; // 16位寄存器最多放到0XFFFF，周期设200 = 50hz = 20ms
    htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
    if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
    {
        Error_Handler();
    }
    sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
    if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
    {
        Error_Handler();
    }
    if (HAL_TIM_OC_Init(&htim4) != HAL_OK)
    {
        Error_Handler();
    }
    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
    if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
    {
        Error_Handler();
    }

    /* USER CODE BEGIN TIM4_Init 2 */

    /* USER CODE END TIM4_Init 2 */
}

void HAL_TIM_Base_MspInit(TIM_HandleTypeDef *tim_baseHandle)
{

    if (tim_baseHandle->Instance == TIM4)
    {
        /* USER CODE BEGIN TIM4_MspInit 0 */

        /* USER CODE END TIM4_MspInit 0 */
        /* TIM4 clock enable */
        __HAL_RCC_TIM4_CLK_ENABLE();

        /* TIM4 interrupt Init */
        HAL_NVIC_SetPriority(TIM4_IRQn, 1, 0);
        HAL_NVIC_EnableIRQ(TIM4_IRQn);
        /* USER CODE BEGIN TIM4_MspInit 1 */

        /* USER CODE END TIM4_MspInit 1 */
    }
    else if (tim_baseHandle->Instance == TIM3)
    {
        __HAL_RCC_TIM3_CLK_ENABLE();
    }
}

void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef *tim_baseHandle)
{

    if (tim_baseHandle->Instance == TIM4)
    {
        /* USER CODE BEGIN TIM4_MspDeInit 0 */

        /* USER CODE END TIM4_MspDeInit 0 */
        /* Peripheral clock disable */
        __HAL_RCC_TIM4_CLK_DISABLE();

        /* TIM4 interrupt Deinit */
        HAL_NVIC_DisableIRQ(TIM4_IRQn);
        /* USER CODE BEGIN TIM4_MspDeInit 1 */

        /* USER CODE END TIM4_MspDeInit 1 */
    }
    else if (tim_baseHandle->Instance == TIM3)
    {
        __HAL_RCC_TIM3_CLK_DISABLE();
    }
}

void MX_TIM3_Init(void)
{

    /* USER CODE BEGIN TIM3_Init 0 */

    /* USER CODE END TIM3_Init 0 */

    TIM_ClockConfigTypeDef sClockSourceConfig = {0};
    TIM_MasterConfigTypeDef sMasterConfig = {0};

    /* USER CODE BEGIN TIM3_Init 1 */

    /* USER CODE END TIM3_Init 1 */
    htim3.Instance = TIM3;
    htim3.Init.Prescaler = 72 - 1;
    htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim3.Init.Period = 65535;
    htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
    if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
    {
        Error_Handler();
    }
    sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
    if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
    {
        Error_Handler();
    }
    if (HAL_TIM_OC_Init(&htim3) != HAL_OK)
    {
        Error_Handler();
    }
    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
    if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
    {
        Error_Handler();
    }

    /* USER CODE BEGIN TIM3_Init 2 */

    /* USER CODE END TIM3_Init 2 */
}

/* USER CODE BEGIN 1 */

/* USER CODE END 1 */