V9_PMU302/Core/Src/tim.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    tim.c
  * @brief   This file provides code for the configuration
  *          of the TIM instances.
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 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 htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;

/* TIM2 init function */
void MX_TIM2_Init(void)
{

  /* USER CODE BEGIN TIM2_Init 0 */

  /* USER CODE END TIM2_Init 0 */

  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};

  /* USER CODE BEGIN TIM2_Init 1 */

  /* USER CODE END TIM2_Init 1 */
  htim2.Instance = TIM2;
  htim2.Init.Prescaler = 72;
  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim2.Init.Period = 20000 - 1;
  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 0;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM2_Init 2 */

  /* USER CODE END TIM2_Init 2 */
  HAL_TIM_MspPostInit(&htim2);

}
/* TIM3 init function */
void MX_TIM3_Init(void)
{

  /* USER CODE BEGIN TIM3_Init 0 */

  /* USER CODE END TIM3_Init 0 */

  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};

  /* USER CODE BEGIN TIM3_Init 1 */

  /* USER CODE END TIM3_Init 1 */
  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 72;
  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim3.Init.Period = 20000 - 1;
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_PWM_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();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 0;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM3_Init 2 */

  /* USER CODE END TIM3_Init 2 */
  HAL_TIM_MspPostInit(&htim3);

}

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 = 71;
  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim4.Init.Period = 20000 - 1;
  // htim4.Init.Period = 10000 -1;
  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  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();
  }
  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 == TIM3)
  {
    /* USER CODE BEGIN TIM3_MspInit 0 */

    /* USER CODE END TIM3_MspInit 0 */
    /* TIM3 clock enable */
    __HAL_RCC_TIM3_CLK_ENABLE();
    /* 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 */
    /* TIM4 clock enable */
    __HAL_RCC_TIM4_CLK_ENABLE();

    /* TIM4 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 */
  }
}

void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
{

  if(tim_pwmHandle->Instance==TIM2)
  {
  /* USER CODE BEGIN TIM2_MspInit 0 */

  /* USER CODE END TIM2_MspInit 0 */
    /* TIM2 clock enable */
    __HAL_RCC_TIM2_CLK_ENABLE();
  /* USER CODE BEGIN TIM2_MspInit 1 */

  /* USER CODE END TIM2_MspInit 1 */
  }
  else if(tim_pwmHandle->Instance==TIM3)
  {
  /* USER CODE BEGIN TIM3_MspInit 0 */

  /* USER CODE END TIM3_MspInit 0 */
    /* TIM3 clock enable */
    __HAL_RCC_TIM3_CLK_ENABLE();
  /* USER CODE BEGIN TIM3_MspInit 1 */

  /* USER CODE END TIM3_MspInit 1 */
  }
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(timHandle->Instance==TIM2)
  {
  /* USER CODE BEGIN TIM2_MspPostInit 0 */

  /* USER CODE END TIM2_MspPostInit 0 */
    __HAL_RCC_GPIOA_CLK_ENABLE();
    __HAL_RCC_GPIOB_CLK_ENABLE();
    /**TIM2 GPIO Configuration
    PA15     ------> TIM2_CH1
    PB3     ------> TIM2_CH2
    */
    GPIO_InitStruct.Pin = GPIO_PIN_15;
    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(GPIOA, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = GPIO_PIN_3;
    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(GPIOB, &GPIO_InitStruct);

  /* USER CODE BEGIN TIM2_MspPostInit 1 */

  /* USER CODE END TIM2_MspPostInit 1 */
  }
  else if(timHandle->Instance==TIM3)
  {
  /* USER CODE BEGIN TIM3_MspPostInit 0 */

  /* USER CODE END TIM3_MspPostInit 0 */

    __HAL_RCC_GPIOB_CLK_ENABLE();
    /**TIM3 GPIO Configuration
    PB4     ------> TIM3_CH1
    PB5     ------> TIM3_CH2
    */
    GPIO_InitStruct.Pin = GPIO_PIN_4|GPIO_PIN_5;
    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_MspPostInit 1 */

  /* USER CODE END TIM3_MspPostInit 1 */
  }
  else if (timHandle->Instance == TIM4)
  {
    /* USER CODE BEGIN TIM4_MspPostInit 0 */

    /* USER CODE END TIM4_MspPostInit 0 */

    __HAL_RCC_GPIOB_CLK_ENABLE();
    /**TIM4 GPIO Configuration
    PB6     ------> TIM4_CH1
    */
    GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_8|GPIO_PIN_9;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

    //__HAL_AFIO_REMAP_TIM4_ENABLE();
    /* USER CODE BEGIN TIM4_MspPostInit 1 */
    /* USER CODE END TIM4_MspPostInit 1 */
  }

}

void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle)
{

  if(tim_pwmHandle->Instance==TIM2)
  {
  /* USER CODE BEGIN TIM2_MspDeInit 0 */

  /* USER CODE END TIM2_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM2_CLK_DISABLE();
  /* USER CODE BEGIN TIM2_MspDeInit 1 */

  /* USER CODE END TIM2_MspDeInit 1 */
  }
  else if(tim_pwmHandle->Instance==TIM3)
  {
  /* USER CODE BEGIN TIM3_MspDeInit 0 */

  /* USER CODE END TIM3_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM3_CLK_DISABLE();
  /* USER CODE BEGIN TIM3_MspDeInit 1 */

  /* USER CODE END TIM3_MspDeInit 1 */
  }
}

void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef *tim_baseHandle)
{

  if (tim_baseHandle->Instance == TIM3)
  {
    /* USER CODE BEGIN TIM3_MspDeInit 0 */

    /* USER CODE END TIM3_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM3_CLK_DISABLE();
    /* USER CODE BEGIN TIM3_MspDeInit 1 */

    /* USER CODE END TIM3_MspDeInit 1 */
  }
  else 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 */
  }
}

/* USER CODE BEGIN 1 */

/**
 * @file    pwm_init
 * @brief   PWM初始化
 * @param   none
 * @details
 * @author  Zhang Sir
 **/
void pwm_init()
{
  // 开启PWM
  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
  // 设置占空比
  __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, 1000); // 1
  __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_2, 1000); // 2
  __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_2, 1000); // 3
  __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_1, 1000); // 4


}

/**
 * @file    Tim4_init_pwmout
 * @brief   PB6复用成pwm输出
 * @param   none
 * @details 默认流量计输入口
 * @author  Zhang Sir
 **/
void init_pwmout(uint8_t uav_type)
{
  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};

  if (uav_type == 18) //一体化
  {
    htim4.Instance = TIM4;
    htim4.Init.Prescaler = 72 - 1;
    htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim4.Init.Period = 20000 - 1;  //50hz
    //htim4.Init.Period = 10000 - 1; //100hz
    htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
    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_PWM_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();
    }
    sConfigOC.OCMode = TIM_OCMODE_PWM1;
    sConfigOC.Pulse = 0;
    sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
    sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
    if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
    {
      Error_Handler();
    }
    if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
    {
      Error_Handler();
    }
    if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
    {
      Error_Handler();
    }

    HAL_TIM_MspPostInit(&htim4);

    HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_1);
    HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3);
    HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_4);

    __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_1, 1500); // PB6 video
    __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, 1000); // PB8 nozzle
    __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_4, 1000); // PB9 nozzle

    HAL_NVIC_DisableIRQ(EXTI9_5_IRQn); // 关外出触发中断
  }
}
/* USER CODE END 1 */