wangbeihong
1cc8327f13
新增电机板级支持包：基于 AT8236-MS 驱动芯片，实现了对 4 个直流电机的 PWM 控制。 实现霍尔传感器功能：用于速度测量和脉冲计数。 更新 GPIO 初始化：为霍尔传感器添加了外部中断（EXTI）配置。 修改系统时钟配置：改用高速外部时钟（HSE）并调整了锁相环（PLL）设置。 更改定时器配置：将时基生成从 TIM8 改为 TIM4。 增强 FreeRTOS 任务：实现从霍尔传感器周期性读取并更新速度数据。 更新项目配置：以反映外设使用情况和优先级的变更。
363 lines
9.6 KiB
C
363 lines
9.6 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) 2026 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 htim2;
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TIM_HandleTypeDef htim3;
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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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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 = 3599;
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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_ENABLE;
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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.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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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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if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != 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_DISABLE;
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sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
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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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/* TIM2 init function */
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void MX_TIM2_Init(void)
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{
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/* USER CODE BEGIN TIM2_Init 0 */
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/* USER CODE END TIM2_Init 0 */
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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TIM_OC_InitTypeDef sConfigOC = {0};
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/* USER CODE BEGIN TIM2_Init 1 */
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/* USER CODE END TIM2_Init 1 */
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htim2.Instance = TIM2;
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htim2.Init.Prescaler = 0;
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htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim2.Init.Period = 3599;
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htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
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if (HAL_TIM_PWM_Init(&htim2) != 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(&htim2, &sMasterConfig) != 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.OCFastMode = TIM_OCFAST_DISABLE;
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if (HAL_TIM_PWM_ConfigChannel(&htim2, &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(&htim2, &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(&htim2, &sConfigOC, TIM_CHANNEL_3) != 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(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN TIM2_Init 2 */
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/* USER CODE END TIM2_Init 2 */
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HAL_TIM_MspPostInit(&htim2);
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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_MasterConfigTypeDef sMasterConfig = {0};
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TIM_OC_InitTypeDef sConfigOC = {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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if (HAL_TIM_PWM_Init(&htim3) != 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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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.OCFastMode = TIM_OCFAST_DISABLE;
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if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != 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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HAL_TIM_MspPostInit(&htim3);
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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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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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/* 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==TIM2)
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{
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/* USER CODE BEGIN TIM2_MspInit 0 */
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/* USER CODE END TIM2_MspInit 0 */
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/* TIM2 clock enable */
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__HAL_RCC_TIM2_CLK_ENABLE();
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/* USER CODE BEGIN TIM2_MspInit 1 */
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/* USER CODE END TIM2_MspInit 1 */
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}
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else if(tim_pwmHandle->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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/* USER CODE BEGIN TIM3_MspInit 1 */
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/* USER CODE END TIM3_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_GPIOE_CLK_ENABLE();
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/**TIM1 GPIO Configuration
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PE9 ------> TIM1_CH1
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PE11 ------> TIM1_CH2
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PE13 ------> TIM1_CH3
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PE14 ------> TIM1_CH4
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*/
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GPIO_InitStruct.Pin = M1_W_Pin|M1_S_Pin|M2_W_Pin|M2_S_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
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__HAL_AFIO_REMAP_TIM1_ENABLE();
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/* USER CODE BEGIN TIM1_MspPostInit 1 */
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/* USER CODE END TIM1_MspPostInit 1 */
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}
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else if(timHandle->Instance==TIM2)
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{
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/* USER CODE BEGIN TIM2_MspPostInit 0 */
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/* USER CODE END TIM2_MspPostInit 0 */
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__HAL_RCC_GPIOA_CLK_ENABLE();
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__HAL_RCC_GPIOB_CLK_ENABLE();
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/**TIM2 GPIO Configuration
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PA2 ------> TIM2_CH3
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PA3 ------> TIM2_CH4
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PA15 ------> TIM2_CH1
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PB3 ------> TIM2_CH2
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*/
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GPIO_InitStruct.Pin = M4_W_Pin|M4_S_Pin|M3_W_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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GPIO_InitStruct.Pin = M3_S_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(M3_S_GPIO_Port, &GPIO_InitStruct);
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__HAL_AFIO_REMAP_TIM2_PARTIAL_1();
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/* USER CODE BEGIN TIM2_MspPostInit 1 */
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/* USER CODE END TIM2_MspPostInit 1 */
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}
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else if(timHandle->Instance==TIM3)
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{
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/* USER CODE BEGIN TIM3_MspPostInit 0 */
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/* USER CODE END TIM3_MspPostInit 0 */
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__HAL_RCC_GPIOC_CLK_ENABLE();
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/**TIM3 GPIO Configuration
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PC6 ------> TIM3_CH1
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*/
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GPIO_InitStruct.Pin = GPIO_PIN_6;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
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__HAL_AFIO_REMAP_TIM3_ENABLE();
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/* USER CODE BEGIN TIM3_MspPostInit 1 */
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/* USER CODE END TIM3_MspPostInit 1 */
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}
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}
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void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle)
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{
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if(tim_pwmHandle->Instance==TIM1)
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{
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/* USER CODE BEGIN TIM1_MspDeInit 0 */
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/* USER CODE END TIM1_MspDeInit 0 */
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/* Peripheral clock disable */
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__HAL_RCC_TIM1_CLK_DISABLE();
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/* USER CODE BEGIN TIM1_MspDeInit 1 */
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/* USER CODE END TIM1_MspDeInit 1 */
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}
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else if(tim_pwmHandle->Instance==TIM2)
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{
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/* USER CODE BEGIN TIM2_MspDeInit 0 */
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/* USER CODE END TIM2_MspDeInit 0 */
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/* Peripheral clock disable */
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__HAL_RCC_TIM2_CLK_DISABLE();
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/* USER CODE BEGIN TIM2_MspDeInit 1 */
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/* USER CODE END TIM2_MspDeInit 1 */
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}
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else if(tim_pwmHandle->Instance==TIM3)
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{
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/* USER CODE BEGIN TIM3_MspDeInit 0 */
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/* USER CODE END TIM3_MspDeInit 0 */
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/* Peripheral clock disable */
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__HAL_RCC_TIM3_CLK_DISABLE();
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/* USER CODE BEGIN TIM3_MspDeInit 1 */
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/* USER CODE END TIM3_MspDeInit 1 */
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}
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}
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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