Aditya Mehrotra / MotorShield

Motor Shield Example code for 2.74 Class @ MIT

Dependents:   experiment_example motor_shield_example Lab3_experiment_example jumping_leg_clicky

HardwareSetup.cpp@5:d2dffc88e94d, 2020-08-26 (annotated)

Committer:
elijahsj
Date:
Wed Aug 26 14:37:16 2020 +0000
Revision:
5:d2dffc88e94d
Parent:
3:2f46953e7c8b
Child:
6:417655779dc5
PWM + Encoders work;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
elijahsj 1:4c3c2b7337a6 1 #include "mbed.h"
elijahsj 1:4c3c2b7337a6 2 #include "HardwareSetup.h"
elijahsj 1:4c3c2b7337a6 3 #include "stm32h7xx_hal.h"
elijahsj 1:4c3c2b7337a6 4
elijahsj 1:4c3c2b7337a6 5 TIM_HandleTypeDef htim12;
elijahsj 1:4c3c2b7337a6 6 TIM_HandleTypeDef htim15;
elijahsj 1:4c3c2b7337a6 7 TIM_HandleTypeDef htim13;
elijahsj 1:4c3c2b7337a6 8 TIM_HandleTypeDef htim14;
elijahsj 1:4c3c2b7337a6 9 TIM_HandleTypeDef htim16;
elijahsj 1:4c3c2b7337a6 10 TIM_HandleTypeDef htim17;
elijahsj 1:4c3c2b7337a6 11
elijahsj 3:2f46953e7c8b 12 int PWM_PERIOD;
elijahsj 1:4c3c2b7337a6 13 void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim);
elijahsj 1:4c3c2b7337a6 14 static void MX_TIM12_Init(void);
elijahsj 2:30503be9a375 15 static void MX_TIM13_Init(void);
elijahsj 2:30503be9a375 16 static void MX_TIM14_Init(void);
elijahsj 2:30503be9a375 17 static void MX_TIM15_Init(void);
elijahsj 2:30503be9a375 18 static void MX_TIM16_Init(void);
elijahsj 2:30503be9a375 19 static void MX_TIM17_Init(void);
elijahsj 1:4c3c2b7337a6 20
elijahsj 3:2f46953e7c8b 21 void initHardware(int periodTicks){
elijahsj 3:2f46953e7c8b 22 PWM_PERIOD = periodTicks;
elijahsj 1:4c3c2b7337a6 23 /* Initialise the HAL Layer */
elijahsj 1:4c3c2b7337a6 24 HAL_Init();
elijahsj 1:4c3c2b7337a6 25
elijahsj 1:4c3c2b7337a6 26 /* Initialize all configured peripherals */
elijahsj 1:4c3c2b7337a6 27 MX_TIM12_Init();
elijahsj 2:30503be9a375 28 MX_TIM13_Init();
elijahsj 2:30503be9a375 29 MX_TIM14_Init();
elijahsj 2:30503be9a375 30 MX_TIM15_Init();
elijahsj 2:30503be9a375 31 MX_TIM16_Init();
elijahsj 2:30503be9a375 32 MX_TIM17_Init();
elijahsj 2:30503be9a375 33 //HAL_TIM_Base_Start(&htim15);
elijahsj 2:30503be9a375 34
elijahsj 1:4c3c2b7337a6 35 HAL_TIM_PWM_Start(&htim12, TIM_CHANNEL_1); // start pwm generation
elijahsj 1:4c3c2b7337a6 36 HAL_TIM_PWM_Start(&htim12, TIM_CHANNEL_2); // start pwm generation
elijahsj 2:30503be9a375 37 HAL_TIM_PWM_Start(&htim13, TIM_CHANNEL_1); // start pwm generation
elijahsj 2:30503be9a375 38 HAL_TIM_PWM_Start(&htim14, TIM_CHANNEL_1); // start pwm generation
elijahsj 2:30503be9a375 39 HAL_TIM_PWM_Start(&htim15, TIM_CHANNEL_1); // start pwm generation
elijahsj 2:30503be9a375 40 HAL_TIM_PWM_Start(&htim15, TIM_CHANNEL_2); // start pwm generation
elijahsj 2:30503be9a375 41 HAL_TIM_PWM_Start(&htim16, TIM_CHANNEL_1); // start pwm generation
elijahsj 2:30503be9a375 42 HAL_TIM_PWM_Start(&htim17, TIM_CHANNEL_1); // start pwm generation
elijahsj 2:30503be9a375 43
elijahsj 2:30503be9a375 44
elijahsj 1:4c3c2b7337a6 45 }
elijahsj 1:4c3c2b7337a6 46
elijahsj 1:4c3c2b7337a6 47 static void MX_TIM12_Init(void)
elijahsj 1:4c3c2b7337a6 48 {
elijahsj 1:4c3c2b7337a6 49 __HAL_RCC_TIM12_CLK_ENABLE();
elijahsj 1:4c3c2b7337a6 50 TIM_OC_InitTypeDef sConfigOC = {0};
elijahsj 1:4c3c2b7337a6 51 htim12.Instance = TIM12;
elijahsj 1:4c3c2b7337a6 52 htim12.Init.Prescaler = 0;
elijahsj 1:4c3c2b7337a6 53 htim12.Init.CounterMode = TIM_COUNTERMODE_UP;
elijahsj 1:4c3c2b7337a6 54 htim12.Init.Period = PWM_PERIOD;
elijahsj 1:4c3c2b7337a6 55 htim12.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
elijahsj 1:4c3c2b7337a6 56 htim12.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
elijahsj 1:4c3c2b7337a6 57 if (HAL_TIM_PWM_Init(&htim12) != HAL_OK)
elijahsj 1:4c3c2b7337a6 58 {
elijahsj 1:4c3c2b7337a6 59 //Error_Handler();
elijahsj 1:4c3c2b7337a6 60 }
elijahsj 1:4c3c2b7337a6 61 sConfigOC.OCMode = TIM_OCMODE_PWM1;
elijahsj 1:4c3c2b7337a6 62 sConfigOC.Pulse = 0;
elijahsj 1:4c3c2b7337a6 63 sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
elijahsj 1:4c3c2b7337a6 64 sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
elijahsj 1:4c3c2b7337a6 65 if (HAL_TIM_PWM_ConfigChannel(&htim12, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
elijahsj 1:4c3c2b7337a6 66 {
elijahsj 1:4c3c2b7337a6 67 //Error_Handler();
elijahsj 1:4c3c2b7337a6 68 }
elijahsj 1:4c3c2b7337a6 69 if (HAL_TIM_PWM_ConfigChannel(&htim12, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
elijahsj 1:4c3c2b7337a6 70 {
elijahsj 1:4c3c2b7337a6 71 //Error_Handler();
elijahsj 1:4c3c2b7337a6 72 }
elijahsj 2:30503be9a375 73 HAL_TIM_MspPostInit(&htim12);
elijahsj 2:30503be9a375 74 }
elijahsj 2:30503be9a375 75
elijahsj 2:30503be9a375 76 static void MX_TIM13_Init(void)
elijahsj 2:30503be9a375 77 {
elijahsj 2:30503be9a375 78 __HAL_RCC_TIM13_CLK_ENABLE();
elijahsj 2:30503be9a375 79 TIM_OC_InitTypeDef sConfigOC = {0};
elijahsj 2:30503be9a375 80 htim13.Instance = TIM13;
elijahsj 2:30503be9a375 81 htim13.Init.Prescaler = 0;
elijahsj 2:30503be9a375 82 htim13.Init.CounterMode = TIM_COUNTERMODE_UP;
elijahsj 2:30503be9a375 83 htim13.Init.Period = PWM_PERIOD;
elijahsj 2:30503be9a375 84 htim13.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
elijahsj 2:30503be9a375 85 htim13.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
elijahsj 2:30503be9a375 86 if (HAL_TIM_Base_Init(&htim13) != HAL_OK)
elijahsj 2:30503be9a375 87 {
elijahsj 2:30503be9a375 88 //Error_Handler();
elijahsj 2:30503be9a375 89 }
elijahsj 2:30503be9a375 90 if (HAL_TIM_PWM_Init(&htim13) != HAL_OK)
elijahsj 2:30503be9a375 91 {
elijahsj 2:30503be9a375 92 //Error_Handler();
elijahsj 2:30503be9a375 93 }
elijahsj 2:30503be9a375 94 sConfigOC.OCMode = TIM_OCMODE_PWM1;
elijahsj 2:30503be9a375 95 sConfigOC.Pulse = 0;
elijahsj 2:30503be9a375 96 sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
elijahsj 2:30503be9a375 97 sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
elijahsj 2:30503be9a375 98 if (HAL_TIM_PWM_ConfigChannel(&htim13, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
elijahsj 2:30503be9a375 99 {
elijahsj 2:30503be9a375 100 //Error_Handler();
elijahsj 2:30503be9a375 101 }
elijahsj 2:30503be9a375 102 HAL_TIM_MspPostInit(&htim13);
elijahsj 2:30503be9a375 103 }
elijahsj 2:30503be9a375 104
elijahsj 2:30503be9a375 105 static void MX_TIM14_Init(void)
elijahsj 2:30503be9a375 106 {
elijahsj 2:30503be9a375 107 __HAL_RCC_TIM14_CLK_ENABLE();
elijahsj 2:30503be9a375 108 TIM_OC_InitTypeDef sConfigOC = {0};
elijahsj 2:30503be9a375 109 htim14.Instance = TIM14;
elijahsj 2:30503be9a375 110 htim14.Init.Prescaler = 0;
elijahsj 2:30503be9a375 111 htim14.Init.CounterMode = TIM_COUNTERMODE_UP;
elijahsj 2:30503be9a375 112 htim14.Init.Period = PWM_PERIOD;
elijahsj 2:30503be9a375 113 htim14.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
elijahsj 2:30503be9a375 114 htim14.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
elijahsj 2:30503be9a375 115 if (HAL_TIM_Base_Init(&htim14) != HAL_OK)
elijahsj 2:30503be9a375 116 {
elijahsj 2:30503be9a375 117 //Error_Handler();
elijahsj 2:30503be9a375 118 }
elijahsj 2:30503be9a375 119 if (HAL_TIM_PWM_Init(&htim14) != HAL_OK)
elijahsj 2:30503be9a375 120 {
elijahsj 2:30503be9a375 121 //Error_Handler();
elijahsj 2:30503be9a375 122 }
elijahsj 2:30503be9a375 123 sConfigOC.OCMode = TIM_OCMODE_PWM1;
elijahsj 2:30503be9a375 124 sConfigOC.Pulse = 0;
elijahsj 2:30503be9a375 125 sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
elijahsj 2:30503be9a375 126 sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
elijahsj 2:30503be9a375 127 if (HAL_TIM_PWM_ConfigChannel(&htim14, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
elijahsj 2:30503be9a375 128 {
elijahsj 2:30503be9a375 129 //Error_Handler();
elijahsj 2:30503be9a375 130 }
elijahsj 2:30503be9a375 131 HAL_TIM_MspPostInit(&htim14);
elijahsj 2:30503be9a375 132 }
elijahsj 1:4c3c2b7337a6 133
elijahsj 2:30503be9a375 134 static void MX_TIM15_Init(void)
elijahsj 2:30503be9a375 135 {
elijahsj 2:30503be9a375 136 __HAL_RCC_TIM15_CLK_ENABLE();
elijahsj 2:30503be9a375 137 TIM_MasterConfigTypeDef sMasterConfig = {0};
elijahsj 2:30503be9a375 138 TIM_OC_InitTypeDef sConfigOC = {0};
elijahsj 2:30503be9a375 139 TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
elijahsj 2:30503be9a375 140 htim15.Instance = TIM15;
elijahsj 2:30503be9a375 141 htim15.Init.Prescaler = 0;
elijahsj 2:30503be9a375 142 htim15.Init.CounterMode = TIM_COUNTERMODE_UP;
elijahsj 2:30503be9a375 143 htim15.Init.Period = PWM_PERIOD;
elijahsj 2:30503be9a375 144 htim15.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
elijahsj 2:30503be9a375 145 htim15.Init.RepetitionCounter = 0;
elijahsj 2:30503be9a375 146 htim15.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
elijahsj 2:30503be9a375 147 if (HAL_TIM_PWM_Init(&htim15) != HAL_OK)
elijahsj 2:30503be9a375 148 {
elijahsj 2:30503be9a375 149 //Error_Handler();
elijahsj 2:30503be9a375 150 }
elijahsj 2:30503be9a375 151 sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
elijahsj 2:30503be9a375 152 sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
elijahsj 2:30503be9a375 153 if (HAL_TIMEx_MasterConfigSynchronization(&htim15, &sMasterConfig) != HAL_OK)
elijahsj 2:30503be9a375 154 {
elijahsj 2:30503be9a375 155 //Error_Handler();
elijahsj 2:30503be9a375 156 }
elijahsj 2:30503be9a375 157 sConfigOC.OCMode = TIM_OCMODE_PWM1;
elijahsj 2:30503be9a375 158 sConfigOC.Pulse = 0;
elijahsj 2:30503be9a375 159 sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
elijahsj 2:30503be9a375 160 sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
elijahsj 2:30503be9a375 161 sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
elijahsj 2:30503be9a375 162 sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
elijahsj 2:30503be9a375 163 sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
elijahsj 2:30503be9a375 164 if (HAL_TIM_PWM_ConfigChannel(&htim15, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
elijahsj 2:30503be9a375 165 {
elijahsj 2:30503be9a375 166 //Error_Handler();
elijahsj 2:30503be9a375 167 }
elijahsj 2:30503be9a375 168 if (HAL_TIM_PWM_ConfigChannel(&htim15, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
elijahsj 2:30503be9a375 169 {
elijahsj 2:30503be9a375 170 //Error_Handler();
elijahsj 2:30503be9a375 171 }
elijahsj 2:30503be9a375 172 sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
elijahsj 2:30503be9a375 173 sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
elijahsj 2:30503be9a375 174 sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
elijahsj 2:30503be9a375 175 sBreakDeadTimeConfig.DeadTime = 0;
elijahsj 2:30503be9a375 176 sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
elijahsj 2:30503be9a375 177 sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
elijahsj 2:30503be9a375 178 sBreakDeadTimeConfig.BreakFilter = 0;
elijahsj 2:30503be9a375 179 sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
elijahsj 2:30503be9a375 180 if (HAL_TIMEx_ConfigBreakDeadTime(&htim15, &sBreakDeadTimeConfig) != HAL_OK)
elijahsj 2:30503be9a375 181 {
elijahsj 2:30503be9a375 182 //Error_Handler();
elijahsj 2:30503be9a375 183 }
elijahsj 2:30503be9a375 184 HAL_TIM_MspPostInit(&htim15);
elijahsj 2:30503be9a375 185
elijahsj 2:30503be9a375 186 }
elijahsj 2:30503be9a375 187
elijahsj 2:30503be9a375 188 static void MX_TIM16_Init(void)
elijahsj 2:30503be9a375 189 {
elijahsj 2:30503be9a375 190 __HAL_RCC_TIM16_CLK_ENABLE();
elijahsj 2:30503be9a375 191 TIM_OC_InitTypeDef sConfigOC = {0};
elijahsj 2:30503be9a375 192 TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
elijahsj 2:30503be9a375 193 htim16.Instance = TIM16;
elijahsj 2:30503be9a375 194 htim16.Init.Prescaler = 0;
elijahsj 2:30503be9a375 195 htim16.Init.CounterMode = TIM_COUNTERMODE_UP;
elijahsj 2:30503be9a375 196 htim16.Init.Period = PWM_PERIOD;
elijahsj 2:30503be9a375 197 htim16.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
elijahsj 2:30503be9a375 198 htim16.Init.RepetitionCounter = 0;
elijahsj 2:30503be9a375 199 htim16.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
elijahsj 2:30503be9a375 200 if (HAL_TIM_Base_Init(&htim16) != HAL_OK)
elijahsj 2:30503be9a375 201 {
elijahsj 2:30503be9a375 202 //Error_Handler();
elijahsj 2:30503be9a375 203 }
elijahsj 2:30503be9a375 204 if (HAL_TIM_PWM_Init(&htim16) != HAL_OK)
elijahsj 2:30503be9a375 205 {
elijahsj 2:30503be9a375 206 //Error_Handler();
elijahsj 2:30503be9a375 207 }
elijahsj 2:30503be9a375 208 sConfigOC.OCMode = TIM_OCMODE_PWM1;
elijahsj 2:30503be9a375 209 sConfigOC.Pulse = 0;
elijahsj 2:30503be9a375 210 sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
elijahsj 2:30503be9a375 211 sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
elijahsj 2:30503be9a375 212 sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
elijahsj 2:30503be9a375 213 sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
elijahsj 2:30503be9a375 214 sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
elijahsj 2:30503be9a375 215 if (HAL_TIM_PWM_ConfigChannel(&htim16, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
elijahsj 2:30503be9a375 216 {
elijahsj 2:30503be9a375 217 //Error_Handler();
elijahsj 2:30503be9a375 218 }
elijahsj 2:30503be9a375 219 sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
elijahsj 2:30503be9a375 220 sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
elijahsj 2:30503be9a375 221 sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
elijahsj 2:30503be9a375 222 sBreakDeadTimeConfig.DeadTime = 0;
elijahsj 2:30503be9a375 223 sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
elijahsj 2:30503be9a375 224 sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
elijahsj 2:30503be9a375 225 sBreakDeadTimeConfig.BreakFilter = 0;
elijahsj 2:30503be9a375 226 sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
elijahsj 2:30503be9a375 227 if (HAL_TIMEx_ConfigBreakDeadTime(&htim16, &sBreakDeadTimeConfig) != HAL_OK)
elijahsj 2:30503be9a375 228 {
elijahsj 2:30503be9a375 229 //Error_Handler();
elijahsj 2:30503be9a375 230 }
elijahsj 2:30503be9a375 231 HAL_TIM_MspPostInit(&htim16);
elijahsj 2:30503be9a375 232
elijahsj 2:30503be9a375 233 }
elijahsj 2:30503be9a375 234
elijahsj 2:30503be9a375 235 static void MX_TIM17_Init(void)
elijahsj 2:30503be9a375 236 {
elijahsj 2:30503be9a375 237 __HAL_RCC_TIM17_CLK_ENABLE();
elijahsj 2:30503be9a375 238 TIM_OC_InitTypeDef sConfigOC = {0};
elijahsj 2:30503be9a375 239 TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
elijahsj 2:30503be9a375 240 htim17.Instance = TIM17;
elijahsj 2:30503be9a375 241 htim17.Init.Prescaler = 0;
elijahsj 2:30503be9a375 242 htim17.Init.CounterMode = TIM_COUNTERMODE_UP;
elijahsj 2:30503be9a375 243 htim17.Init.Period = PWM_PERIOD;
elijahsj 2:30503be9a375 244 htim17.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
elijahsj 2:30503be9a375 245 htim17.Init.RepetitionCounter = 0;
elijahsj 2:30503be9a375 246 htim17.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
elijahsj 2:30503be9a375 247 if (HAL_TIM_Base_Init(&htim17) != HAL_OK)
elijahsj 2:30503be9a375 248 {
elijahsj 2:30503be9a375 249 //Error_Handler();
elijahsj 2:30503be9a375 250 }
elijahsj 2:30503be9a375 251 if (HAL_TIM_PWM_Init(&htim17) != HAL_OK)
elijahsj 2:30503be9a375 252 {
elijahsj 2:30503be9a375 253 //Error_Handler();
elijahsj 2:30503be9a375 254 }
elijahsj 2:30503be9a375 255 sConfigOC.OCMode = TIM_OCMODE_PWM1;
elijahsj 2:30503be9a375 256 sConfigOC.Pulse = 0;
elijahsj 2:30503be9a375 257 sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
elijahsj 2:30503be9a375 258 sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
elijahsj 2:30503be9a375 259 sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
elijahsj 2:30503be9a375 260 sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
elijahsj 2:30503be9a375 261 sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
elijahsj 2:30503be9a375 262 if (HAL_TIM_PWM_ConfigChannel(&htim17, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
elijahsj 2:30503be9a375 263 {
elijahsj 2:30503be9a375 264 //Error_Handler();
elijahsj 2:30503be9a375 265 }
elijahsj 2:30503be9a375 266 sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
elijahsj 2:30503be9a375 267 sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
elijahsj 2:30503be9a375 268 sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
elijahsj 2:30503be9a375 269 sBreakDeadTimeConfig.DeadTime = 0;
elijahsj 2:30503be9a375 270 sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
elijahsj 2:30503be9a375 271 sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
elijahsj 2:30503be9a375 272 sBreakDeadTimeConfig.BreakFilter = 0;
elijahsj 2:30503be9a375 273 sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
elijahsj 2:30503be9a375 274 if (HAL_TIMEx_ConfigBreakDeadTime(&htim17, &sBreakDeadTimeConfig) != HAL_OK)
elijahsj 2:30503be9a375 275 {
elijahsj 2:30503be9a375 276 //Error_Handler();
elijahsj 2:30503be9a375 277 }
elijahsj 2:30503be9a375 278 HAL_TIM_MspPostInit(&htim17);
elijahsj 2:30503be9a375 279
elijahsj 1:4c3c2b7337a6 280 }
elijahsj 1:4c3c2b7337a6 281
elijahsj 1:4c3c2b7337a6 282 void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
elijahsj 1:4c3c2b7337a6 283 {
elijahsj 2:30503be9a375 284 /* GPIO Ports Clock Enable */
elijahsj 1:4c3c2b7337a6 285 __HAL_RCC_GPIOE_CLK_ENABLE();
elijahsj 1:4c3c2b7337a6 286 __HAL_RCC_GPIOC_CLK_ENABLE();
elijahsj 1:4c3c2b7337a6 287 __HAL_RCC_GPIOF_CLK_ENABLE();
elijahsj 1:4c3c2b7337a6 288 __HAL_RCC_GPIOH_CLK_ENABLE();
elijahsj 1:4c3c2b7337a6 289 __HAL_RCC_GPIOA_CLK_ENABLE();
elijahsj 1:4c3c2b7337a6 290 __HAL_RCC_GPIOB_CLK_ENABLE();
elijahsj 1:4c3c2b7337a6 291 __HAL_RCC_GPIOD_CLK_ENABLE();
elijahsj 1:4c3c2b7337a6 292 __HAL_RCC_GPIOG_CLK_ENABLE();
elijahsj 1:4c3c2b7337a6 293
elijahsj 1:4c3c2b7337a6 294 GPIO_InitTypeDef GPIO_InitStruct = {0};
elijahsj 1:4c3c2b7337a6 295 if(htim->Instance==TIM12)
elijahsj 1:4c3c2b7337a6 296 {
elijahsj 1:4c3c2b7337a6 297
elijahsj 1:4c3c2b7337a6 298 /**TIM12 GPIO Configuration
elijahsj 1:4c3c2b7337a6 299 PB14 ------> TIM12_CH1
elijahsj 1:4c3c2b7337a6 300 PB15 ------> TIM12_CH2
elijahsj 1:4c3c2b7337a6 301 */
elijahsj 1:4c3c2b7337a6 302 GPIO_InitStruct.Pin = GPIO_PIN_14|GPIO_PIN_15;
elijahsj 1:4c3c2b7337a6 303 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
elijahsj 1:4c3c2b7337a6 304 GPIO_InitStruct.Pull = GPIO_NOPULL;
elijahsj 1:4c3c2b7337a6 305 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
elijahsj 1:4c3c2b7337a6 306 GPIO_InitStruct.Alternate = GPIO_AF2_TIM12;
elijahsj 1:4c3c2b7337a6 307 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
elijahsj 1:4c3c2b7337a6 308 }
elijahsj 1:4c3c2b7337a6 309 else if(htim->Instance==TIM13)
elijahsj 1:4c3c2b7337a6 310 {
elijahsj 1:4c3c2b7337a6 311 /**TIM13 GPIO Configuration
elijahsj 1:4c3c2b7337a6 312 PA6 ------> TIM13_CH1
elijahsj 1:4c3c2b7337a6 313 */
elijahsj 1:4c3c2b7337a6 314 GPIO_InitStruct.Pin = GPIO_PIN_6;
elijahsj 1:4c3c2b7337a6 315 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
elijahsj 1:4c3c2b7337a6 316 GPIO_InitStruct.Pull = GPIO_NOPULL;
elijahsj 1:4c3c2b7337a6 317 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
elijahsj 1:4c3c2b7337a6 318 GPIO_InitStruct.Alternate = GPIO_AF9_TIM13;
elijahsj 1:4c3c2b7337a6 319 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
elijahsj 1:4c3c2b7337a6 320 }
elijahsj 1:4c3c2b7337a6 321 else if(htim->Instance==TIM14)
elijahsj 1:4c3c2b7337a6 322 {
elijahsj 1:4c3c2b7337a6 323 /**TIM14 GPIO Configuration
elijahsj 1:4c3c2b7337a6 324 PF9 ------> TIM14_CH1
elijahsj 1:4c3c2b7337a6 325 */
elijahsj 1:4c3c2b7337a6 326 GPIO_InitStruct.Pin = GPIO_PIN_9;
elijahsj 1:4c3c2b7337a6 327 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
elijahsj 1:4c3c2b7337a6 328 GPIO_InitStruct.Pull = GPIO_NOPULL;
elijahsj 1:4c3c2b7337a6 329 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
elijahsj 1:4c3c2b7337a6 330 GPIO_InitStruct.Alternate = GPIO_AF9_TIM14;
elijahsj 1:4c3c2b7337a6 331 HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
elijahsj 1:4c3c2b7337a6 332 }
elijahsj 1:4c3c2b7337a6 333 else if(htim->Instance==TIM15)
elijahsj 1:4c3c2b7337a6 334 {
elijahsj 1:4c3c2b7337a6 335 /**TIM15 GPIO Configuration
elijahsj 1:4c3c2b7337a6 336 PE5 ------> TIM15_CH1
elijahsj 1:4c3c2b7337a6 337 PE6 ------> TIM15_CH2
elijahsj 1:4c3c2b7337a6 338 */
elijahsj 1:4c3c2b7337a6 339 GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6;
elijahsj 1:4c3c2b7337a6 340 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
elijahsj 1:4c3c2b7337a6 341 GPIO_InitStruct.Pull = GPIO_NOPULL;
elijahsj 1:4c3c2b7337a6 342 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
elijahsj 1:4c3c2b7337a6 343 GPIO_InitStruct.Alternate = GPIO_AF4_TIM15;
elijahsj 1:4c3c2b7337a6 344 HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
elijahsj 1:4c3c2b7337a6 345 }
elijahsj 1:4c3c2b7337a6 346 else if(htim->Instance==TIM16)
elijahsj 1:4c3c2b7337a6 347 {
elijahsj 1:4c3c2b7337a6 348 /**TIM16 GPIO Configuration
elijahsj 1:4c3c2b7337a6 349 PF6 ------> TIM16_CH1
elijahsj 1:4c3c2b7337a6 350 */
elijahsj 1:4c3c2b7337a6 351 GPIO_InitStruct.Pin = GPIO_PIN_6;
elijahsj 1:4c3c2b7337a6 352 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
elijahsj 1:4c3c2b7337a6 353 GPIO_InitStruct.Pull = GPIO_NOPULL;
elijahsj 1:4c3c2b7337a6 354 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
elijahsj 1:4c3c2b7337a6 355 GPIO_InitStruct.Alternate = GPIO_AF1_TIM16;
elijahsj 1:4c3c2b7337a6 356 HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
elijahsj 1:4c3c2b7337a6 357 }
elijahsj 1:4c3c2b7337a6 358 else if(htim->Instance==TIM17)
elijahsj 1:4c3c2b7337a6 359 {
elijahsj 1:4c3c2b7337a6 360 /**TIM17 GPIO Configuration
elijahsj 1:4c3c2b7337a6 361 PF7 ------> TIM17_CH1
elijahsj 1:4c3c2b7337a6 362 */
elijahsj 1:4c3c2b7337a6 363 GPIO_InitStruct.Pin = GPIO_PIN_7;
elijahsj 1:4c3c2b7337a6 364 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
elijahsj 1:4c3c2b7337a6 365 GPIO_InitStruct.Pull = GPIO_NOPULL;
elijahsj 1:4c3c2b7337a6 366 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
elijahsj 1:4c3c2b7337a6 367 GPIO_InitStruct.Alternate = GPIO_AF1_TIM17;
elijahsj 1:4c3c2b7337a6 368 HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
elijahsj 1:4c3c2b7337a6 369 }
elijahsj 1:4c3c2b7337a6 370
elijahsj 1:4c3c2b7337a6 371 }
elijahsj 1:4c3c2b7337a6 372
elijahsj 1:4c3c2b7337a6 373
elijahsj 1:4c3c2b7337a6 374
elijahsj 1:4c3c2b7337a6 375