mirror of
https://github.com/STMicroelectronics/STM32CubeF4.git
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382 lines
11 KiB
C
382 lines
11 KiB
C
/**
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******************************************************************************
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* @file TIM/TIM_Encoder/Src/main.c
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* @author MCD Application Team
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* @brief This example shows how to command 2 Timers as slaves (TIM3 & TIM4)
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* using a Timer as master (TIM2)
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******************************************************************************
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* @attention
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*
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* <h2><center>© Copyright (c) 2017 STMicroelectronics.
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* All rights reserved.</center></h2>
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*
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* This software component is licensed by ST under BSD 3-Clause license,
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* the "License"; You may not use this file except in compliance with the
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* License. You may obtain a copy of the License at:
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* opensource.org/licenses/BSD-3-Clause
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*
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******************************************************************************
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*/
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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/** @addtogroup STM32F4xx_HAL_Examples
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* @{
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*/
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/** @addtogroup TIM_Encoder
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* @{
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*/
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/* Private typedef -----------------------------------------------------------*/
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/* Private define ------------------------------------------------------------*/
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#define EMU_PERIOD (((SystemCoreClock/4)/10000) - 1)
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/* Private macro -------------------------------------------------------------*/
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/* Private variables ---------------------------------------------------------*/
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uint32_t uwDirection = 0;
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/* Timer handler declaration that emulates a quadrature encoder outputs */
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TIM_HandleTypeDef EmulatorHandle;
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/* Timer handler declaration */
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TIM_HandleTypeDef Encoder_Handle;
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/* Timer Output Compare Configuration Structure declaration */
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TIM_OC_InitTypeDef sConfig;
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/* Timer Encoder Configuration Structure declaration */
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TIM_Encoder_InitTypeDef sEncoderConfig;
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/* Private function prototypes -----------------------------------------------*/
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static void SystemClock_Config(void);
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static void Error_Handler(void);
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static void Init_TIM_Emulator(TIM_HandleTypeDef* htim);
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static void Emulate_Forward_Direction(TIM_HandleTypeDef* htim);
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static void Emulate_Backward_Direction(TIM_HandleTypeDef* htim);
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/* Private functions ---------------------------------------------------------*/
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/**
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* @brief Main program.
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* @param None
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* @retval None
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*/
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int main(void)
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{
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/* STM32F4xx HAL library initialization:
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- Configure the Flash prefetch
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- Systick timer is configured by default as source of time base, but user
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can eventually implement his proper time base source (a general purpose
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timer for example or other time source), keeping in mind that Time base
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duration should be kept 1ms since PPP_TIMEOUT_VALUEs are defined and
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handled in milliseconds basis.
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- Set NVIC Group Priority to 4
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- Low Level Initialization
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*/
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HAL_Init();
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/* Configure the system clock to 180 MHz */
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SystemClock_Config();
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/* Initialize LED1 & LED3 */
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BSP_LED_Init(LED1);
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BSP_LED_Init(LED3);
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/* Initialize TIM3 to emulate a quadrature encoder outputs */
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Init_TIM_Emulator(&EmulatorHandle);
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/* -1- Initialize TIM1 to handle the encoder sensor */
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/* Initialize TIM1 peripheral as follow:
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+ Period = 65535
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+ Prescaler = 0
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+ ClockDivision = 0
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+ Counter direction = Up
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*/
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Encoder_Handle.Instance = TIM1;
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Encoder_Handle.Init.Period = 65535;
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Encoder_Handle.Init.Prescaler = 0;
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Encoder_Handle.Init.ClockDivision = 0;
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Encoder_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
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Encoder_Handle.Init.RepetitionCounter = 0;
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Encoder_Handle.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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sEncoderConfig.EncoderMode = TIM_ENCODERMODE_TI12;
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sEncoderConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
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sEncoderConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
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sEncoderConfig.IC1Prescaler = TIM_ICPSC_DIV1;
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sEncoderConfig.IC1Filter = 0;
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sEncoderConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
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sEncoderConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
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sEncoderConfig.IC2Prescaler = TIM_ICPSC_DIV1;
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sEncoderConfig.IC2Filter = 0;
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if(HAL_TIM_Encoder_Init(&Encoder_Handle, &sEncoderConfig) != HAL_OK)
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{
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/* Initialization Error */
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Error_Handler();
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}
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/* Start the encoder interface */
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HAL_TIM_Encoder_Start(&Encoder_Handle, TIM_CHANNEL_ALL);
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/* Infinite loop */
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while (1)
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{
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/* Step 1: */
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/* Emulate a Forward direction */
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Emulate_Forward_Direction(&EmulatorHandle);
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/* Insert 1s delay */
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HAL_Delay(1000);
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/* Get the current direction */
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uwDirection = __HAL_TIM_DIRECTION_STATUS(&Encoder_Handle);
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/* Step 2: */
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/* Emulate a Backward direction */
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Emulate_Backward_Direction(&EmulatorHandle);
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/* Insert 1s delay */
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HAL_Delay(1000);
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/* Get the current direction */
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uwDirection = __HAL_TIM_DIRECTION_STATUS(&Encoder_Handle);
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}
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}
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/**
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* @brief Initialize a Timer to emulate an encoder sensor
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* @param htim : TIM handle
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* @retval None
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*/
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static void Init_TIM_Emulator(TIM_HandleTypeDef* htim)
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{
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/* Initialize TIM3 peripheral as follow:
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+ Prescaler = 0
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+ Period = 65535
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+ ClockDivision = 0
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+ Counter direction = Up
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*/
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htim->Instance = TIM3;
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htim->Init.Period = EMU_PERIOD;
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htim->Init.Prescaler = 0;
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htim->Init.ClockDivision = 0;
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htim->Init.CounterMode = TIM_COUNTERMODE_UP;
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if(HAL_TIM_OC_Init(htim) != HAL_OK)
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{
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/* Initialization Error */
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Error_Handler();
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}
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/*## Configure the Output Compare channels #########################################*/
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/* Output Compare Toggle Mode configuration: Channel1 */
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sConfig.OCMode = TIM_OCMODE_TOGGLE;
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sConfig.Pulse = (EMU_PERIOD * 1 )/4;
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sConfig.OCPolarity = TIM_OCPOLARITY_LOW;
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if(HAL_TIM_OC_ConfigChannel(htim, &sConfig, TIM_CHANNEL_1) != HAL_OK)
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{
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/* Configuration Error */
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Error_Handler();
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}
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/* Output Compare Toggle Mode configuration: Channel2 */
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sConfig.Pulse = (EMU_PERIOD * 3 )/4;
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if(HAL_TIM_OC_ConfigChannel(htim, &sConfig, TIM_CHANNEL_2) != HAL_OK)
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{
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/* Configuration Error */
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Error_Handler();
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}
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}
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/**
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* @brief Configures a Timer to emulate an encoder sensor outputs in Forward
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* direction
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* @param htim : TIM handle
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* @retval None
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*/
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static void Emulate_Forward_Direction(TIM_HandleTypeDef* htim)
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{
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/*## -1- Re-Configure the Pulse ########################################## */
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sConfig.Pulse = (EMU_PERIOD * 1 )/4;
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if(HAL_TIM_OC_ConfigChannel(htim, &sConfig, TIM_CHANNEL_1) != HAL_OK)
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{
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/* Configuration Error */
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Error_Handler();
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}
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sConfig.Pulse = (EMU_PERIOD * 3 )/4;
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if(HAL_TIM_OC_ConfigChannel(htim, &sConfig, TIM_CHANNEL_2) != HAL_OK)
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{
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/* Configuration Error */
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Error_Handler();
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}
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/*## -2- Start signals generation ######################################### */
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if(HAL_TIM_OC_Start(htim, TIM_CHANNEL_1) != HAL_OK)
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{
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/* Starting Error */
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Error_Handler();
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}
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if(HAL_TIM_OC_Start(htim, TIM_CHANNEL_2) != HAL_OK)
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{
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/* Starting Error */
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Error_Handler();
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}
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}
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/**
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* @brief Configures a Timer to emulate an encoder sensor outputs in Backward
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* direction
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* @param htim : TIM handle
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* @retval None
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*/
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static void Emulate_Backward_Direction(TIM_HandleTypeDef* htim)
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{
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/*## -1- Re-Configure the Pulse ########################################## */
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sConfig.Pulse = (EMU_PERIOD * 3 )/4;
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if(HAL_TIM_OC_ConfigChannel(htim, &sConfig, TIM_CHANNEL_1) != HAL_OK)
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{
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/* Configuration Error */
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Error_Handler();
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}
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sConfig.Pulse = (EMU_PERIOD * 1 )/4;
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if(HAL_TIM_OC_ConfigChannel(htim, &sConfig, TIM_CHANNEL_2) != HAL_OK)
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{
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/* Configuration Error */
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Error_Handler();
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}
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/*## -2- Start signals generation ######################################### */
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if(HAL_TIM_OC_Start(htim, TIM_CHANNEL_1) != HAL_OK)
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{
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/* Starting Error */
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Error_Handler();
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}
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if(HAL_TIM_OC_Start(htim, TIM_CHANNEL_2) != HAL_OK)
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{
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/* Starting Error */
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Error_Handler();
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}
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}
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/**
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* @brief This function is executed in case of error occurrence.
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* @param None
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* @retval None
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*/
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static void Error_Handler(void)
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{
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/* Turn LED3 on */
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BSP_LED_On(LED3);
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while (1)
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{
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}
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}
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/**
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* @brief System Clock Configuration
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* The system Clock is configured as follow :
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* System Clock source = PLL (HSE)
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* SYSCLK(Hz) = 180000000
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* HCLK(Hz) = 180000000
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* AHB Prescaler = 1
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* APB1 Prescaler = 4
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* APB2 Prescaler = 2
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* HSE Frequency(Hz) = 8000000
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* PLL_M = 8
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* PLL_N = 360
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* PLL_P = 2
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* PLL_Q = 7
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* VDD(V) = 3.3
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* Main regulator output voltage = Scale1 mode
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* Flash Latency(WS) = 5
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* @param None
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* @retval None
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*/
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static void SystemClock_Config(void)
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{
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RCC_ClkInitTypeDef RCC_ClkInitStruct;
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RCC_OscInitTypeDef RCC_OscInitStruct;
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HAL_StatusTypeDef ret = HAL_OK;
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/* Enable Power Control clock */
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__HAL_RCC_PWR_CLK_ENABLE();
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/* The voltage scaling allows optimizing the power consumption when the device is
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clocked below the maximum system frequency, to update the voltage scaling value
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regarding system frequency refer to product datasheet. */
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__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
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/* Enable HSE Oscillator and activate PLL with HSE as source */
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
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RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
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RCC_OscInitStruct.PLL.PLLM = 8;
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RCC_OscInitStruct.PLL.PLLN = 360;
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RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
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RCC_OscInitStruct.PLL.PLLQ = 7;
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RCC_OscInitStruct.PLL.PLLR = 2;
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ret = HAL_RCC_OscConfig(&RCC_OscInitStruct);
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if(ret != HAL_OK)
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{
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while(1) { ; }
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}
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/* Activate the OverDrive to reach the 180 MHz Frequency */
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ret = HAL_PWREx_EnableOverDrive();
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if(ret != HAL_OK)
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{
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while(1) { ; }
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}
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/* Select PLL as system clock source and configure the HCLK, PCLK1 and PCLK2 clocks dividers */
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RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2);
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
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ret = HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5);
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if(ret != HAL_OK)
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{
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while(1) { ; }
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}
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}
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#ifdef USE_FULL_ASSERT
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/**
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* @brief Reports the name of the source file and the source line number
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* where the assert_param error has occurred.
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* @param file: pointer to the source file name
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* @param line: assert_param error line source number
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* @retval None
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*/
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void assert_failed(uint8_t *file, uint32_t line)
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{
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/* User can add his own implementation to report the file name and line number,
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ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
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/* Infinite loop */
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while (1)
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{
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}
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}
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#endif
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/**
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* @}
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*/
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/**
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* @}
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*/
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/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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