ODrive/Src/tim.c

/**
  ******************************************************************************
  * File Name          : TIM.c
  * Description        : This file provides code for the configuration
  *                      of the TIM instances.
  ******************************************************************************
  *
  * Copyright (c) 2016 STMicroelectronics International N.V. 
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without 
  * modification, are permitted, provided that the following conditions are met:
  *
  * 1. Redistribution of source code must retain the above copyright notice, 
  *    this list of conditions and the following disclaimer.
  * 2. Redistributions in binary form must reproduce the above copyright notice,
  *    this list of conditions and the following disclaimer in the documentation
  *    and/or other materials provided with the distribution.
  * 3. Neither the name of STMicroelectronics nor the names of other 
  *    contributors to this software may be used to endorse or promote products 
  *    derived from this software without specific written permission.
  * 4. This software, including modifications and/or derivative works of this 
  *    software, must execute solely and exclusively on microcontroller or
  *    microprocessor devices manufactured by or for STMicroelectronics.
  * 5. Redistribution and use of this software other than as permitted under 
  *    this license is void and will automatically terminate your rights under 
  *    this license. 
  *
  * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS" 
  * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT 
  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A 
  * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
  * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT 
  * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, 
  * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 
  * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 
  * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
  * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */

/* Includes ------------------------------------------------------------------*/
#include "tim.h"

#include "gpio.h"

/* USER CODE BEGIN 0 */

// To trigger the ADC, we must use an output channel that is in PWM mode
// However, CubeMX does not allow you to set up a channel as PWM without an output pin.
// This will set OC4 to PWM mode. Also, triggering doesn't work if the compare register
// (called pulse here) is 0, so we initialise it to 1.
void OC4_PWM_Override(TIM_HandleTypeDef* htim) {

    TIM_OC_InitTypeDef sConfigOC;
    sConfigOC.OCMode = TIM_OCMODE_PWM2;
    sConfigOC.Pulse = 1;
    sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
    sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
    sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
    sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
    sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;

    HAL_TIM_OC_ConfigChannel(htim, &sConfigOC, TIM_CHANNEL_4);
}

/* USER CODE END 0 */

TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;
TIM_HandleTypeDef htim8;

/* TIM1 init function */
void MX_TIM1_Init(void)
{
  TIM_ClockConfigTypeDef sClockSourceConfig;
  TIM_MasterConfigTypeDef sMasterConfig;
  TIM_OC_InitTypeDef sConfigOC;
  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;

  htim1.Instance = TIM1;
  htim1.Init.Prescaler = 0;
  htim1.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3;
  htim1.Init.Period = 4096;
  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim1.Init.RepetitionCounter = 0;
  if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
  {
    Error_Handler();
  }

  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }

  if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
  {
    Error_Handler();
  }

  if (HAL_TIM_OC_Init(&htim1) != HAL_OK)
  {
    Error_Handler();
  }

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }

  sConfigOC.OCMode = TIM_OCMODE_PWM2;
  sConfigOC.Pulse = 0;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }

  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }

  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
  {
    Error_Handler();
  }

  sConfigOC.OCMode = TIM_OCMODE_TIMING;
  if (HAL_TIM_OC_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
  {
    Error_Handler();
  }

  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE;
  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;
  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
  sBreakDeadTimeConfig.DeadTime = 20;
  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
  {
    Error_Handler();
  }

  HAL_TIM_MspPostInit(&htim1);

}
/* TIM3 init function */
void MX_TIM3_Init(void)
{
  TIM_Encoder_InitTypeDef sConfig;
  TIM_MasterConfigTypeDef sMasterConfig;

  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 0;
  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim3.Init.Period = 0;
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
  sConfig.IC1Polarity = TIM_ICPOLARITY_BOTHEDGE;
  sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
  sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC1Filter = 4;
  sConfig.IC2Polarity = TIM_ICPOLARITY_BOTHEDGE;
  sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
  sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC2Filter = 4;
  if (HAL_TIM_Encoder_Init(&htim3, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }

}
/* TIM4 init function */
void MX_TIM4_Init(void)
{
  TIM_Encoder_InitTypeDef sConfig;
  TIM_MasterConfigTypeDef sMasterConfig;

  htim4.Instance = TIM4;
  htim4.Init.Prescaler = 0;
  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim4.Init.Period = 0;
  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
  sConfig.IC1Polarity = TIM_ICPOLARITY_BOTHEDGE;
  sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
  sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC1Filter = 4;
  sConfig.IC2Polarity = TIM_ICPOLARITY_BOTHEDGE;
  sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
  sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC2Filter = 4;
  if (HAL_TIM_Encoder_Init(&htim4, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }

}
/* TIM8 init function */
void MX_TIM8_Init(void)
{
  TIM_ClockConfigTypeDef sClockSourceConfig;
  TIM_MasterConfigTypeDef sMasterConfig;
  TIM_OC_InitTypeDef sConfigOC;
  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;

  htim8.Instance = TIM8;
  htim8.Init.Prescaler = 0;
  htim8.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3;
  htim8.Init.Period = 4096;
  htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim8.Init.RepetitionCounter = 0;
  if (HAL_TIM_Base_Init(&htim8) != HAL_OK)
  {
    Error_Handler();
  }

  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim8, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }

  if (HAL_TIM_PWM_Init(&htim8) != HAL_OK)
  {
    Error_Handler();
  }

  if (HAL_TIM_OC_Init(&htim8) != HAL_OK)
  {
    Error_Handler();
  }

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }

  sConfigOC.OCMode = TIM_OCMODE_PWM2;
  sConfigOC.Pulse = 0;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
  if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }

  if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }

  if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
  {
    Error_Handler();
  }

  sConfigOC.OCMode = TIM_OCMODE_TIMING;
  if (HAL_TIM_OC_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
  {
    Error_Handler();
  }

  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE;
  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;
  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
  sBreakDeadTimeConfig.DeadTime = 20;
  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
  if (HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig) != HAL_OK)
  {
    Error_Handler();
  }

  HAL_TIM_MspPostInit(&htim8);

}

void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
{

  if(tim_baseHandle->Instance==TIM1)
  {
  /* USER CODE BEGIN TIM1_MspInit 0 */

  /* USER CODE END TIM1_MspInit 0 */
    /* Peripheral clock enable */
    __HAL_RCC_TIM1_CLK_ENABLE();
  /* USER CODE BEGIN TIM1_MspInit 1 */

  /* USER CODE END TIM1_MspInit 1 */
  }
  else if(tim_baseHandle->Instance==TIM8)
  {
  /* USER CODE BEGIN TIM8_MspInit 0 */

  /* USER CODE END TIM8_MspInit 0 */
    /* Peripheral clock enable */
    __HAL_RCC_TIM8_CLK_ENABLE();
  /* USER CODE BEGIN TIM8_MspInit 1 */

  /* USER CODE END TIM8_MspInit 1 */
  }
}

void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct;
  if(tim_encoderHandle->Instance==TIM3)
  {
  /* USER CODE BEGIN TIM3_MspInit 0 */

  /* USER CODE END TIM3_MspInit 0 */
    /* Peripheral clock enable */
    __HAL_RCC_TIM3_CLK_ENABLE();
  
    /**TIM3 GPIO Configuration    
    PB4     ------> TIM3_CH1
    PB5     ------> TIM3_CH2 
    */
    GPIO_InitStruct.Pin = M0_ENC_A_Pin|M0_ENC_B_Pin;
    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_MspInit 1 */

  /* USER CODE END TIM3_MspInit 1 */
  }
  else if(tim_encoderHandle->Instance==TIM4)
  {
  /* USER CODE BEGIN TIM4_MspInit 0 */

  /* USER CODE END TIM4_MspInit 0 */
    /* Peripheral clock enable */
    __HAL_RCC_TIM4_CLK_ENABLE();
  
    /**TIM4 GPIO Configuration    
    PB6     ------> TIM4_CH1
    PB7     ------> TIM4_CH2 
    */
    GPIO_InitStruct.Pin = M1_ENC_A_Pin|M1_ENC_B_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /* USER CODE BEGIN TIM4_MspInit 1 */

  /* USER CODE END TIM4_MspInit 1 */
  }
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct;
  if(timHandle->Instance==TIM1)
  {
  /* USER CODE BEGIN TIM1_MspPostInit 0 */

  /* USER CODE END TIM1_MspPostInit 0 */
    /**TIM1 GPIO Configuration    
    PB13     ------> TIM1_CH1N
    PB14     ------> TIM1_CH2N
    PB15     ------> TIM1_CH3N
    PA8     ------> TIM1_CH1
    PA9     ------> TIM1_CH2
    PA10     ------> TIM1_CH3 
    */
    GPIO_InitStruct.Pin = M0_AL_Pin|M0_BL_Pin|M0_CL_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = M0_AH_Pin|M0_BH_Pin|M0_CH_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /* USER CODE BEGIN TIM1_MspPostInit 1 */

  /* USER CODE END TIM1_MspPostInit 1 */
  }
  else if(timHandle->Instance==TIM8)
  {
  /* USER CODE BEGIN TIM8_MspPostInit 0 */

  /* USER CODE END TIM8_MspPostInit 0 */
  
    /**TIM8 GPIO Configuration    
    PA7     ------> TIM8_CH1N
    PB0     ------> TIM8_CH2N
    PB1     ------> TIM8_CH3N
    PC6     ------> TIM8_CH1
    PC7     ------> TIM8_CH2
    PC8     ------> TIM8_CH3 
    */
    GPIO_InitStruct.Pin = M1_AL_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
    HAL_GPIO_Init(M1_AL_GPIO_Port, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = M1_BL_Pin|M1_CL_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = M1_AH_Pin|M1_BH_Pin|M1_CH_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

  /* USER CODE BEGIN TIM8_MspPostInit 1 */

  /* USER CODE END TIM8_MspPostInit 1 */
  }

}

void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
{

  if(tim_baseHandle->Instance==TIM1)
  {
  /* USER CODE BEGIN TIM1_MspDeInit 0 */

  /* USER CODE END TIM1_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM1_CLK_DISABLE();
  /* USER CODE BEGIN TIM1_MspDeInit 1 */

  /* USER CODE END TIM1_MspDeInit 1 */
  }
  else if(tim_baseHandle->Instance==TIM8)
  {
  /* USER CODE BEGIN TIM8_MspDeInit 0 */

  /* USER CODE END TIM8_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM8_CLK_DISABLE();
  /* USER CODE BEGIN TIM8_MspDeInit 1 */

  /* USER CODE END TIM8_MspDeInit 1 */
  }
}

void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle)
{

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

  /* USER CODE END TIM3_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM3_CLK_DISABLE();
  
    /**TIM3 GPIO Configuration    
    PB4     ------> TIM3_CH1
    PB5     ------> TIM3_CH2 
    */
    HAL_GPIO_DeInit(GPIOB, M0_ENC_A_Pin|M0_ENC_B_Pin);

  /* USER CODE BEGIN TIM3_MspDeInit 1 */

  /* USER CODE END TIM3_MspDeInit 1 */
  }
  else if(tim_encoderHandle->Instance==TIM4)
  {
  /* USER CODE BEGIN TIM4_MspDeInit 0 */

  /* USER CODE END TIM4_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM4_CLK_DISABLE();
  
    /**TIM4 GPIO Configuration    
    PB6     ------> TIM4_CH1
    PB7     ------> TIM4_CH2 
    */
    HAL_GPIO_DeInit(GPIOB, M1_ENC_A_Pin|M1_ENC_B_Pin);

  /* USER CODE BEGIN TIM4_MspDeInit 1 */

  /* USER CODE END TIM4_MspDeInit 1 */
  }
} 

/* USER CODE BEGIN 1 */

/* USER CODE END 1 */

/**
  * @}
  */

/**
  * @}
  */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/