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stmsp test

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This commit is contained in:
Rene Hopf
2017-08-01 19:47:10 +02:00
parent f0c170b713
commit 12f7ccdb1a
8 changed files with 249 additions and 100 deletions
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1
stm32f303/inc/opamp.h
View File

@@ -59,6 +59,7 @@
extern OPAMP_HandleTypeDef hopamp1;
extern OPAMP_HandleTypeDef hopamp2;
extern OPAMP_HandleTypeDef hopamp3;
extern OPAMP_HandleTypeDef hopamp4;
/* USER CODE BEGIN Private defines */

28
stm32f303/src/comps/io.c
View File

@@ -22,6 +22,8 @@ HAL_PIN(udc_pwm);
HAL_PIN(hv_temp);
HAL_PIN(mot_temp);
HAL_PIN(oc1);
HAL_PIN(oc2);
uint32_t adc_12_buf[10];
uint32_t adc_34_buf[10];
@@ -77,12 +79,27 @@ static void nrt_init(volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr)
// struct io_pin_ctx_t * pins = (struct io_pin_ctx_t *)pin_ptr;
GPIO_InitTypeDef GPIO_InitStruct;
//PA8 LED
GPIO_InitStruct.Pin = GPIO_PIN_8;
GPIO_InitStruct.Pin = LED_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct);
//enable
GPIO_InitStruct.Pin = GPIO_PIN_15;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_10, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_15, GPIO_PIN_SET);
DMA1_Channel1->CCR &= (uint16_t)(~DMA_CCR_EN);
DMA1_Channel1->CPAR = (uint32_t)&(ADC12_COMMON->CDR);
DMA1_Channel1->CMAR = (uint32_t)adc_12_buf;
@@ -107,9 +124,10 @@ static void nrt_init(volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr)
static void rt_func(float period, volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr){
struct io_ctx_t * ctx = (struct io_ctx_t *)ctx_ptr;
struct io_pin_ctx_t * pins = (struct io_pin_ctx_t *)pin_ptr;
while(!(DMA1->ISR & DMA_ISR_TCIF1)){}
while(!(DMA2->ISR & DMA_ISR_TCIF5)){}
TIM1->CCR1 = PIN(oc1) * 1200.0+1200.0;
TIM1->CCR2 = PIN(oc2) * 1200.0+1200.0;
// while(!(DMA1->ISR & DMA_ISR_TCIF1)){}
// while(!(DMA2->ISR & DMA_ISR_TCIF5)){}
DMA1->IFCR = DMA_IFCR_CTCIF1;
DMA2->IFCR = DMA_IFCR_CTCIF5;
@@ -134,7 +152,7 @@ static void rt_func(float period, volatile void * ctx_ptr, volatile hal_pin_inst
PIN(hv_temp) = r2temp(HV_R(ADC(adc_34_buf[0] >> 16))) * 0.01 + PIN(hv_temp) * 0.99; // 5.5u
PIN(mot_temp) = MOT_R(MOT_REF(ADC(adc_34_buf[5] >> 16))); // 1.4u
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, PIN(led) > 0 ? GPIO_PIN_SET : GPIO_PIN_RESET); // 0.1u
HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, PIN(led) > 0 ? GPIO_PIN_SET : GPIO_PIN_RESET); // 0.1u
}
hal_comp_t io_comp_struct = {

184
stm32f303/src/main.c
View File

@@ -61,6 +61,75 @@
uint32_t systick_freq;
CRC_HandleTypeDef hcrc;
TIM_HandleTypeDef htim1;
static void MX_TIM1_Init(void)
{
__HAL_RCC_TIM1_CLK_ENABLE();
TIM_MasterConfigTypeDef sMasterConfig;
TIM_OC_InitTypeDef sConfigOC;
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;
htim1.Instance = TIM1;
htim1.Init.Prescaler = 0;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 2400;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0;
// htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
HAL_TIM_OC_Init(&htim1);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 1200;
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(&htim1, &sConfigOC, TIM_CHANNEL_1);
HAL_TIM_OC_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2);
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
sBreakDeadTimeConfig.DeadTime = 0;
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
sBreakDeadTimeConfig.BreakFilter = 0;
sBreakDeadTimeConfig.Break2State = TIM_BREAK2_DISABLE;
sBreakDeadTimeConfig.Break2Polarity = TIM_BREAK2POLARITY_HIGH;
sBreakDeadTimeConfig.Break2Filter = 0;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig);
GPIO_InitTypeDef GPIO_InitStruct;
/**TIM1 GPIO Configuration
PB13 ------> TIM1_CH1N
PB14 ------> TIM1_CH2N
PA8 ------> TIM1_CH1
PA9 ------> TIM1_CH2
*/
GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF6_TIM1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF6_TIM1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}
// //hal interface TODO: move hal interface to file
// void hal_enable_rt(){
@@ -103,14 +172,14 @@ void Error_Handler(void);
void TIM8_UP_IRQHandler(){
GPIOA->BSRR |= GPIO_PIN_9;
//GPIOA->BSRR |= GPIO_PIN_9;
__HAL_TIM_CLEAR_IT(&htim8, TIM_IT_UPDATE);
hal_run_rt();
if(__HAL_TIM_GET_FLAG(&htim8, TIM_IT_UPDATE) == SET){
hal_stop();
hal.hal_state = RT_TOO_LONG;
}
GPIOA->BSRR |= GPIO_PIN_9 << 16;
//GPIOA->BSRR |= GPIO_PIN_9 << 16;
}
void bootloader(char * ptr){
@@ -162,14 +231,16 @@ int main(void)
#endif
MX_TIM8_Init();
MX_ADC1_Init();
MX_ADC2_Init();
MX_ADC3_Init();
MX_ADC4_Init();
MX_TIM1_Init();
// MX_ADC1_Init();
// MX_ADC2_Init();
// MX_ADC3_Init();
// MX_ADC4_Init();
// MX_DAC_Init();
MX_OPAMP1_Init();
// MX_OPAMP1_Init();
MX_OPAMP2_Init();
MX_OPAMP3_Init();
MX_OPAMP4_Init();
// MX_USART1_UART_Init();
MX_USB_DEVICE_Init();
@@ -187,14 +258,15 @@ int main(void)
__HAL_RCC_RTC_ENABLE();
/* USER CODE BEGIN 2 */
HAL_ADCEx_Calibration_Start(&hadc1, ADC_SINGLE_ENDED);
HAL_ADCEx_Calibration_Start(&hadc2, ADC_SINGLE_ENDED);
HAL_ADCEx_Calibration_Start(&hadc3, ADC_SINGLE_ENDED);
HAL_ADCEx_Calibration_Start(&hadc4, ADC_SINGLE_ENDED);
// HAL_ADCEx_Calibration_Start(&hadc1, ADC_SINGLE_ENDED);
// HAL_ADCEx_Calibration_Start(&hadc2, ADC_SINGLE_ENDED);
// HAL_ADCEx_Calibration_Start(&hadc3, ADC_SINGLE_ENDED);
// HAL_ADCEx_Calibration_Start(&hadc4, ADC_SINGLE_ENDED);
HAL_OPAMP_SelfCalibrate(&hopamp1);
// HAL_OPAMP_SelfCalibrate(&hopamp1);
HAL_OPAMP_SelfCalibrate(&hopamp2);
HAL_OPAMP_SelfCalibrate(&hopamp3);
HAL_OPAMP_SelfCalibrate(&hopamp4);
hcrc.Instance = CRC;
hcrc.Init.DefaultPolynomialUse = DEFAULT_POLYNOMIAL_ENABLE;
@@ -211,12 +283,12 @@ int main(void)
}
//IO pins
GPIO_InitStruct.Pin = GPIO_PIN_9 | GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
// GPIO_InitStruct.Pin = GPIO_PIN_9 | GPIO_PIN_10;
// GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
// GPIO_InitStruct.Pull = GPIO_NOPULL;
// GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
// HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*
if (HAL_OPAMP_Start(&hopamp1) != HAL_OK){
Error_Handler();
}
@@ -226,51 +298,59 @@ int main(void)
if (HAL_OPAMP_Start(&hopamp3) != HAL_OK){
Error_Handler();
}
*/
htim8.Instance->CCR1 = 0;
htim8.Instance->CCR2 = 0;
htim8.Instance->CCR3 = 0;
HAL_ADC_Start(&hadc1);
HAL_ADC_Start(&hadc2);
HAL_ADC_Start(&hadc3);
HAL_ADC_Start(&hadc4);
htim1.Instance->CCR1 = 1200;
htim1.Instance->CCR2 = 1200;
HAL_TIM_Base_Start(&htim1);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_1);
HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_2);
// HAL_ADC_Start(&hadc1);
// HAL_ADC_Start(&hadc2);
// HAL_ADC_Start(&hadc3);
// HAL_ADC_Start(&hadc4);
if (HAL_TIM_Base_Start_IT(&htim8) != HAL_OK){
Error_Handler();
}
#ifndef PWM_INVERT
TIM8->RCR = 1;//uptate event foo
#endif
if (HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_1) != HAL_OK){
Error_Handler();
}
if (HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_2) != HAL_OK){
Error_Handler();
}
if (HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_3) != HAL_OK){
Error_Handler();
}
if (HAL_TIMEx_PWMN_Start(&htim8, TIM_CHANNEL_1) != HAL_OK){
Error_Handler();
}
if (HAL_TIMEx_PWMN_Start(&htim8, TIM_CHANNEL_2) != HAL_OK){
Error_Handler();
}
if (HAL_TIMEx_PWMN_Start(&htim8, TIM_CHANNEL_3) != HAL_OK){
Error_Handler();
}
// if (HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_1) != HAL_OK){
// Error_Handler();
// }
// if (HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_2) != HAL_OK){
// Error_Handler();
// }
// if (HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_3) != HAL_OK){
// Error_Handler();
// }
// if (HAL_TIMEx_PWMN_Start(&htim8, TIM_CHANNEL_1) != HAL_OK){
// Error_Handler();
// }
// if (HAL_TIMEx_PWMN_Start(&htim8, TIM_CHANNEL_2) != HAL_OK){
// Error_Handler();
// }
// if (HAL_TIMEx_PWMN_Start(&htim8, TIM_CHANNEL_3) != HAL_OK){
// Error_Handler();
// }
hal_init(1.0 / 15000.0, 0.0);
// hal load comps
load_comp(comp_by_name("term"));
// load_comp(comp_by_name("sim"));
load_comp(comp_by_name("sim"));
load_comp(comp_by_name("io"));
load_comp(comp_by_name("ls"));
load_comp(comp_by_name("dq"));
// load_comp(comp_by_name("ls"));
// load_comp(comp_by_name("dq"));
load_comp(comp_by_name("idq"));
load_comp(comp_by_name("svm"));
load_comp(comp_by_name("hv"));
load_comp(comp_by_name("curpid"));
// load_comp(comp_by_name("svm"));
// load_comp(comp_by_name("hv"));
// load_comp(comp_by_name("curpid"));
hal_parse("term0.rt_prio = 0.1");
hal_parse("ls0.rt_prio = 0.6");
@@ -280,6 +360,7 @@ int main(void)
hal_parse("idq0.rt_prio = 4.0");
hal_parse("svm0.rt_prio = 5.0");
hal_parse("hv0.rt_prio = 6.0");
hal_parse("sim0.rt_prio = 7.0");
hal_parse("term0.send_step = 100.0");
hal_parse("term0.gain0 = 10.0");
@@ -289,7 +370,11 @@ int main(void)
hal_parse("term0.gain4 = 10.0");
hal_parse("term0.gain5 = 10.0");
hal_parse("term0.gain6 = 10.0");
hal_parse("term0.gain7 = 10.0");
hal_parse("term0.gain7 = 10.0");
hal_parse("idq0.pos = sim0.vel");
hal_parse("io0.oc1 = idq0.a");
hal_parse("io0.oc2 = idq0.b");
//link LS
hal_parse("ls0.mot_temp = io0.mot_temp");
@@ -400,7 +485,7 @@ void SystemClock_Config(void)
}
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB|RCC_PERIPHCLK_USART1
|RCC_PERIPHCLK_USART3|RCC_PERIPHCLK_TIM8
|RCC_PERIPHCLK_USART3|RCC_PERIPHCLK_TIM8|RCC_PERIPHCLK_TIM1
|RCC_PERIPHCLK_ADC12|RCC_PERIPHCLK_ADC34|RCC_PERIPHCLK_RTC;
PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
PeriphClkInit.Usart3ClockSelection = RCC_USART3CLKSOURCE_SYSCLK;
@@ -408,6 +493,7 @@ void SystemClock_Config(void)
PeriphClkInit.Adc34ClockSelection = RCC_ADC34PLLCLK_DIV1;
PeriphClkInit.USBClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
PeriphClkInit.Tim8ClockSelection = RCC_TIM8CLK_PLLCLK;
PeriphClkInit.Tim1ClockSelection = RCC_TIM1CLK_PLLCLK;
PeriphClkInit.RTCClockSelection = RCC_RTCCLKSOURCE_LSI;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{

37
stm32f303/src/opamp.c
View File

@@ -52,6 +52,7 @@
OPAMP_HandleTypeDef hopamp1;
OPAMP_HandleTypeDef hopamp2;
OPAMP_HandleTypeDef hopamp3;
OPAMP_HandleTypeDef hopamp4;
/* OPAMP1 init function */
void MX_OPAMP1_Init(void)
@@ -105,6 +106,24 @@ void MX_OPAMP3_Init(void)
}
/* OPAMP3 init function */
void MX_OPAMP4_Init(void)
{
hopamp3.Instance = OPAMP4;
hopamp3.Init.Mode = OPAMP_PGA_MODE;
hopamp3.Init.NonInvertingInput = OPAMP_NONINVERTINGINPUT_IO0;
hopamp3.Init.TimerControlledMuxmode = OPAMP_TIMERCONTROLLEDMUXMODE_DISABLE;
hopamp3.Init.PgaConnect = OPAMP_PGA_CONNECT_INVERTINGINPUT_NO;
hopamp3.Init.PgaGain = OPAMP_PGA_GAIN_16;
hopamp3.Init.UserTrimming = OPAMP_TRIMMING_FACTORY;
if (HAL_OPAMP_Init(&hopamp4) != HAL_OK)
{
Error_Handler();
}
}
void HAL_OPAMP_MspInit(OPAMP_HandleTypeDef* opampHandle)
{
@@ -165,6 +184,24 @@ void HAL_OPAMP_MspInit(OPAMP_HandleTypeDef* opampHandle)
/* USER CODE BEGIN OPAMP3_MspInit 1 */
/* USER CODE END OPAMP3_MspInit 1 */
}else if(opampHandle->Instance==OPAMP4)
{
/* USER CODE BEGIN OPAMP4_MspInit 0 */
/* USER CODE END OPAMP4_MspInit 0 */
/**OPAMP4 GPIO Configuration
PB11 ------> OPAMP4_VINP
PB12 ------> OPAMP4_VOUT
*/
GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN OPAMP4_MspInit 1 */
/* USER CODE END OPAMP4_MspInit 1 */
}
}

84
stm32f303/src/tim.c
View File

@@ -94,27 +94,27 @@ void MX_TIM8_Init(void)
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
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();
}
// 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();
// }
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
@@ -171,33 +171,33 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
PB8 ------> TIM8_CH2
PB9 ------> TIM8_CH3
*/
GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_4;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF4_TIM8;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Pin = 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_AF3_TIM8;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF5_TIM8;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF10_TIM8;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
// GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_4;
// GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
// GPIO_InitStruct.Pull = GPIO_NOPULL;
// GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
// GPIO_InitStruct.Alternate = GPIO_AF4_TIM8;
// HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
//
// GPIO_InitStruct.Pin = 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_AF3_TIM8;
// HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
//
// GPIO_InitStruct.Pin = GPIO_PIN_6;
// GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
// GPIO_InitStruct.Pull = GPIO_NOPULL;
// GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
// GPIO_InitStruct.Alternate = GPIO_AF5_TIM8;
// HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
//
// GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
// GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
// GPIO_InitStruct.Pull = GPIO_NOPULL;
// GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
// GPIO_InitStruct.Alternate = GPIO_AF10_TIM8;
// HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN TIM8_MspPostInit 1 */