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Сделал отдельную ветку для работы с urdf

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MarkVoltov 2022-08-30 19:04:55 +03:00
parent f8a3e61a1e
commit e26579ae8e
1114 changed files with 2 additions and 1735181 deletions
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114
soft/processor32f446/Src/stm32f4xx_hal_timebase_tim.c
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32f4xx_hal_timebase_TIM.c
* @brief HAL time base based on the hardware TIM.
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under Ultimate Liberty license
* SLA0044, the "License"; You may not use this file except in compliance with
* the License. You may obtain a copy of the License at:
* www.st.com/SLA0044
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#include "stm32f4xx_hal_tim.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim14;
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
/**
* @brief This function configures the TIM14 as a time base source.
* The time source is configured to have 1ms time base with a dedicated
* Tick interrupt priority.
* @note This function is called automatically at the beginning of program after
* reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig().
* @param TickPriority: Tick interrupt priority.
* @retval HAL status
*/
HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
{
RCC_ClkInitTypeDef clkconfig;
uint32_t uwTimclock = 0;
uint32_t uwPrescalerValue = 0;
uint32_t pFLatency;
/*Configure the TIM14 IRQ priority */
HAL_NVIC_SetPriority(TIM8_TRG_COM_TIM14_IRQn, TickPriority ,0);
/* Enable the TIM14 global Interrupt */
HAL_NVIC_EnableIRQ(TIM8_TRG_COM_TIM14_IRQn);
/* Enable TIM14 clock */
__HAL_RCC_TIM14_CLK_ENABLE();
/* Get clock configuration */
HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
/* Compute TIM14 clock */
uwTimclock = HAL_RCC_GetPCLK1Freq();
/* Compute the prescaler value to have TIM14 counter clock equal to 1MHz */
uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000) - 1);
/* Initialize TIM14 */
htim14.Instance = TIM14;
/* Initialize TIMx peripheral as follow:
+ Period = [(TIM14CLK/1000) - 1]. to have a (1/1000) s time base.
+ Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
+ ClockDivision = 0
+ Counter direction = Up
*/
htim14.Init.Period = (1000000 / 1000) - 1;
htim14.Init.Prescaler = uwPrescalerValue;
htim14.Init.ClockDivision = 0;
htim14.Init.CounterMode = TIM_COUNTERMODE_UP;
if(HAL_TIM_Base_Init(&htim14) == HAL_OK)
{
/* Start the TIM time Base generation in interrupt mode */
return HAL_TIM_Base_Start_IT(&htim14);
}
/* Return function status */
return HAL_ERROR;
}
/**
* @brief Suspend Tick increment.
* @note Disable the tick increment by disabling TIM14 update interrupt.
* @param None
* @retval None
*/
void HAL_SuspendTick(void)
{
/* Disable TIM14 update Interrupt */
__HAL_TIM_DISABLE_IT(&htim14, TIM_IT_UPDATE);
}
/**
* @brief Resume Tick increment.
* @note Enable the tick increment by Enabling TIM14 update interrupt.
* @param None
* @retval None
*/
void HAL_ResumeTick(void)
{
/* Enable TIM14 Update interrupt */
__HAL_TIM_ENABLE_IT(&htim14, TIM_IT_UPDATE);
}
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/