servo/Src/tim.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    tim.c
  * @brief   This file provides code for the configuration
  *          of the TIM instances.
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "tim.h"

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

TIM_HandleTypeDef htim3;
volatile bool tim3_semaphore;
/* TIM1 init function */
void MX_TIM1_Init(void)
{

  /* USER CODE BEGIN TIM1_Init 0 */

  /* USER CODE END TIM1_Init 0 */

  LL_TIM_InitTypeDef TIM_InitStruct = {0};
  LL_TIM_OC_InitTypeDef TIM_OC_InitStruct = {0};
  LL_TIM_BDTR_InitTypeDef TIM_BDTRInitStruct = {0};

  LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
  /* Peripheral clock enable */
  LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_TIM1);

  /* USER CODE BEGIN TIM1_Init 1 */

  /* USER CODE END TIM1_Init 1 */
  TIM_InitStruct.Prescaler = 0;
  TIM_InitStruct.CounterMode = LL_TIM_COUNTERMODE_CENTER_UP;
  TIM_InitStruct.Autoreload = 65535;
  TIM_InitStruct.ClockDivision = LL_TIM_CLOCKDIVISION_DIV1;
  TIM_InitStruct.RepetitionCounter = 0;
  LL_TIM_Init(TIM1, &TIM_InitStruct);
  LL_TIM_EnableARRPreload(TIM1);
  LL_TIM_OC_EnablePreload(TIM1, LL_TIM_CHANNEL_CH1);
  TIM_OC_InitStruct.OCMode = LL_TIM_OCMODE_PWM1;
  TIM_OC_InitStruct.OCState = LL_TIM_OCSTATE_DISABLE;
  TIM_OC_InitStruct.OCNState = LL_TIM_OCSTATE_DISABLE;
  TIM_OC_InitStruct.CompareValue = 0;
  TIM_OC_InitStruct.OCPolarity = LL_TIM_OCPOLARITY_HIGH;
  TIM_OC_InitStruct.OCNPolarity = LL_TIM_OCPOLARITY_HIGH;
  TIM_OC_InitStruct.OCIdleState = LL_TIM_OCIDLESTATE_LOW;
  TIM_OC_InitStruct.OCNIdleState = LL_TIM_OCIDLESTATE_LOW;
  LL_TIM_OC_Init(TIM1, LL_TIM_CHANNEL_CH1, &TIM_OC_InitStruct);
  LL_TIM_OC_DisableFast(TIM1, LL_TIM_CHANNEL_CH1);
  LL_TIM_OC_EnablePreload(TIM1, LL_TIM_CHANNEL_CH2);
  LL_TIM_OC_Init(TIM1, LL_TIM_CHANNEL_CH2, &TIM_OC_InitStruct);
  LL_TIM_OC_DisableFast(TIM1, LL_TIM_CHANNEL_CH2);
  LL_TIM_OC_EnablePreload(TIM1, LL_TIM_CHANNEL_CH3);
  LL_TIM_OC_Init(TIM1, LL_TIM_CHANNEL_CH3, &TIM_OC_InitStruct);
  LL_TIM_OC_DisableFast(TIM1, LL_TIM_CHANNEL_CH3);
  LL_TIM_OC_EnablePreload(TIM1, LL_TIM_CHANNEL_CH4);
  TIM_OC_InitStruct.OCPolarity = LL_TIM_OCPOLARITY_LOW;
  LL_TIM_OC_Init(TIM1, LL_TIM_CHANNEL_CH4, &TIM_OC_InitStruct);
  LL_TIM_OC_DisableFast(TIM1, LL_TIM_CHANNEL_CH4);
  LL_TIM_SetTriggerOutput(TIM1, LL_TIM_TRGO_OC4REF);
  LL_TIM_DisableMasterSlaveMode(TIM1);
  TIM_BDTRInitStruct.OSSRState = LL_TIM_OSSR_DISABLE;
  TIM_BDTRInitStruct.OSSIState = LL_TIM_OSSI_DISABLE;
  TIM_BDTRInitStruct.LockLevel = LL_TIM_LOCKLEVEL_OFF;
  TIM_BDTRInitStruct.DeadTime = 0;
  TIM_BDTRInitStruct.BreakState = LL_TIM_BREAK_DISABLE;
  TIM_BDTRInitStruct.BreakPolarity = LL_TIM_BREAK_POLARITY_HIGH;
  TIM_BDTRInitStruct.AutomaticOutput = LL_TIM_AUTOMATICOUTPUT_DISABLE;
  LL_TIM_BDTR_Init(TIM1, &TIM_BDTRInitStruct);
  /* USER CODE BEGIN TIM1_Init 2 */

  /* USER CODE END TIM1_Init 2 */
  LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOA);
    /**TIM1 GPIO Configuration
    PA8     ------> TIM1_CH1
    PA9     ------> TIM1_CH2
    PA10     ------> TIM1_CH3
    */
  GPIO_InitStruct.Pin = LL_GPIO_PIN_8|LL_GPIO_PIN_9|LL_GPIO_PIN_10;
  GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
  GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
  GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
  GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
  GPIO_InitStruct.Alternate = LL_GPIO_AF_1;
  LL_GPIO_Init(GPIOA, &GPIO_InitStruct);

}
/* TIM2 init function */
void MX_TIM2_Init(void)
{

  /* USER CODE BEGIN TIM2_Init 0 */

  /* USER CODE END TIM2_Init 0 */

  LL_TIM_InitTypeDef TIM_InitStruct = {0};

  /* Peripheral clock enable */
  LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM2);

  /* USER CODE BEGIN TIM2_Init 1 */

  /* USER CODE END TIM2_Init 1 */
  TIM_InitStruct.Prescaler = 0;
  TIM_InitStruct.CounterMode = LL_TIM_COUNTERMODE_UP;
  TIM_InitStruct.Autoreload = 4294967295;
  TIM_InitStruct.ClockDivision = LL_TIM_CLOCKDIVISION_DIV1;
  LL_TIM_Init(TIM2, &TIM_InitStruct);
  LL_TIM_DisableARRPreload(TIM2);
  LL_TIM_SetClockSource(TIM2, LL_TIM_CLOCKSOURCE_INTERNAL);
  LL_TIM_SetTriggerOutput(TIM2, LL_TIM_TRGO_UPDATE);
  LL_TIM_DisableMasterSlaveMode(TIM2);
  /* USER CODE BEGIN TIM2_Init 2 */

  /* USER CODE END TIM2_Init 2 */

}
/* TIM3 init function */
void MX_TIM3_Init(void)
{

  /* USER CODE BEGIN TIM3_Init 0 */

  /* USER CODE END TIM3_Init 0 */

  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};

  /* USER CODE BEGIN TIM3_Init 1 */

  /* USER CODE END TIM3_Init 1 */
  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 89;
  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim3.Init.Period = 199;
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM3_Init 2 */

  /* USER CODE END TIM3_Init 2 */

}

void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
{

  if(tim_baseHandle->Instance==TIM3)
  {
  /* USER CODE BEGIN TIM3_MspInit 0 */

  /* USER CODE END TIM3_MspInit 0 */
    /* TIM3 clock enable */
    __HAL_RCC_TIM3_CLK_ENABLE();

    /* TIM3 interrupt Init */
    HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(TIM3_IRQn);
  /* USER CODE BEGIN TIM3_MspInit 1 */

  /* USER CODE END TIM3_MspInit 1 */
  }
}

void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
{

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

  /* USER CODE END TIM3_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM3_CLK_DISABLE();

    /* TIM3 interrupt Deinit */
    HAL_NVIC_DisableIRQ(TIM3_IRQn);
  /* USER CODE BEGIN TIM3_MspDeInit 1 */

  /* USER CODE END TIM3_MspDeInit 1 */
  }
}

/* USER CODE BEGIN 1 */

/* USER CODE END 1 */