STM32定時器 相關函式介紹
相關具體內容參考 stm32f4xx_hal_time.h
幾種模式函式的型別都差不多,包括基本型別(Base),輸出比較(OC),輸入捕獲(IC),pwm(PWM),單脈衝(One_Pulse)和編碼器(Encoder)。
/****** xxx使用上述幾種模式的英文替換即可*******/ HAL_TIM_xxx_Init HAL_TIM_xxx_DeInit HAL_TIM_xxx_MspInit HAL_TIM_xxx_MspDeInit /*********輪詢方式啟動/停止******/ HAL_TIM_xxx_Start HAL_TIM_xxx_Stop /*********中斷方式啟動/停止******/ HAL_TIM_xxx_Start_IT HAL_TIM_xxx_Stop_IT /**********DMA方式啟動/停止******/ HAL_TIM_xxx_Start_DMA HAL_TIM_xxx_Stop_DMA
定時器基本函式:
/* Time Base functions ********************************************************/ HAL_StatusTypeDef HAL_TIM_Base_Init(TIM_HandleTypeDef *htim); HAL_StatusTypeDef HAL_TIM_Base_DeInit(TIM_HandleTypeDef *htim); void HAL_TIM_Base_MspInit(TIM_HandleTypeDef *htim); void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef *htim); /* Blocking mode: Polling */ HAL_StatusTypeDef HAL_TIM_Base_Start(TIM_HandleTypeDef *htim); HAL_StatusTypeDef HAL_TIM_Base_Stop(TIM_HandleTypeDef *htim); /* Non-Blocking mode: Interrupt */ HAL_StatusTypeDef HAL_TIM_Base_Start_IT(TIM_HandleTypeDef *htim); HAL_StatusTypeDef HAL_TIM_Base_Stop_IT(TIM_HandleTypeDef *htim); /* Non-Blocking mode: DMA */ HAL_StatusTypeDef HAL_TIM_Base_Start_DMA(TIM_HandleTypeDef *htim, uint32_t *pData, uint16_t Length); HAL_StatusTypeDef HAL_TIM_Base_Stop_DMA(TIM_HandleTypeDef *htim);
輸出比較模式:
/* Timer Output Compare functions **********************************************/ HAL_StatusTypeDef HAL_TIM_OC_Init(TIM_HandleTypeDef *htim); HAL_StatusTypeDef HAL_TIM_OC_DeInit(TIM_HandleTypeDef *htim); void HAL_TIM_OC_MspInit(TIM_HandleTypeDef *htim); void HAL_TIM_OC_MspDeInit(TIM_HandleTypeDef *htim); /* Blocking mode: Polling 輪詢模式*/ HAL_StatusTypeDef HAL_TIM_OC_Start(TIM_HandleTypeDef *htim, uint32_t Channel); HAL_StatusTypeDef HAL_TIM_OC_Stop(TIM_HandleTypeDef *htim, uint32_t Channel); /* Non-Blocking mode: Interrupt 中斷模式 */ HAL_StatusTypeDef HAL_TIM_OC_Start_IT(TIM_HandleTypeDef *htim, uint32_t Channel); HAL_StatusTypeDef HAL_TIM_OC_Stop_IT(TIM_HandleTypeDef *htim, uint32_t Channel); /* Non-Blocking mode: DMA DMA模式*/ HAL_StatusTypeDef HAL_TIM_OC_Start_DMA(TIM_HandleTypeDef *htim, uint32_t Channel, uint32_t *pData, uint16_t Length); HAL_StatusTypeDef HAL_TIM_OC_Stop_DMA(TIM_HandleTypeDef *htim, uint32_t Channel);
PWM模式:
/* Timer PWM functions *********************************************************/
HAL_StatusTypeDef HAL_TIM_PWM_Init(TIM_HandleTypeDef *htim);
HAL_StatusTypeDef HAL_TIM_PWM_DeInit(TIM_HandleTypeDef *htim);
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef *htim);
void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef *htim);
/* Blocking mode: Polling */
HAL_StatusTypeDef HAL_TIM_PWM_Start(TIM_HandleTypeDef *htim, uint32_t Channel);
HAL_StatusTypeDef HAL_TIM_PWM_Stop(TIM_HandleTypeDef *htim, uint32_t Channel);
/* Non-Blocking mode: Interrupt */
HAL_StatusTypeDef HAL_TIM_PWM_Start_IT(TIM_HandleTypeDef *htim, uint32_t Channel);
HAL_StatusTypeDef HAL_TIM_PWM_Stop_IT(TIM_HandleTypeDef *htim, uint32_t Channel);
/* Non-Blocking mode: DMA */
HAL_StatusTypeDef HAL_TIM_PWM_Start_DMA(TIM_HandleTypeDef *htim, uint32_t Channel, uint32_t *pData, uint16_t Length);
HAL_StatusTypeDef HAL_TIM_PWM_Stop_DMA(TIM_HandleTypeDef *htim, uint32_t Channel);
輸入捕獲模式:
/* Timer Input Capture functions ***********************************************/
HAL_StatusTypeDef HAL_TIM_IC_Init(TIM_HandleTypeDef *htim);
HAL_StatusTypeDef HAL_TIM_IC_DeInit(TIM_HandleTypeDef *htim);
void HAL_TIM_IC_MspInit(TIM_HandleTypeDef *htim);
void HAL_TIM_IC_MspDeInit(TIM_HandleTypeDef *htim);
/* Blocking mode: Polling */
HAL_StatusTypeDef HAL_TIM_IC_Start(TIM_HandleTypeDef *htim, uint32_t Channel);
HAL_StatusTypeDef HAL_TIM_IC_Stop(TIM_HandleTypeDef *htim, uint32_t Channel);
/* Non-Blocking mode: Interrupt */
HAL_StatusTypeDef HAL_TIM_IC_Start_IT(TIM_HandleTypeDef *htim, uint32_t Channel);
HAL_StatusTypeDef HAL_TIM_IC_Stop_IT(TIM_HandleTypeDef *htim, uint32_t Channel);
/* Non-Blocking mode: DMA */
HAL_StatusTypeDef HAL_TIM_IC_Start_DMA(TIM_HandleTypeDef *htim, uint32_t Channel, uint32_t *pData, uint16_t Length);
HAL_StatusTypeDef HAL_TIM_IC_Stop_DMA(TIM_HandleTypeDef *htim, uint32_t Channel);
單脈衝模式:/* Timer One Pulse functions ***************************************************/
HAL_StatusTypeDef HAL_TIM_OnePulse_Init(TIM_HandleTypeDef *htim, uint32_t OnePulseMode);
HAL_StatusTypeDef HAL_TIM_OnePulse_DeInit(TIM_HandleTypeDef *htim);
void HAL_TIM_OnePulse_MspInit(TIM_HandleTypeDef *htim);
void HAL_TIM_OnePulse_MspDeInit(TIM_HandleTypeDef *htim);
/* Blocking mode: Polling */
HAL_StatusTypeDef HAL_TIM_OnePulse_Start(TIM_HandleTypeDef *htim, uint32_t OutputChannel);
HAL_StatusTypeDef HAL_TIM_OnePulse_Stop(TIM_HandleTypeDef *htim, uint32_t OutputChannel);
/* Non-Blocking mode: Interrupt */
HAL_StatusTypeDef HAL_TIM_OnePulse_Start_IT(TIM_HandleTypeDef *htim, uint32_t OutputChannel);
HAL_StatusTypeDef HAL_TIM_OnePulse_Stop_IT(TIM_HandleTypeDef *htim, uint32_t OutputChannel);
編碼器模式
/* Timer Encoder functions *****************************************************/
HAL_StatusTypeDef HAL_TIM_Encoder_Init(TIM_HandleTypeDef *htim, TIM_Encoder_InitTypeDef* sConfig);
HAL_StatusTypeDef HAL_TIM_Encoder_DeInit(TIM_HandleTypeDef *htim);
void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim);
void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef *htim);
/* Blocking mode: Polling */
HAL_StatusTypeDef HAL_TIM_Encoder_Start(TIM_HandleTypeDef *htim, uint32_t Channel);
HAL_StatusTypeDef HAL_TIM_Encoder_Stop(TIM_HandleTypeDef *htim, uint32_t Channel);
/* Non-Blocking mode: Interrupt */
HAL_StatusTypeDef HAL_TIM_Encoder_Start_IT(TIM_HandleTypeDef *htim, uint32_t Channel);
HAL_StatusTypeDef HAL_TIM_Encoder_Stop_IT(TIM_HandleTypeDef *htim, uint32_t Channel);
/* Non-Blocking mode: DMA */
HAL_StatusTypeDef HAL_TIM_Encoder_Start_DMA(TIM_HandleTypeDef *htim, uint32_t Channel, uint32_t *pData1, uint32_t *pData2, uint16_t Length);
HAL_StatusTypeDef HAL_TIM_Encoder_Stop_DMA(TIM_HandleTypeDef *htim, uint32_t Channel);
中斷處理函式:/* Interrupt Handler functions **********************************************/
void HAL_TIM_IRQHandler(TIM_HandleTypeDef *htim);
控制函式:
/* Control functions *********************************************************/
HAL_StatusTypeDef HAL_TIM_OC_ConfigChannel(TIM_HandleTypeDef *htim, TIM_OC_InitTypeDef* sConfig, uint32_t Channel);//配置輸出比較通道
HAL_StatusTypeDef HAL_TIM_PWM_ConfigChannel(TIM_HandleTypeDef *htim, TIM_OC_InitTypeDef* sConfig, uint32_t Channel);
HAL_StatusTypeDef HAL_TIM_IC_ConfigChannel(TIM_HandleTypeDef *htim, TIM_IC_InitTypeDef* sConfig, uint32_t Channel);
HAL_StatusTypeDef HAL_TIM_OnePulse_ConfigChannel(TIM_HandleTypeDef *htim, TIM_OnePulse_InitTypeDef* sConfig, uint32_t OutputChannel, uint32_t InputChannel);
HAL_StatusTypeDef HAL_TIM_ConfigOCrefClear(TIM_HandleTypeDef *htim, TIM_ClearInputConfigTypeDef * sClearInputConfig, uint32_t Channel);
//時鐘源配置函式
HAL_StatusTypeDef HAL_TIM_ConfigClockSource(TIM_HandleTypeDef *htim, TIM_ClockConfigTypeDef * sClockSourceConfig);
HAL_StatusTypeDef HAL_TIM_ConfigTI1Input(TIM_HandleTypeDef *htim, uint32_t TI1_Selection);
HAL_StatusTypeDef HAL_TIM_SlaveConfigSynchronization(TIM_HandleTypeDef *htim, TIM_SlaveConfigTypeDef * sSlaveConfig);
HAL_StatusTypeDef HAL_TIM_SlaveConfigSynchronization_IT(TIM_HandleTypeDef *htim, TIM_SlaveConfigTypeDef * sSlaveConfig);
HAL_StatusTypeDef HAL_TIM_DMABurst_WriteStart(TIM_HandleTypeDef *htim, uint32_t BurstBaseAddress, uint32_t BurstRequestSrc, uint32_t *BurstBuffer, uint32_t BurstLength);
HAL_StatusTypeDef HAL_TIM_DMABurst_WriteStop(TIM_HandleTypeDef *htim, uint32_t BurstRequestSrc);
HAL_StatusTypeDef HAL_TIM_DMABurst_ReadStart(TIM_HandleTypeDef *htim, uint32_t BurstBaseAddress, uint32_t BurstRequestSrc, uint32_t *BurstBuffer, uint32_t BurstLength);
HAL_StatusTypeDef HAL_TIM_DMABurst_ReadStop(TIM_HandleTypeDef *htim, uint32_t BurstRequestSrc);
HAL_StatusTypeDef HAL_TIM_GenerateEvent(TIM_HandleTypeDef *htim, uint32_t EventSource);
uint32_t HAL_TIM_ReadCapturedValue(TIM_HandleTypeDef *htim, uint32_t Channel);
回撥函式:
/* Callback in non blocking modes (Interrupt and DMA) *************************/
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim);//週期結束時呼叫。
void HAL_TIM_OC_DelayElapsedCallback(TIM_HandleTypeDef *htim); //CCR匹配即翻轉時,發生呼叫。
void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim);
void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim);
void HAL_TIM_TriggerCallback(TIM_HandleTypeDef *htim);
void HAL_TIM_ErrorCallback(TIM_HandleTypeDef *htim);
狀態函式:
/* Peripheral State functions 就是獲取相應TIM_HandleTypeDef控制代碼結構的state成員**************************************************/
HAL_TIM_StateTypeDef HAL_TIM_Base_GetState(TIM_HandleTypeDef *htim);
HAL_TIM_StateTypeDef HAL_TIM_OC_GetState(TIM_HandleTypeDef *htim);
HAL_TIM_StateTypeDef HAL_TIM_PWM_GetState(TIM_HandleTypeDef *htim);
HAL_TIM_StateTypeDef HAL_TIM_IC_GetState(TIM_HandleTypeDef *htim);
HAL_TIM_StateTypeDef HAL_TIM_OnePulse_GetState(TIM_HandleTypeDef *htim);
HAL_TIM_StateTypeDef HAL_TIM_Encoder_GetState(TIM_HandleTypeDef *htim);
還有幾個巨集定義是為了獲取和設定計時器相關的暫存器的值(CCR ,CNT,ARR )Capture Compare Register(CCR):
#define __HAL_TIM_SET_COMPARE(__HANDLE__, __CHANNEL__, __COMPARE__) \
(*(__IO uint32_t *)(&((__HANDLE__)->Instance->CCR1) + ((__CHANNEL__) >> 2U)) = (__COMPARE__))
#define __HAL_TIM_GET_COMPARE(__HANDLE__, __CHANNEL__) \
(*(__IO uint32_t *)(&((__HANDLE__)->Instance->CCR1) + ((__CHANNEL__) >> 2U)))
Counter Register(CNT):#define __HAL_TIM_SET_COUNTER(__HANDLE__, __COUNTER__) ((__HANDLE__)->Instance->CNT = (__COUNTER__))
#define __HAL_TIM_GET_COUNTER(__HANDLE__) ((__HANDLE__)->Instance->CNT)
Autoreload Register(ARR):#define __HAL_TIM_SET_AUTORELOAD(__HANDLE__, __AUTORELOAD__) \
do{ \
(__HANDLE__)->Instance->ARR = (__AUTORELOAD__); \
(__HANDLE__)->Init.Period = (__AUTORELOAD__); \
} while(0U)
#define __HAL_TIM_GET_AUTORELOAD(__HANDLE__) ((__HANDLE__)->Instance->ARR)
TIM Clock Division value:#define __HAL_TIM_GET_CLOCKDIVISION(__HANDLE__) ((__HANDLE__)->Instance->CR1 & TIM_CR1_CKD)
#define __HAL_TIM_SET_CLOCKDIVISION(__HANDLE__, __CKD__) \
do{ \
(__HANDLE__)->Instance->CR1 &= (uint16_t)(~TIM_CR1_CKD); \
(__HANDLE__)->Instance->CR1 |= (__CKD__); \
(__HANDLE__)->Init.ClockDivision = (__CKD__); \
} while(0U)
TIM Input Capture prescaler:#define __HAL_TIM_SET_ICPRESCALER(__HANDLE__, __CHANNEL__, __ICPSC__) \
do{ \
TIM_RESET_ICPRESCALERVALUE((__HANDLE__), (__CHANNEL__)); \
TIM_SET_ICPRESCALERVALUE((__HANDLE__), (__CHANNEL__), (__ICPSC__)); \
} while(0U)
#define __HAL_TIM_GET_ICPRESCALER(__HANDLE__, __CHANNEL__) \
(((__CHANNEL__) == TIM_CHANNEL_1) ? ((__HANDLE__)->Instance->CCMR1 & TIM_CCMR1_IC1PSC) :\
((__CHANNEL__) == TIM_CHANNEL_2) ? (((__HANDLE__)->Instance->CCMR1 & TIM_CCMR1_IC2PSC) >> 8U) :\
((__CHANNEL__) == TIM_CHANNEL_3) ? ((__HANDLE__)->Instance->CCMR2 & TIM_CCMR2_IC3PSC) :\
(((__HANDLE__)->Instance->CCMR2 & TIM_CCMR2_IC4PSC)) >> 8U)
具體程式碼分析:
一、針對初始化函式 HAL_TIM_xxx_Init():
對於基本型別(Base),輸出比較(OC),輸入捕獲(IC),pwm(PWM) 四種基本型別,HAL_TIM_xxx_Init函式具有相同的函式結構,下面以兩個例子說明
以IC模式的原始碼為例:
HAL_StatusTypeDef HAL_TIM_IC_Init(TIM_HandleTypeDef *htim)
{
/* Check the TIM handle allocation */
if(htim == NULL)
{
return HAL_ERROR;
}
/* Check the parameters */
assert_param(IS_TIM_INSTANCE(htim->Instance));
assert_param(IS_TIM_COUNTER_MODE(htim->Init.CounterMode));
assert_param(IS_TIM_CLOCKDIVISION_DIV(htim->Init.ClockDivision));
if(htim->State == HAL_TIM_STATE_RESET)
{
/* Allocate lock resource and initialize it */
htim->Lock = HAL_UNLOCKED;
/* Init the low level hardware : GPIO, CLOCK, NVIC and DMA */
HAL_TIM_XXX_MspInit(htim); //這裡有區別
}
/* Set the TIM state */
htim->State= HAL_TIM_STATE_BUSY;
/* Init the base time for the input capture */
TIM_Base_SetConfig(htim->Instance, &htim->Init); //重要部分
/* Initialize the TIM state*/
htim->State= HAL_TIM_STATE_READY;
return HAL_OK;
}
關鍵程式碼步驟說明:(1)HAL_TIM_xxx_MspInit(htim)
(2)將狀態設定為BUSY。 htim->State= HAL_TIM_STATE_BUSY;
(3)TIM_Base_SetConfig(htim->Instance, &htim->Init); //主要函式
(4)將狀態設定為READY。htim->State= HAL_TIM_STATE_READY;
TIM_Base_SetConfig(htim->Instance, &htim->Init)函式功能:
(1)設定控制暫存器 CR1(包括計數方向、計數對齊模式、時鐘分頻三個)
(2)設定自動過載暫存器 ARR 。// TIMx->ARR = (uint32_t)Structure->Period ;
(3)設定預分頻暫存器 PSC
(4)設定重複計數器暫存器RCR
(5)觸發更新事件,載入預分頻器與重複計數器的值。TIMx->EGR = TIM_EGR_UG;
單脈衝(One_Pulse)和編碼器(Encoder)與上函式具有相似的結構,
對於單脈衝模式,初始化函式為:
HAL_StatusTypeDef HAL_TIM_OnePulse_Init(TIM_HandleTypeDef *htim, uint32_t OnePulseMode)
在TIM_Base_SetConfig(htim->Instance, &htim->Init);相對於前面的基本函式,後面還需要加上一步:
/* Reset the OPM Bit */
htim->Instance->CR1 &= ~TIM_CR1_OPM;
/* Configure the OPM Mode */
htim->Instance->CR1 |= OnePulseMode;
即設定CR1的第三位:OPM:單脈衝模式 (One pulse mode)
0:計數器在發生更新事件時不會停止計數
1:計數器在發生下一更新事件時停止計數(將CEN位清零)
函式引數的第二個引數就是為了設定CR1的第三位。
可以使用的值為:
#define TIM_OPMODE_REPETITIVE 0x00000000U
對於編碼器模式,初始化函式為:
HAL_StatusTypeDef HAL_TIM_Encoder_Init(TIM_HandleTypeDef *htim, TIM_Encoder_InitTypeDef* sConfig);
針對編碼器模式,相對於第一種簡單的初始化模式,還需要新增以下的初始化程式碼:
/*1、SMCR的SMS位來選擇編碼器模式*************************/
/* Reset the SMS bits */
htim->Instance->SMCR &= ~TIM_SMCR_SMS;
/* Get the TIMx SMCR register value */
tmpsmcr = htim->Instance->SMCR;
/* Set the encoder Mode */
tmpsmcr |= sConfig->EncoderMode;
/*2、通道對映 CC1通道為輸入,IC1對映到TI1上C2通道為輸入,IC2對映到TI2上*/
/* Get the TIMx CCMR1 register value */
tmpccmr1 = htim->Instance->CCMR1;
/* Select the Capture Compare 1 and the Capture Compare 2 as input */
tmpccmr1 &= ~(TIM_CCMR1_CC1S | TIM_CCMR1_CC2S); //先清零
tmpccmr1 |= (sConfig->IC1Selection | (sConfig->IC2Selection << 8U)); //通道對映
/* 3、設定預分頻和濾波 Set the Capture Compare 1 and the Capture Compare 2 prescalers and filters */
tmpccmr1 &= ~(TIM_CCMR1_IC1PSC | TIM_CCMR1_IC2PSC);
tmpccmr1 &= ~(TIM_CCMR1_IC1F | TIM_CCMR1_IC2F);//後面6位全部清零
tmpccmr1 |= sConfig->IC1Prescaler | (sConfig->IC2Prescaler << 8U); //預分頻
tmpccmr1 |= (sConfig->IC1Filter << 4U) | (sConfig->IC2Filter << 12U); //無濾波
/* 4、Set the TI1 and the TI2 Polarities 設定極性 上升沿觸發*/
/* Get the TIMx CCER register value */
tmpccer = htim->Instance->CCER;
tmpccer &= ~(TIM_CCER_CC1P | TIM_CCER_CC2P); //先清零
tmpccer &= ~(TIM_CCER_CC1NP | TIM_CCER_CC2NP); //先清零
tmpccer |= sConfig->IC1Polarity | (sConfig->IC2Polarity << 4U);
/* Write to TIMx SMCR */
htim->Instance->SMCR = tmpsmcr;
/* Write to TIMx CCMR1 */
htim->Instance->CCMR1 = tmpccmr1;
/* Write to TIMx CCER */
htim->Instance->CCER = tmpccer;
暫存器的配置步驟如下:
(1)SMCR的SMS位來選擇編碼器模式tmpsmcr |= sConfig->EncoderMode;
(2)通道對映 CC1通道為輸入,IC1對映到TI1上 C2通道為輸入,IC2對映到TI2上
tmpccmr1 |= (sConfig->IC1Selection | (sConfig->IC2Selection << 8U));
(3)設定預分頻和濾波
tmpccmr1 |= sConfig->IC1Prescaler |(sConfig->IC2Prescaler << 8U);//預分頻
tmpccmr1 |= (sConfig->IC1Filter << 4U) | (sConfig->IC2Filter << 12U);//無濾波
(4)設定觸發極性 上升沿觸發
tmpccer |= sConfig->IC1Polarity | (sConfig->IC2Polarity << 4U);
(6)將配置好的引數寫入到暫存器中
上面引數的引數的傳遞是使用TIM_Encoder_InitTypeDef結構體(九個引數全部用到)。結構體的具體定義如下:
typedef struct
{
uint32_t EncoderMode; /*!< Specifies the active edge of the input signal.
This parameter can be a value of @ref TIM_Encoder_Mode */
uint32_t IC1Polarity; /*!< Specifies the active edge of the input signal.
This parameter can be a value of @ref TIM_Input_Capture_Polarity */
uint32_t IC1Selection; /*!< Specifies the input.
This parameter can be a value of @ref TIM_Input_Capture_Selection */
uint32_t IC1Prescaler; /*!< Specifies the Input Capture Prescaler.
This parameter can be a value of @ref TIM_Input_Capture_Prescaler */
uint32_t IC1Filter; /*!< Specifies the input capture filter.
This parameter can be a number between Min_Data = 0x0 and Max_Data = 0xF */
uint32_t IC2Polarity; /*!< Specifies the active edge of the input signal.
This parameter can be a value of @ref TIM_Input_Capture_Polarity */
uint32_t IC2Selection; /*!< Specifies the input.
This parameter can be a value of @ref TIM_Input_Capture_Selection */
uint32_t IC2Prescaler; /*!< Specifies the Input Capture Prescaler.
This parameter can be a value of @ref TIM_Input_Capture_Prescaler */
uint32_t IC2Filter; /*!< Specifies the input capture filter.
This parameter can be a number between Min_Data = 0x0 and Max_Data = 0xF */
} TIM_Encoder_InitTypeDef;
各種功能的配置只需要按照結構體結構來填充內容,然後呼叫相應的初始化函式即可。
二、針對輪詢啟動函式
1、對於基本模型,具體程式碼如下:
HAL_StatusTypeDef HAL_TIM_Base_Start(TIM_HandleTypeDef *htim)
{
/* Check the parameters */
assert_param(IS_TIM_INSTANCE(htim->Instance));
/* Set the TIM state */
htim->State= HAL_TIM_STATE_BUSY;
/* Enable the Peripheral */
__HAL_TIM_ENABLE(htim);
/* Change the TIM state*/
htim->State= HAL_TIM_STATE_READY;
return HAL_OK;
}
整個函式的核心程式碼只有一行 __HAL_TIM_ENABLE(htim);。
跳轉到__HAL_TIM_ENABLE函式的具體實現,可以看到函式其實是一個巨集定義:
#define __HAL_TIM_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR1|=(TIM_CR1_CEN)) //設定CR1的計數器使能位為1即可。
函式實現步驟:__HAL_TIM_ENABLE(htim);
//計數器使能位為1即可2、對於輸出比較模式,
HAL_StatusTypeDef HAL_TIM_OC_Start_IT(TIM_HandleTypeDef *htim, uint32_t Channel)
TIM_CCxChannelCmd(htim->Instance, Channel, TIM_CCx_ENABLE);
if(IS_TIM_ADVANCED_INSTANCE(htim->Instance) != RESET)
{
/* Enable the main output */
__HAL_TIM_MOE_ENABLE(htim);
}
函式實現步驟:(1)使能定時器的輸出比較通道。 TIM_CCxChannelCmd(htim->Instance, Channel, TIM_CCx_ENABLE);
(2)主輸出使能。 __HAL_TIM_MOE_ENABLE(htim);----針對高階計數器TIM1和TIM8。
(3)計數器使能位為1即可。 __HAL_TIM_ENABLE(htim);
3、對於PWM模式,啟動函式與上相同。
HAL_StatusTypeDef HAL_TIM_PWM_Start(TIM_HandleTypeDef *htim, uint32_t Channel);
4、對於輸入捕獲模式,啟動函式比上面少一步。
HAL_StatusTypeDef HAL_TIM_IC_Start_IT(TIM_HandleTypeDef *htim, uint32_t Channel);
函式實現步驟:
(1)使能定時器的輸入捕獲通道。 TIM_CCxChannelCmd(htim->Instance, Channel, TIM_CCx_ENABLE);
(2)計數器使能位為1即可。 __HAL_TIM_ENABLE(htim);
5、對於單脈衝模式,需要使能
兩個通道。
HAL_StatusTypeDef HAL_TIM_OnePulse_Start(TIM_HandleTypeDef *htim, uint32_t OutputChannel);
模式說明:(1)在OPM模式下,可以使用的兩個可能的通道是TIM_CHANNEL_1和TIM_CHANNEL_2。
(2)如果TIM_CHANNEL_1被用作輸出,TIM_CHANNEL_2將被用作輸入,並且如果TIM_CHANNEL_1被用作輸入,則TIM_CHANNEL_2將被用作所有組合的輸出,
(3)應同時使能TIM_CHANNEL_1和TIM_CHANNEL_2,無需啟用計數器,硬體會自動啟用該計數器。計數器會響應刺激而啟動並生成一個脈衝
函式實現步驟:
(1)使能通道1。 TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_1, TIM_CCx_ENABLE);
(2)使能通道2。 TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_2, TIM_CCx_ENABLE);
(3)使能主輸出通道。 __HAL_TIM_MOE_ENABLE(htim);
6、對於編碼器模式,需要根據編碼器計數的方式選擇使能合適的通道。
HAL_StatusTypeDef HAL_TIM_Encoder_Start(TIM_HandleTypeDef *htim, uint32_t Channel);
(1)使能輸入輸出通道。使能一個或者兩個都使能。TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_1, TIM_CCx_ENABLE);
TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_2, TIM_CCx_ENABLE);
(2)計數器使能位為1即可。 __HAL_TIM_ENABLE(htim);
二、針對中斷方式的啟動函式
各種模式的程式碼與上相同,只不過針對需要使能通道的中斷函式,對於基本函式,需要使能相應的更新中斷;
對於其他幾類模式,需要新增一個switch結構,使能相應通道的比較捕獲中斷,
即TIMx_DIER函式的各位置1即可,
switch (Channel)
{case TIM_CHANNEL_1:
{
/* Enable the TIM Capture/Compare 1 interrupt */
__HAL_TIM_ENABLE_IT(htim, TIM_IT_CC1);
}
break;
case TIM_CHANNEL_2:
{
/* Enable the TIM Capture/Compare 2 interrupt */
__HAL_TIM_ENABLE_IT(htim, TIM_IT_CC2);
}
break;
case TIM_CHANNEL_3:
{
/* Enable the TIM Capture/Compare 3 interrupt */
__HAL_TIM_ENABLE_IT(htim, TIM_IT_CC3);
}
break;
case TIM_CHANNEL_4:
{
/* Enable the TIM Capture/Compare 4 interrupt */
__HAL_TIM_ENABLE_IT(htim, TIM_IT_CC4);
}
break;
default:
break;
}
這裡有一個大的前提,就是要在配置定時器的中斷。 /* 配置定時器中斷優先順序並使能 */
HAL_NVIC_SetPriority(STEPMOTOR_TIMx_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(STEPMOTOR_TIMx_IRQn);
在每次發生更新事件就會呼叫下面的回撥函式:void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim);
在每次發生輸出翻轉是就會呼叫下面的回撥函式:void HAL_TIM_OC_DelayElapsedCallback(TIM_HandleTypeDef *htim)
我們可以在中斷中對定時器的引數進行實時修改。