359 lines
14 KiB
C
Executable File
359 lines
14 KiB
C
Executable File
#include "../main/SystemInclude.h"
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/*-=====================================================================================================
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//TIMER1
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-=====================================================================================================*/
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/**------------------------------------------------------------------------
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* @brief 启动TIM1更新中断模式周期定时器
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* @note 时钟源为APB2_CLK，函数自动计算预分频器使定时器周期接近1ms的整数倍。
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* 实际周期通过内部公式 (APB2_CLK/16000) 分频后，ARR = 16 * uploadCounter 实现。
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* uploadCounter 范围为 1~4000ms，超过范围将被自动限幅。
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* @param uploadCounter: 期望的定时周期，单位：毫秒 (1~4000)
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* @example: StartTimer1_UIE(10); // 启动10ms周期定时器
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**/
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void StartTimer1_UIE(u16 uploadCounter)
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{
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if(uploadCounter>4000)uploadCounter = 4000;
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if(uploadCounter<= 0)uploadCounter = 1;
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u32 APB2_CLK = LHL_RCC_GetPCLK2Freq();
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u32 prescaler = (APB2_CLK / 16000UL) - 1; //固定分频系数 (APB1_CLK / 32000UL) - 1;
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u32 period =(u32)(16UL * uploadCounter);//动态ARR计数 (uint32_t)(32000UL * uploadCounter) / 1000UL;
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TIM_InitTypeDef TIM_InitStructure;
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TIM_InitStructure.Period = period;
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TIM_InitStructure.Prescaler = prescaler;
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TIM_InitStructure.ClockDivision = TIM_CKD_DIV1;
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TIM_InitStructure.CounterMode = TIM_COUNTERMODE_UP;
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TIM_InitStructure.AutoReloadPreload = ENABLE;
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LHL_TIM_Init(TIM1, &TIM_InitStructure);
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/*使能TIM1更新中断UIE */
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LHL_TIM_ITConfig(TIM1, TIM_IT_UPDATE, ENABLE);
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NVIC_EnableIRQ(TIM1_IRQn);
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NVIC_SetPriority(TIM1_IRQn,1);
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LHL_TIM_Start(TIM1);
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}
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/**------------------------------------------------------------------------
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* @brief 修改TIM1更新中断模式的定时周期
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* @note 此函数仅修改自动重装载寄存器ARR，不改变预分频器。因此只能在定时器运行中
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* 动态调整周期，但需确保新的周期值在合理范围内。函数会自动重置计数器CNT
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* 并清除更新标志，避免立即产生更新事件。
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* @param uploadCounter: 新的定时周期，单位：毫秒 (1~4000)
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* @example: ResetTimer1_UIE(20); // 将定时器周期改为20ms
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**/
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void ResetTimer1_UIE( u16 uploadCounter )
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{
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// 参数检查
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if(uploadCounter>4000)uploadCounter = 4000;
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if(uploadCounter<= 0)uploadCounter = 1;
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// 计算新ARR的值
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u32 period =(u32)(16UL * uploadCounter); //PSC不变，ARR计算与StartTimer1相同
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TIM1->CNT = 0; //先重置计数器 再设置ARR，避免立即溢出
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LHL_TIM_ClearPending(TIM1, TIM_IT_UPDATE);//当前CNT已经接近或超过ARR，这里可能产生更新事件 所以需要先清除标志
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TIM1->ARR = (u16)period ; //修改ARR 如果PSC需要改变，必须停止定时器！
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LHL_TIM_Start(TIM1); //确保定时器启用
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}
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/**------------------------------------------------------------------------
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* @brief 启动TIM1比较模式定时器（输出比较，无电平输出）
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* @note 时钟源为APB2_CLK，预分频器固定为251，自动重装载值固定为64000。
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* 因此计数器时钟频率为 APB2_CLK / (251+1) ≈ 16kHz，计数周期为 64000/16kHz = 4s。
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* 比较值 uploadCounter 应在 1~64000 之间，对应比较时刻为 uploadCounter / 16kHz 毫秒。
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* 超出范围将被限幅。
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* @param uploadCounter: 比较值 (1~64000)，需换算为目标时间 t(ms) = uploadCounter / 16
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* @example: StartTimer1_CC1(320); // 启动比较定时器，比较值320对应20ms
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**/
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void StartTimer1_CC1(u16 uploadCounter)
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{
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if(uploadCounter>64000)uploadCounter = 64000;
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if(uploadCounter<= 0)uploadCounter = 1;
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TIM_InitTypeDef TIM_InitStructure;
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// TIM_InitStructure.Period = 65535;
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// TIM_InitStructure.Prescaler = 244;
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TIM_InitStructure.Period = 64000;
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TIM_InitStructure.Prescaler = 251;
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TIM_InitStructure.ClockDivision = TIM_CKD_DIV1;
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TIM_InitStructure.CounterMode = TIM_COUNTERMODE_UP;
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TIM_InitStructure.AutoReloadPreload = DISABLE;
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LHL_TIM_Init(TIM1, &TIM_InitStructure);
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TIM1->CCR1 = uploadCounter;
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TIM1->CNT = 0;
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LHL_TIM_ITConfig(TIM1, TIM_IT_CC1, ENABLE);/* 使能TIM1比较中断CC1 */
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NVIC_EnableIRQ(TIM1_IRQn);
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NVIC_SetPriority(TIM1_IRQn, 1);
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LHL_TIM_Start(TIM1); /* 运行TIM1 */
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}
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/**------------------------------------------------------------------------
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* @brief 修改TIM1比较模式的比较值（不重置计数器）
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* @note 此函数仅更新比较寄存器CCR1，不清除计数器CNT，用于动态调整下一次比较时刻。
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* 适合实现可变周期或相位控制。函数同时清除比较中断标志，确保新比较值生效。
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* @param uploadCounter: 新的比较值 (1~64000)
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* @example: ResetTimer1_CC1(327 + TIM1->CNT); // 在当前计数器值基础上再延时约20ms触发中断
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**/
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void ResetTimer1_CC1( u16 uploadCounter )
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{
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TIM1->CCR1 = uploadCounter;
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TIM1->SR = (uint16_t)~TIM_IT_CC1;
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LHL_TIM_ITConfig(TIM1, TIM_IT_CC1, ENABLE);
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}
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/**------------------------------------------------------------------------
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* @brief 停止TIM1定时器并禁用所有中断
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* @note 函数停止定时器计数，禁用TIM1的所有中断（更新、比较1/2、触发），
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* 清除相应中断标志，并关闭NVIC中TIM1的中断使能。
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* @param 无
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* @example: StopTimer1(); // 停止TIM1
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**/
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void StopTimer1(void)
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{
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LHL_TIM_Stop(TIM1);
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NVIC_DisableIRQ( TIM1_IRQn );
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LHL_TIM_ClearFlag(TIM1, TIM_IT_UPDATE|TIM_IT_CC1|TIM_IT_CC2|TIM_IT_TRIGGER);
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LHL_TIM_ITConfig( TIM1, TIM_IT_UPDATE|TIM_IT_CC1|TIM_IT_CC2|TIM_IT_TRIGGER, DISABLE );
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}
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/*-=====================================================================================================
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//TIMER2
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-=====================================================================================================*/
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void StartTimer2_UIE(u16 uploadCounter)
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{
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if(uploadCounter>4000)uploadCounter = 4000;
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if(uploadCounter<= 0)uploadCounter = 1;
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u32 APB1_CLK = LHL_RCC_GetPCLK1Freq();
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u32 prescaler = (APB1_CLK / 16000UL) - 1; //固定分频系数 (APB1_CLK / 32000UL) - 1;
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u32 period =(u32)(16UL * uploadCounter);//动态ARR计数 (uint32_t)(32000UL * uploadCounter) / 1000UL;
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TIM_InitTypeDef TIM_InitStructure;
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TIM_InitStructure.Period = period;
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TIM_InitStructure.Prescaler = prescaler;
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TIM_InitStructure.ClockDivision = TIM_CKD_DIV1;
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TIM_InitStructure.CounterMode = TIM_COUNTERMODE_UP;
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TIM_InitStructure.AutoReloadPreload = ENABLE;
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LHL_TIM_Init(TIM2, &TIM_InitStructure);
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/*使能TIM1更新中断UIE */
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LHL_TIM_ITConfig(TIM2, TIM_IT_UPDATE, ENABLE);
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NVIC_EnableIRQ(TIM2_IRQn);
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NVIC_SetPriority(TIM2_IRQn, 1);
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LHL_TIM_Start(TIM2);
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}
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void ResetTimer2_UIE(u16 uploadCounter)
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{
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// 参数检查
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if(uploadCounter>4000)uploadCounter = 4000;
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if(uploadCounter<= 0)uploadCounter = 1;
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// 计算新ARR的值
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u32 period =(u32)(16UL * uploadCounter); //PSC不变，ARR计算与StartTimer1相同
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TIM2->CNT = 0; //先重置计数器 再设置ARR，避免立即溢出
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LHL_TIM_ClearPending(TIM2, TIM_IT_UPDATE);//当前CNT已经接近或超过ARR，这里可能产生更新事件 所以需要先清除标志
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TIM2->ARR = (u16)period ; //修改ARR 如果PSC需要改变，必须停止定时器！
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LHL_TIM_Start(TIM2); //确保定时器启用
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}
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void StopTimer2(void)
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{
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LHL_TIM_Stop(TIM2);
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NVIC_DisableIRQ( TIM2_IRQn );
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LHL_TIM_ClearFlag(TIM2, TIM_IT_UPDATE|TIM_IT_CC1|TIM_IT_CC2|TIM_IT_TRIGGER);
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LHL_TIM_ITConfig( TIM2, TIM_IT_UPDATE|TIM_IT_CC1|TIM_IT_CC2|TIM_IT_TRIGGER, DISABLE );
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}
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/*-=====================================================================================================
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//PWM输出定时器
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-=====================================================================================================*/
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/**------------------------------------------------------------------------
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* @brief PWM输出定时器
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* @note 时钟源：APB2_CLK
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* @param uploadCounter: PWM期望的周期，单位：Hz 范围:(1~400)
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duty :PWM占空比 范围:(0-100)
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* @example: StartTimer1_PWM(10,50); // 启动10Hz(100ms)周期定时器,PWM输出占空比50%
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StartTimer1_PWM(400,50); //启动400Hz(2.5ms)周期定时器,PWM输出占空比50%
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**/
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void StartTimer1_PWM(u16 freq_hz , u16 duty)
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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TIM_InitTypeDef TIM_InitStructure;
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TIM_PWMInitTypeDef TIM_PWMInitStructure;
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u32 APB2_CLK = LHL_RCC_GetPCLK2Freq();
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u16 period =10000; //固定ARR计数
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u32 prescaler = (APB2_CLK /(period*freq_hz) )-1;
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u16 dutyValue = period*duty/100;
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/* 1. TIM1 通道1 GPIO复用配置 */
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GPIO_InitStructure.Pin = GPIO_PIN_5; // P0.5->TIM1 CHANNEL1
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GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStructure.Current = GPIO_CURRENT_16mA;
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GPIO_InitStructure.Pull = GPIO_NOPULL;
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GPIO_InitStructure.SchmittTrigger = ENABLE;
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GPIO_InitStructure.Alternate = GPIO0_5_AF_TIM1_CH1;
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LHL_GPIO_Init(pGPIO0, &GPIO_InitStructure);
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/* 2. TIM1 时基配置 */
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TIM_InitStructure.Prescaler = prescaler; // 设置定时器时钟
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TIM_InitStructure.Period = period-1; // 设置定时器周期
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TIM_InitStructure.ClockDivision = TIM_CKD_DIV1;
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TIM_InitStructure.CounterMode = TIM_COUNTERMODE_UP;
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TIM_InitStructure.AutoReloadPreload = ENABLE; // 开启ARR预加载
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LHL_TIM_Init(TIM1, &TIM_InitStructure);
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/* 3. TIM1 通道1输出PWM配置 */
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TIM_PWMInitStructure.Pulse = dutyValue; // 设置占空比
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TIM_PWMInitStructure.PWMMode = TIM_PWMMODE_PWM1; // PWM模式1
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TIM_PWMInitStructure.PWMPolarity = TIM_PWMPOLARITY_ACTIVE_HIGH; // PULSE期间输出有效电平
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TIM_PWMInitStructure.PWMPreload = ENABLE; // 开启CCR预加载
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TIM_PWMInitStructure.PWMFastMode = DISABLE;
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LHL_TIM_PWM_Init(TIM1, &TIM_PWMInitStructure, TIM_CHANNEL_1);
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/* 4. 开启TIM1 的PWM输出 */
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LHL_TIM_Start(TIM1);
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}
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void ResetTimer1_PWM(u16 duty)
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{
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//限幅
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if(duty > 100)duty = 100;
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if(duty < 0)duty = 0;
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u16 dutyValue = 100*duty ; //10000*duty/100;
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//更新占空比
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LHL_TIM_PWM_SetDutyCycle(TIM1, dutyValue, TIM_CHANNEL_1);
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}
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/*-=====================================================================================================
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//定时器中断回调 - 多源支持
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-=====================================================================================================*/
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// 为TIM1各中断源定义独立的回调函数指针
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static timer_irq_callback_t tim1_update_irq_callback = NULL; // 更新中断回调
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static timer_irq_callback_t tim1_cc1_irq_callback = NULL; // 捕获/比较1中断回调
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static timer_irq_callback_t tim1_cc2_irq_callback = NULL; // 捕获/比较2中断回调
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static timer_irq_callback_t tim1_trigger_irq_callback = NULL; // 触发中断回调
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// 为TIM2各中断源定义独立的回调函数指针
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static timer_irq_callback_t tim2_update_irq_callback = NULL;
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static timer_irq_callback_t tim2_cc1_irq_callback = NULL;
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static timer_irq_callback_t tim2_cc2_irq_callback = NULL;
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static timer_irq_callback_t tim2_trigger_irq_callback = NULL;
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/**------------------------------------------------------------------------
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* @brief 为指定定时器的特定中断源注册回调函数
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* @param timer: 定时器指针 (pTIM1 / pTIM2)
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* @param it_flag: 中断标志，可取值为 TIM_IT_UPDATE, TIM_IT_CC1, TIM_IT_CC2, TIM_IT_TRIGGER
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* @param tim_irq_callback: 用户定义的回调函数指针，若为NULL则取消该中断源的注册
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* @note 该函数会自动使能对应定时器的NVIC中断（如果尚未使能）。建议在启动定时器后，
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* 为所需的中断源分别调用本函数注册处理函数。多个中断源可独立注册，互不影响。
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* 传入的 it_flag 必须是上述宏之一，函数内部通过switch语句选择对应的回调指针进行赋值。
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* @example:
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* // 为TIM1更新中断注册回调
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* Timer_register_irq_callback(pTIM1, TIM_IT_UPDATE, my_update_callback);
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* // 为TIM1比较1中断注册回调
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* Timer_register_irq_callback(pTIM1, TIM_IT_CC1, my_cc1_callback);
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**/
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void Timer_register_irq_callback(TIM_TypeDef *timer, uint16_t TIM_IT, timer_irq_callback_t tim_irq_callback)
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{
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if (timer == pTIM1) {
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switch (TIM_IT) {
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case TIM_IT_UPDATE: tim1_update_irq_callback = tim_irq_callback; break;
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case TIM_IT_CC1: tim1_cc1_irq_callback = tim_irq_callback; break;
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case TIM_IT_CC2: tim1_cc2_irq_callback = tim_irq_callback; break;
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case TIM_IT_TRIGGER: tim1_trigger_irq_callback= tim_irq_callback; break;
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default: return;
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}
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NVIC_EnableIRQ(TIM1_IRQn);
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}
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else if (timer == pTIM2) {
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switch (TIM_IT) {
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case TIM_IT_UPDATE: tim2_update_irq_callback = tim_irq_callback; break;
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case TIM_IT_CC1: tim2_cc1_irq_callback = tim_irq_callback; break;
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case TIM_IT_CC2: tim2_cc2_irq_callback = tim_irq_callback; break;
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case TIM_IT_TRIGGER: tim2_trigger_irq_callback= tim_irq_callback; break;
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default: return;
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}
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NVIC_EnableIRQ(TIM2_IRQn);
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}
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}
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/**------------------------------------------------------------------------
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* @brief TIM1全局中断处理函数（支持多源回调）
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* @note 读取TIM1的状态寄存器SR，通过位掩码判断产生的中断类型（更新、比较1、比较2、触发）。
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* 若对应中断源已注册回调函数，则调用之。多个中断可能同时发生，因此使用多个if语句
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* 分别检查每个标志位。处理完毕后，通过向SR写入~irq_type清除已响应的中断标志，
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* 避免重复进入中断。
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* @see 中断标志位定义 TIM_IT_UPDATE (0x0001), TIM_IT_CC1 (0x0002), TIM_IT_CC2 (0x0004),
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* TIM_IT_TRIGGER (0x0040)
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**/
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void TIM1_IRQHandler(void)
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{
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uint16_t irq_type = TIM1->SR; // 读取中断标志
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// 更新中断---------------------------------------
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if ((irq_type & TIM_IT_UPDATE) && tim1_update_irq_callback != NULL) {
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tim1_update_irq_callback();
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}
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// 捕获/比较1中断---------------------------------
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if ((irq_type & TIM_IT_CC1) && tim1_cc1_irq_callback != NULL) {
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tim1_cc1_irq_callback();
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}
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// 捕获/比较2中断---------------------------------
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if ((irq_type & TIM_IT_CC2) && tim1_cc2_irq_callback != NULL) {
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tim1_cc2_irq_callback();
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}
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// 触发中断---------------------------------------
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if ((irq_type & TIM_IT_TRIGGER) && tim1_trigger_irq_callback != NULL) {
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tim1_trigger_irq_callback();
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}
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// 清除所有已处理的中断标志
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TIM1->SR = (uint16_t)~irq_type;
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}
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/**------------------------------------------------------------------------
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* @brief TIM2全局中断处理函数（支持多源回调）
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* @note 同TIM1_IRQHandler，处理TIM2的各中断源。
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**/
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void TIM2_IRQHandler(void)
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{
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uint16_t irq_type = TIM2->SR;
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if ((irq_type & TIM_IT_UPDATE) && tim2_update_irq_callback != NULL) {
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tim2_update_irq_callback();
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}
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if ((irq_type & TIM_IT_CC1) && tim2_cc1_irq_callback != NULL) {
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tim2_cc1_irq_callback();
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}
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if ((irq_type & TIM_IT_CC2) && tim2_cc2_irq_callback != NULL) {
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tim2_cc2_irq_callback();
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}
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if ((irq_type & TIM_IT_TRIGGER) && tim2_trigger_irq_callback != NULL) {
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tim2_trigger_irq_callback();
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}
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TIM2->SR = (uint16_t)~irq_type;
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}
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