LW21-01B/BSP/Driver/timer/Timer.c

#include "gd32f4xx_timer.h"
#include "Timer.h"
#include "gd32f4xx_rcu.h"
#include "ptz_type_select.h"
#include "ptz_struct.h"
#include  <includes.h>
#include "gd32f4xx_it.h"

#ifdef TMC2160

#define timer_frequence   2000000  //<2F><>ʱ<EFBFBD><CAB1>Ƶ<EFBFBD><C6B5>1MHZ


/*!
    \brief      none ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><EFBFBD>
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.11
*/
void ptz_hori_timer_start(unsigned int f)
{
  unsigned int counter,chcv;
  counter = (unsigned int)(timer_frequence / f + 0.5);
  chcv = (unsigned int)(counter / 2.0 +0.5);
  TIMER_CAR(TIMER3) = counter;
  TIMER_CH0CV(TIMER3) = chcv;
  timer_enable(TIMER3);
}

/*!
    \brief      none ˮƽֹͣ
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.11
*/
void ptz_hori_timer_stop()
{
  TIMER_CH0CV(TIMER3) = 0;
  timer_disable(TIMER3);
}




/*!
    \brief      none <EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><EFBFBD>
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.11
*/
void ptz_vert_timer_start(unsigned int f)
{
  unsigned int counter,chcv;
  counter = (unsigned int)(timer_frequence / f + 0.5);
  chcv = (unsigned int)(counter / 2.0 +0.5);
  TIMER_CAR(TIMER2) = counter;
  TIMER_CH0CV(TIMER2) = chcv;
  timer_enable(TIMER2);
}

/*!
    \brief      none <EFBFBD><EFBFBD>ֱֹͣ
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.11
*/
void ptz_vert_timer_stop()
{
  TIMER_CH0CV(TIMER2) = 0;
  timer_disable(TIMER2);
}


/*!
    \brief      none <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.11
*/
static void Step_timer_cfg(void)
{//APB1<42><31><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>Ƶ<EFBFBD><C6B5>50MHz
    timer_parameter_struct timer_initpara;
    timer_oc_parameter_struct timer_ocintpara;

    rcu_periph_clock_enable(RCU_TIMER2);
    rcu_periph_clock_enable(RCU_TIMER3);
//    rcu_timer_clock_prescaler_config(RCU_TIMER_PSC_MUL4);
    timer_struct_para_init(&timer_initpara);
    timer_deinit(TIMER2);
    timer_deinit(TIMER3);

    // TIMER1 configuration
    timer_initpara.prescaler         = 49;//<2F><>Ƶϵ<C6B5><CFB5><EFBFBD><EFBFBD>ȷ<EFBFBD><C8B7>Ƶ<EFBFBD><C6B5>Ϊ1MHZ
    timer_initpara.alignedmode       = TIMER_COUNTER_EDGE;//<2F><><EFBFBD><EFBFBD>ģʽ<C4A3><CABD><EFBFBD><EFBFBD>Ե<EFBFBD><D4B5><EFBFBD><EFBFBD>
    timer_initpara.counterdirection  = TIMER_COUNTER_UP;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
    timer_initpara.period            = 999;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>װ<EFBFBD><D7B0>ֵ<EFBFBD><D6B5>ȷ<EFBFBD><C8B7><EFBFBD><EFBFBD><EFBFBD>ڣ<EFBFBD><DAA3><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>̽<EFBFBD><CCBD><EFBFBD><EFBFBD>޸<EFBFBD><DEB8>Ըı<D4B8><C4B1><EFBFBD><EFBFBD>ڣ<EFBFBD>TIMER_CAR(timer_periph) = (uint32_t)initpara->period;
    timer_initpara.clockdivision     = TIMER_CKDIV_DIV1;//ʱ<>ӷ<EFBFBD>Ƶ
    timer_initpara.repetitioncounter = 0;//<2F><><EFBFBD><EFBFBD><EFBFBD>ظ<EFBFBD>ֵ
    timer_init(TIMER2,&timer_initpara);
    timer_init(TIMER3,&timer_initpara);
    
    // CH0 configuration in PWM mode 0 
    timer_channel_output_struct_para_init(&timer_ocintpara);
    timer_ocintpara.ocpolarity  = TIMER_OC_POLARITY_HIGH;
    timer_ocintpara.outputstate = TIMER_CCX_ENABLE;
    timer_ocintpara.ocnpolarity  = TIMER_OCN_POLARITY_HIGH;
    timer_ocintpara.outputnstate = TIMER_CCXN_DISABLE;
    timer_ocintpara.ocidlestate  = TIMER_OC_IDLE_STATE_LOW;
    timer_ocintpara.ocnidlestate = TIMER_OCN_IDLE_STATE_LOW;

    timer_channel_output_config(TIMER2,TIMER_CH_0,&timer_ocintpara);
    timer_channel_output_config(TIMER3,TIMER_CH_0,&timer_ocintpara);

    // CH0 configuration in PWM mode 0,duty cycle 
    timer_channel_output_pulse_value_config(TIMER2,TIMER_CH_0,0);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ч<EFBFBD>͵<EFBFBD>ƽ<EFBFBD><C6BD>TIMER_CH0CV(timer_periph) = (uint32_t)pulse;
    timer_channel_output_mode_config(TIMER2,TIMER_CH_0,TIMER_OC_MODE_PWM0);
    timer_channel_output_shadow_config(TIMER2,TIMER_CH_0,TIMER_OC_SHADOW_DISABLE);
    // CH0 configuration in PWM mode 0,duty cycle 
    timer_channel_output_pulse_value_config(TIMER3,TIMER_CH_0,0);
    timer_channel_output_mode_config(TIMER3,TIMER_CH_0,TIMER_OC_MODE_PWM0);
    timer_channel_output_shadow_config(TIMER3,TIMER_CH_0,TIMER_OC_SHADOW_DISABLE);

    // auto-reload preload enable 
    timer_auto_reload_shadow_enable(TIMER2);
    timer_enable(TIMER2);
    timer_auto_reload_shadow_enable(TIMER3);
    timer_enable(TIMER3);

}


/*!
    \brief      none <EFBFBD><EFBFBD><EFBFBD>Ÿ<EFBFBD><EFBFBD><EFBFBD>
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.11
*/
static void timer_gpio_init(void)
{
  rcu_periph_clock_enable(RCU_GPIOC);
  rcu_periph_clock_enable(RCU_GPIOD);
  //H-STEP<45><50>timer3-ch0
  gpio_mode_set(GPIOD, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_12);
  gpio_output_options_set(GPIOD, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ,GPIO_PIN_12);   
  //V-STEP<45><50>timer2-ch0
  gpio_mode_set(GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_6);
  gpio_output_options_set(GPIOC, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ,GPIO_PIN_6);   
  
  //<2F><><EFBFBD>Ÿ<EFBFBD><C5B8><EFBFBD>
  gpio_af_set(GPIOD, GPIO_AF_2, GPIO_PIN_12);
  gpio_af_set(GPIOC, GPIO_AF_2, GPIO_PIN_6);
  
}



void step_time_init()
{
  Step_timer_cfg();
  timer_gpio_init();
  
}


#endif



#ifdef Full_bridge

void PWM_timer4_cfg();

/*!
    \brief      none <EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ÿ<EFBFBD><EFBFBD><EFBFBD>
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.20
*/
static void PWM_gpio_init(void)
{
  rcu_periph_clock_enable(RCU_GPIOC);
//  rcu_periph_clock_enable(RCU_GPIOD);
  //ˮƽPC6-TIM2_CH0,ˮƽPC7-TIM2_CH1,ˮƽPC8-TIM2_CH2
  gpio_mode_set(GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_6);
  gpio_output_options_set(GPIOC, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ,GPIO_PIN_6);   

  gpio_mode_set(GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_7);
  gpio_output_options_set(GPIOC, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ,GPIO_PIN_7);   

  gpio_mode_set(GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_8);
  gpio_output_options_set(GPIOC, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ,GPIO_PIN_8);   
  
  //<2F><><EFBFBD>Ÿ<EFBFBD><C5B8><EFBFBD>
  gpio_af_set(GPIOC, GPIO_AF_2, GPIO_PIN_6);
  gpio_af_set(GPIOC, GPIO_AF_2, GPIO_PIN_7);
  gpio_af_set(GPIOC, GPIO_AF_2, GPIO_PIN_8);

  //<2F><>ֱPD12-TIM3_CH0,<2C><>ֱPD13-TIM3_CH1,<2C><>ֱPD14-TIM3_CH2
  gpio_mode_set(GPIOD, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_12);
  gpio_output_options_set(GPIOD, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ,GPIO_PIN_12);   

  gpio_mode_set(GPIOD, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_13);
  gpio_output_options_set(GPIOD, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ,GPIO_PIN_13);   

  gpio_mode_set(GPIOD, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_14);
  gpio_output_options_set(GPIOD, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ,GPIO_PIN_14);   
  
  //<2F><><EFBFBD>Ÿ<EFBFBD><C5B8><EFBFBD>
  gpio_af_set(GPIOD, GPIO_AF_2, GPIO_PIN_12);
  gpio_af_set(GPIOD, GPIO_AF_2, GPIO_PIN_13);
  gpio_af_set(GPIOD, GPIO_AF_2, GPIO_PIN_14);
}


/*!
    \brief      PWM<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.20
*/
static void PWM_timer_cfg(void)
{//APB1<42><31><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>Ƶ<EFBFBD><C6B5>50MHz,APB2<42><32><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>Ƶ<EFBFBD><C6B5>100MHz----timer0,7
    timer_parameter_struct timer_initpara;
    timer_oc_parameter_struct timer_ocintpara;

    rcu_periph_clock_enable(RCU_TIMER2);
    rcu_periph_clock_enable(RCU_TIMER3);
//    rcu_timer_clock_prescaler_config(RCU_TIMER_PSC_MUL4);
    timer_struct_para_init(&timer_initpara);
    timer_deinit(TIMER2);
    timer_deinit(TIMER3);

    // TIMER1 configuration
    timer_initpara.prescaler         = 2;//<2F><>Ƶϵ<C6B5><CFB5><EFBFBD><EFBFBD>ȷ<EFBFBD><C8B7>Ƶ<EFBFBD><C6B5>Ϊ25MHZ
    timer_initpara.alignedmode       = TIMER_COUNTER_EDGE;//<2F><><EFBFBD><EFBFBD>ģʽ<C4A3><CABD><EFBFBD><EFBFBD>Ե<EFBFBD><D4B5><EFBFBD><EFBFBD>
    timer_initpara.counterdirection  = TIMER_COUNTER_UP;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
    timer_initpara.period            = 1999;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>װ<EFBFBD><D7B0>ֵ<EFBFBD><D6B5>ȷ<EFBFBD><C8B7><EFBFBD><EFBFBD><EFBFBD>ڣ<EFBFBD><DAA3><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>̽<EFBFBD><CCBD><EFBFBD><EFBFBD>޸<EFBFBD><DEB8>Ըı<D4B8><C4B1><EFBFBD><EFBFBD>ڣ<EFBFBD>TIMER_CAR(timer_periph) = (uint32_t)initpara->period;
    timer_initpara.clockdivision     = TIMER_CKDIV_DIV1;//ʱ<>ӷ<EFBFBD>Ƶ
    timer_initpara.repetitioncounter = 0;//<2F><><EFBFBD><EFBFBD><EFBFBD>ظ<EFBFBD>ֵ
    timer_init(TIMER2,&timer_initpara);
    timer_init(TIMER3,&timer_initpara);
    
    // CH0 configuration in PWM mode 0 
    timer_channel_output_struct_para_init(&timer_ocintpara);
    timer_ocintpara.ocpolarity  = TIMER_OC_POLARITY_HIGH;
    timer_ocintpara.outputstate = TIMER_CCX_ENABLE;
    timer_ocintpara.ocnpolarity  = TIMER_OCN_POLARITY_HIGH;
    timer_ocintpara.outputnstate = TIMER_CCXN_DISABLE;
    timer_ocintpara.ocidlestate  = TIMER_OC_IDLE_STATE_LOW;
    timer_ocintpara.ocnidlestate = TIMER_OCN_IDLE_STATE_LOW;

    timer_channel_output_config(TIMER2,TIMER_CH_0,&timer_ocintpara);
    timer_channel_output_config(TIMER2,TIMER_CH_1,&timer_ocintpara);
    timer_channel_output_config(TIMER2,TIMER_CH_2,&timer_ocintpara);
    
    timer_channel_output_config(TIMER3,TIMER_CH_0,&timer_ocintpara);
    timer_channel_output_config(TIMER3,TIMER_CH_1,&timer_ocintpara);
    timer_channel_output_config(TIMER3,TIMER_CH_2,&timer_ocintpara);

    // CH0 configuration in PWM mode 0,duty cycle 
    timer_channel_output_pulse_value_config(TIMER2,TIMER_CH_0,0);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ч<EFBFBD>͵<EFBFBD>ƽ<EFBFBD><C6BD>TIMER_CH0CV(timer_periph) = (uint32_t)pulse;
    timer_channel_output_mode_config(TIMER2,TIMER_CH_0,TIMER_OC_MODE_PWM0);
    timer_channel_output_shadow_config(TIMER2,TIMER_CH_0,TIMER_OC_SHADOW_DISABLE);
    
    // CH0 configuration in PWM mode 0,duty cycle 
    timer_channel_output_pulse_value_config(TIMER2,TIMER_CH_1,0);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ч<EFBFBD>͵<EFBFBD>ƽ<EFBFBD><C6BD>TIMER_CH0CV(timer_periph) = (uint32_t)pulse;
    timer_channel_output_mode_config(TIMER2,TIMER_CH_1,TIMER_OC_MODE_PWM0);
    timer_channel_output_shadow_config(TIMER2,TIMER_CH_1,TIMER_OC_SHADOW_DISABLE);
   
    // CH0 configuration in PWM mode 0,duty cycle 
    timer_channel_output_pulse_value_config(TIMER2,TIMER_CH_2,0);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ч<EFBFBD>͵<EFBFBD>ƽ<EFBFBD><C6BD>TIMER_CH0CV(timer_periph) = (uint32_t)pulse;
    timer_channel_output_mode_config(TIMER2,TIMER_CH_2,TIMER_OC_MODE_PWM0);
    timer_channel_output_shadow_config(TIMER2,TIMER_CH_2,TIMER_OC_SHADOW_DISABLE);
    
    // CH0 configuration in PWM mode 0,duty cycle 
    timer_channel_output_pulse_value_config(TIMER3,TIMER_CH_0,0);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ч<EFBFBD>͵<EFBFBD>ƽ<EFBFBD><C6BD>TIMER_CH0CV(timer_periph) = (uint32_t)pulse;
    timer_channel_output_mode_config(TIMER3,TIMER_CH_0,TIMER_OC_MODE_PWM0);
    timer_channel_output_shadow_config(TIMER3,TIMER_CH_0,TIMER_OC_SHADOW_DISABLE);
    
    // CH0 configuration in PWM mode 0,duty cycle 
    timer_channel_output_pulse_value_config(TIMER3,TIMER_CH_1,0);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ч<EFBFBD>͵<EFBFBD>ƽ<EFBFBD><C6BD>TIMER_CH0CV(timer_periph) = (uint32_t)pulse;
    timer_channel_output_mode_config(TIMER3,TIMER_CH_1,TIMER_OC_MODE_PWM0);
    timer_channel_output_shadow_config(TIMER3,TIMER_CH_1,TIMER_OC_SHADOW_DISABLE);
   
    // CH0 configuration in PWM mode 0,duty cycle 
    timer_channel_output_pulse_value_config(TIMER3,TIMER_CH_2,0);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ч<EFBFBD>͵<EFBFBD>ƽ<EFBFBD><C6BD>TIMER_CH0CV(timer_periph) = (uint32_t)pulse;
    timer_channel_output_mode_config(TIMER3,TIMER_CH_2,TIMER_OC_MODE_PWM0);
    timer_channel_output_shadow_config(TIMER3,TIMER_CH_2,TIMER_OC_SHADOW_DISABLE);
   
    // auto-reload preload enable 
    timer_auto_reload_shadow_enable(TIMER2);
    timer_enable(TIMER2);
    
    timer_auto_reload_shadow_enable(TIMER3);
    timer_enable(TIMER3);
    
//    timer_interrupt_enable(TIMER2,TIMER_INT_UP);//<2F><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>ʹ<EFBFBD><CAB9>
//    nvic_irq_enable(TIMER2_IRQn, 3U, 0U);
    
//    timer_interrupt_enable(TIMER3,TIMER_INT_UP);//<2F><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>ʹ<EFBFBD><CAB9>
//    nvic_irq_enable(TIMER3_IRQn, 3U, 1U);
}

/*!
    \brief      <EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>,,<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>ģ<EFBFBD><EFBFBD>
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.20
*/
void bldc_pwm_init(void)
{
  PWM_gpio_init();
  
  PWM_timer_cfg();
  
  OSTimeDlyHMSM(0u, 0u, 0u, 1u);
  
//  //<2F><>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ȳ<EFBFBD>ʹ<EFBFBD>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD>ֹCPU<50><55><EFBFBD>ɹ<EFBFBD><C9B9><EFBFBD>
//  timer_disable(TIMER3);
//  timer_disable(TIMER2);
//  timer_interrupt_disable(TIMER3,TIMER_INT_UP);//<2F><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>ʹ<EFBFBD><CAB9>
//  timer_interrupt_disable(TIMER2,TIMER_INT_UP);//<2F><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>ʹ<EFBFBD><CAB9>
  PWM_timer4_cfg();
}



//<2F><><EFBFBD>ԣ<EFBFBD><D4A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
/*!
    \brief      <EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>򡪡<EFBFBD><EFBFBD><EFBFBD>ˮƽ<EFBFBD>ʹ<EFBFBD>ֱ
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.20
*/
void PWM_timer4_cfg()
{//APB1<42><31><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>Ƶ<EFBFBD><C6B5>50MHz,APB2<42><32><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>Ƶ<EFBFBD><C6B5>100MHz----timer0,7
    timer_parameter_struct timer_initpara;
//    timer_oc_parameter_struct timer_ocintpara;

    rcu_periph_clock_enable(RCU_TIMER4);
    timer_struct_para_init(&timer_initpara);
    timer_deinit(TIMER4);

    // TIMER1 configuration
    timer_initpara.prescaler         = 9;//<2F><>Ƶϵ<C6B5><CFB5><EFBFBD><EFBFBD>ȷ<EFBFBD><C8B7>Ƶ<EFBFBD><C6B5>Ϊ25MHZ
    timer_initpara.alignedmode       = TIMER_COUNTER_EDGE;//<2F><><EFBFBD><EFBFBD>ģʽ<C4A3><CABD><EFBFBD><EFBFBD>Ե<EFBFBD><D4B5><EFBFBD><EFBFBD>
    timer_initpara.counterdirection  = TIMER_COUNTER_UP;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
    timer_initpara.period            = 999;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>װ<EFBFBD><D7B0>ֵ<EFBFBD><D6B5>ȷ<EFBFBD><C8B7><EFBFBD><EFBFBD><EFBFBD>ڣ<EFBFBD><DAA3><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>̽<EFBFBD><CCBD><EFBFBD><EFBFBD>޸<EFBFBD><DEB8>Ըı<D4B8><C4B1><EFBFBD><EFBFBD>ڣ<EFBFBD>TIMER_CAR(timer_periph) = (uint32_t)initpara->period;
    timer_initpara.clockdivision     = TIMER_CKDIV_DIV1;//ʱ<>ӷ<EFBFBD>Ƶ
    timer_initpara.repetitioncounter = 0;//<2F><><EFBFBD><EFBFBD><EFBFBD>ظ<EFBFBD>ֵ
    timer_init(TIMER4,&timer_initpara);
    
    timer_auto_reload_shadow_enable(TIMER4);
    timer_enable(TIMER4);
    
    
    timer_interrupt_enable(TIMER4,TIMER_INT_UP);//<2F><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>ʹ<EFBFBD><CAB9>
    nvic_irq_enable(TIMER4_IRQn, 2U, 1U);
//    BSP_IntVectSet(66,TIMER4_IRQHandler);
//    BSP_IntEn(66);

}


//int hall_count,hall_count_last;//=0,counter_diff;
//float motor_speed;//<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>
//
//void hall_irq_process()
//{  
//  if(abs(hall_count_last-g_ptz.vert_l6235d.l6235d_hall_h1_count) >= 1)
//  {
//  motor_speed = (144.0 / hall_count * 8000.0) / 6.0;//<2F><>λתÿ<D7AA><C3BF>
//  
////  g_ptz.vert_motor_speed_hall_actual = motor_speed;
//  hall_count_last=g_ptz.vert_l6235d.l6235d_hall_h1_count;
//  hall_count=0;
//}}


#endif