95 lines
2.8 KiB
C
95 lines
2.8 KiB
C
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#include "speed_to_hall.h"
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speed_hall g_speed_to_hall = {0};
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/**
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* @brief 初始化定时器+霍尔计算速度
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* @param
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* @retval
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*
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*/
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void init_hall_speed_module(void)
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{
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/* 计时中断 */
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timer_parameter_struct timer_initpara;
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rcu_periph_clock_enable(RCU_TIMER6);
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timer_struct_para_init(&timer_initpara);
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timer_deinit(TIMER6);
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// TIMER1 configuration
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timer_initpara.prescaler = 99;
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timer_initpara.alignedmode = TIMER_COUNTER_EDGE;//计数模式，边缘对齐
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timer_initpara.counterdirection = TIMER_COUNTER_UP;//计数方向
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timer_initpara.period = SPEED_TIMER_PERIOD;//计数重装载值，确定周期，，该值可在任意时刻进行修改以改变周期，TIMER_CAR(timer_periph) = (uint32_t)initpara->period;
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timer_initpara.clockdivision = TIMER_CKDIV_DIV1;//时钟分频
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timer_initpara.repetitioncounter = 0;//计数重复值
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timer_init(TIMER6, &timer_initpara);
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timer_auto_reload_shadow_enable(TIMER6);
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timer_enable(TIMER6);
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timer_interrupt_enable(TIMER6, TIMER_INT_UP);//定时器更新中断使能
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nvic_irq_enable(TIMER6_IRQn, 2U, 2U);
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/* 控制中断 */
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rcu_periph_clock_enable(RCU_TIMER12);
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timer_struct_para_init(&timer_initpara);
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timer_deinit(TIMER12);
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// TIMER1 configuration
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timer_initpara.prescaler = 99;
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timer_initpara.alignedmode = TIMER_COUNTER_EDGE;//计数模式，边缘对齐
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timer_initpara.counterdirection = TIMER_COUNTER_UP;//计数方向
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timer_initpara.period = 19999;//计数重装载值，确定周期，，该值可在任意时刻进行修改以改变周期，TIMER_CAR(timer_periph) = (uint32_t)initpara->period;
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timer_initpara.clockdivision = TIMER_CKDIV_DIV1;//时钟分频
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timer_initpara.repetitioncounter = 0;//计数重复值
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timer_init(TIMER12, &timer_initpara);
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timer_auto_reload_shadow_enable(TIMER12);
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timer_enable(TIMER12);
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timer_interrupt_enable(TIMER12, TIMER_INT_UP);//定时器更新中断使能
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nvic_irq_enable(TIMER7_UP_TIMER12_IRQn, 1U, 2U);
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}
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/**
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* @brief 定时器6中断服务函数
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* @param
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* @retval
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*
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*/
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void TIMER6_IRQHandler(void)
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{
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if(RESET != timer_interrupt_flag_get(TIMER6, TIMER_INT_FLAG_UP)) {
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g_speed_to_hall.time_60ms++;
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if (g_speed_to_hall.time_60ms >= TIME_60MS_MAX) {
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g_speed_to_hall.time_60ms = 0;
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}
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timer_interrupt_flag_clear(TIMER6, TIMER_INT_FLAG_UP);
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}
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}
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/**
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* @brief 定时器7中断服务函数
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* @param
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* @retval
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*
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*/
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void TIMER7_UP_TIMER12_IRQHandler(void)
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{
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if(RESET != timer_interrupt_flag_get(TIMER12, TIMER_INT_FLAG_UP)) {
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get_hori_speed();
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get_vert_speed();
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timer_interrupt_flag_clear(TIMER12, TIMER_INT_FLAG_UP);
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}
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}
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