/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2025 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 "main.h"
#include "adc.h"
#include "tim.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define TRIG_PULSE_WIDTH 10 // 10us触发脉冲
#define MEASURE_TIMEOUT 30 // 30ms测量超时
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
volatile uint32_t icVal1 = 0, icVal2 = 0;
volatile uint8_t isFirstCaptured = 0;
volatile float distance_cm = 0;
int Turn_Pwm = 0;
uint8_t stop_flag = 0; // 停止标志位
uint8_t void_flag = 0; // 停止标志位
float feature_time = 0; // 特征区域经过时间
int baoguang_count=10;
float dis = 0; // 存放测距距离
int main_count=5;
/* USER CODE BEGIN PV */
typedef enum {
US_IDLE,
US_TRIGGER_START,
US_WAIT_ECHO
} US_State_t;
volatile US_State_t us_state = US_IDLE;
volatile uint32_t us_trigger_time = 0;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void trigger_ultrasonic_non_blocking() {
if (us_state == US_IDLE) {
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4); // 启动TIM2 PWM触发脉冲
us_state = US_WAIT_ECHO;
us_trigger_time = HAL_GetTick();
}}
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim);
float calibration(float raw_cm);
float median_filter(float new_val);
void trigger_ultrasonic();
void delay_us(uint16_t us);
void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim);
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_ADC1_Init();
MX_TIM3_Init();
MX_TIM4_Init();
MX_TIM1_Init();
MX_TIM2_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4);
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4); // 启动TIM2 PWM
HAL_TIM_IC_Start_IT(&htim1, TIM_CHANNEL_1); // 启动TIM1输入捕获中断
// HAL_Delay(3000);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{ if (us_state == US_WAIT_ECHO) {
// 超时检测（30ms未收到回波）
if (HAL_GetTick() - us_trigger_time > MEASURE_TIMEOUT) {
us_state = US_IDLE;
}
}
static uint32_t last_measure = 0;
if (HAL_GetTick() - last_measure >= 100 && us_state == US_IDLE) {
trigger_ultrasonic_non_blocking();
last_measure = HAL_GetTick();
}
/* 距离数据处理 --------------------------------------- */
static float filtered_distance = 0;
filtered_distance = median_filter(distance_cm);
filtered_distance = calibration(filtered_distance);
if(filtered_distance < 10.0f) {HAL_GPIO_WritePin(GPIOC,GPIO_PIN_13,GPIO_PIN_RESET);
}
// if (main_count>5){
//
//
// dis = get_distance();
// if(dis < 20.0) { // 距离小于20cm亮灯
// void_flag = 1;}
// main_count=0;
// }
int pwmVal_R = 200;
int pwmVal_L = 200;
RD_TSL(baoguang_count);
Find_CCD_Zhongzhi();
// 计算特征区域经过时间（假设采样频率为100Hz）
if (main_count>5){
feature_time = ccd_data_process(ADV, 50.0f);
// 检查是否达到积分阈值
if (feature_time >= INTEGRATION_THRESHOLD) {
stop_flag = 1;
}}
if (main_count>50000){
main_count=50000;
}
if (!stop_flag) {
Turn_Pwm = turn(CCD_Zhongzhi, 0);
// 右侧电机控制
if (pwmVal_R - Turn_Pwm > 0) {
HAL_GPIO_WritePin(GPIOA, R1_Pin, 1);
HAL_GPIO_WritePin(GPIOA, R2_Pin, 0);
__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_2, pwmVal_R - Turn_Pwm);
} else if (pwmVal_R - Turn_Pwm < 0) {
HAL_GPIO_WritePin(GPIOA, R1_Pin, 0);
HAL_GPIO_WritePin(GPIOA, R2_Pin, 1);
__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_2, -pwmVal_R + Turn_Pwm);
} else {
HAL_GPIO_WritePin(GPIOA, R1_Pin, 0);
HAL_GPIO_WritePin(GPIOA, R2_Pin, 0);
}
// 左侧电机控制
if (pwmVal_L + Turn_Pwm > 0) {
HAL_GPIO_WritePin(GPIOA, L1_Pin, 1);
HAL_GPIO_WritePin(GPIOA, L2_Pin, 0);
__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_4, pwmVal_L + Turn_Pwm);
} else if (pwmVal_L + Turn_Pwm < 0) {
HAL_GPIO_WritePin(GPIOA, L1_Pin, 0);
HAL_GPIO_WritePin(GPIOA, L2_Pin, 1);
__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_4, -pwmVal_L - Turn_Pwm);
} else {
HAL_GPIO_WritePin(GPIOA, L1_Pin, 0);
HAL_GPIO_WritePin(GPIOA, L2_Pin, 0);
}
} else if(void_flag==1){
HAL_GPIO_WritePin(GPIOA, R1_Pin, 1);
HAL_GPIO_WritePin(GPIOA, R2_Pin, 0);
HAL_GPIO_WritePin(GPIOA, L1_Pin, 1);
HAL_GPIO_WritePin(GPIOA, L2_Pin, 0);
__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_4, 350);
__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_2,100);//右边
HAL_Delay(300);
__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_2, 350);//右边
__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_4,100);
HAL_Delay(300);
__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_2, 220);//右边
__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_4,200);
HAL_Delay(100);
__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_2, 350);//右边
__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_4,100);
HAL_Delay(300);
__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_4, 350);
__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_2,100);//右边
HAL_Delay(290);
stop_flag = 0;
// __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_2, -pwmVal_R);
// __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_4, pwmVal_L);
}
else {
static uint8_t is_first_run = 1; // 首次运行标志
if (is_first_run) {
HAL_GPIO_WritePin(GPIOA, R1_Pin, 1);
HAL_GPIO_WritePin(GPIOA, R2_Pin, 0);
HAL_GPIO_WritePin(GPIOA, L1_Pin, 1);
HAL_GPIO_WritePin(GPIOA, L2_Pin, 0);
__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_2, 210);//右边
__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_4,200);
HAL_GPIO_WritePin(LED_GPIO_Port,LED_Pin,GPIO_PIN_RESET);
HAL_Delay(400);
is_first_run = 0; // 清除首次标志
}
// 停止小车
HAL_GPIO_WritePin(GPIOA, R1_Pin, 1);
HAL_GPIO_WritePin(GPIOA, R2_Pin, 1);
HAL_GPIO_WritePin(GPIOA, L1_Pin, 1);
HAL_GPIO_WritePin(GPIOA, L2_Pin, 1);
__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_4, 0);
__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_2, 0);
}
Dly_us();
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL4;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
{
Error_Handler();
}
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV2;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
if (htim->Instance == TIM1 && htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1) {
if (us_state == US_WAIT_ECHO) { // 仅处理等待回波状态
if (!isFirstCaptured) {
icVal1 = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_1);
isFirstCaptured = 1;
__HAL_TIM_SET_CAPTUREPOLARITY(htim, TIM_CHANNEL_1, TIM_INPUTCHANNELPOLARITY_FALLING);
} else {
icVal2 = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_1);
uint32_t diff = (icVal2 > icVal1) ? (icVal2 - icVal1) : (0xFFFF - icVal1 + icVal2);
distance_cm = diff * 0.034f / 2;
isFirstCaptured = 0;
__HAL_TIM_SET_CAPTUREPOLARITY(htim, TIM_CHANNEL_1, TIM_INPUTCHANNELPOLARITY_RISING);
us_state = US_IDLE; // 测量完成，回到空闲状态
}
}
}
}
/* 精准延时函数 */
void delay_us(uint16_t us) {
__HAL_TIM_SET_COUNTER(&htim4, 0);
while (__HAL_TIM_GET_COUNTER(&htim4) < us);
}
/* 中值滤波函数 */
#define FILTER_SIZE 5
float median_filter(float new_val)
{
static float buffer[FILTER_SIZE] = {0};
static uint8_t index = 0;
float temp[FILTER_SIZE];
buffer[index] = new_val;
index = (index + 1) % FILTER_SIZE;
memcpy(temp, buffer, sizeof(temp));
// 冒泡排序
for(int i=0; i<FILTER_SIZE-1; i++){
for(int j=0; j<FILTER_SIZE-i-1; j++){
if(temp[j] > temp[j+1]){
float swap = temp[j];
temp[j] = temp[j+1];
temp[j+1] = swap;
}
}
}
return temp[FILTER_SIZE/2];
}
/* 校准函数 */
float calibration(float raw_cm)
{
// 校准点配置（根据实测数据修改）
const float calib_table[2][2] = {{15.0, 15.3}, {50.0, 49.7}};
if(raw_cm <= calib_table[0][0])
return raw_cm + (calib_table[0][1] - calib_table[0][0]);
if(raw_cm >= calib_table[1][0])
return raw_cm + (calib_table[1][1] - calib_table[1][0]);
float k = (calib_table[1][1]-calib_table[0][1]) /
(calib_table[1][0]-calib_table[0][0]);
return k * (raw_cm - calib_table[0][0]) + calib_table[0][1];
}
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file tim.c
* @brief This file provides code for the configuration
* of the TIM instances.
******************************************************************************
* @attention
*
* Copyright (c) 2025 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 htim1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;
/* TIM1 init function */
void MX_TIM1_Init(void)
{
/* USER CODE BEGIN TIM1_Init 0 */
/* USER CODE END TIM1_Init 0 */
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_IC_InitTypeDef sConfigIC = {0};
/* USER CODE BEGIN TIM1_Init 1 */
/* USER CODE END TIM1_Init 1 */
htim1.Instance = TIM1;
htim1.Init.Prescaler = 39;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 65535;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0;
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_IC_Init(&htim1) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
sConfigIC.ICFilter = 0;
if (HAL_TIM_IC_ConfigChannel(&htim1, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM1_Init 2 */
/* USER CODE END TIM1_Init 2 */
}
/* TIM2 init function */
void MX_TIM2_Init(void)
{
/* USER CODE BEGIN TIM2_Init 0 */
/* USER CODE END TIM2_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
/* USER CODE BEGIN TIM2_Init 1 */
/* USER CODE END TIM2_Init 1 */
htim2.Instance = TIM2;
htim2.Init.Prescaler = 19;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 9;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 10;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM2_Init 2 */
/* USER CODE END TIM2_Init 2 */
HAL_TIM_MspPostInit(&htim2);
}
/* 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};
TIM_OC_InitTypeDef sConfigOC = {0};
/* USER CODE BEGIN TIM3_Init 1 */
/* USER CODE END TIM3_Init 1 */
htim3.Instance = TIM3;
htim3.Init.Prescaler = 0;
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
htim3.Init.Period = 499;
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();
}
if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM3_Init 2 */
/* USER CODE END TIM3_Init 2 */
HAL_TIM_MspPostInit(&htim3);
}
/* TIM4 init function */
void MX_TIM4_Init(void)
{
/* USER CODE BEGIN TIM4_Init 0 */
/* USER CODE END TIM4_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
/* USER CODE BEGIN TIM4_Init 1 */
/* USER CODE END TIM4_Init 1 */
htim4.Instance = TIM4;
htim4.Init.Prescaler = 19;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 65535;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
}
void HAL_TIM_IC_MspInit(TIM_HandleTypeDef* tim_icHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(tim_icHandle->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspInit 0 */
/* USER CODE END TIM1_MspInit 0 */
/* TIM1 clock enable */
__HAL_RCC_TIM1_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM1 GPIO Configuration
PA8 ------> TIM1_CH1
*/
GPIO_InitStruct.Pin = ECHO_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(ECHO_GPIO_Port, &GPIO_InitStruct);
/* TIM1 interrupt Init */
HAL_NVIC_SetPriority(TIM1_CC_IRQn, 3, 0);
HAL_NVIC_EnableIRQ(TIM1_CC_IRQn);
/* USER CODE BEGIN TIM1_MspInit 1 */
/* USER CODE END TIM1_MspInit 1 */
}
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
{
if(tim_baseHandle->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* TIM2 clock enable */
__HAL_RCC_TIM2_CLK_ENABLE();
/* TIM2 interrupt Init */
HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM2_IRQn);
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
else 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();
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
}
else if(tim_baseHandle->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspInit 0 */
/* USER CODE END TIM4_MspInit 0 */
/* TIM4 clock enable */
__HAL_RCC_TIM4_CLK_ENABLE();
/* TIM4 interrupt Init */
HAL_NVIC_SetPriority(TIM4_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM4_IRQn);
/* USER CODE BEGIN TIM4_MspInit 1 */
/* USER CODE END TIM4_MspInit 1 */
}
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(timHandle->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspPostInit 0 */
/* USER CODE END TIM2_MspPostInit 0 */
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM2 GPIO Configuration
PA3 ------> TIM2_CH4
*/
GPIO_InitStruct.Pin = TRIG_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(TRIG_GPIO_Port, &GPIO_InitStruct);
/* USER CODE BEGIN TIM2_MspPostInit 1 */
/* USER CODE END TIM2_MspPostInit 1 */
}
else if(timHandle->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspPostInit 0 */
/* USER CODE END TIM3_MspPostInit 0 */
__HAL_RCC_GPIOB_CLK_ENABLE();
/**TIM3 GPIO Configuration
PB1 ------> TIM3_CH4
PB5 ------> TIM3_CH2
*/
GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_5;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
__HAL_AFIO_REMAP_TIM3_PARTIAL();
/* USER CODE BEGIN TIM3_MspPostInit 1 */
/* USER CODE END TIM3_MspPostInit 1 */
}
}
void HAL_TIM_IC_MspDeInit(TIM_HandleTypeDef* tim_icHandle)
{
if(tim_icHandle->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspDeInit 0 */
/* USER CODE END TIM1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM1_CLK_DISABLE();
/**TIM1 GPIO Configuration
PA8 ------> TIM1_CH1
*/
HAL_GPIO_DeInit(ECHO_GPIO_Port, ECHO_Pin);
/* TIM1 interrupt Deinit */
HAL_NVIC_DisableIRQ(TIM1_CC_IRQn);
/* USER CODE BEGIN TIM1_MspDeInit 1 */
/* USER CODE END TIM1_MspDeInit 1 */
}
}
void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
{
if(tim_baseHandle->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspDeInit 0 */
/* USER CODE END TIM2_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM2_CLK_DISABLE();
/* TIM2 interrupt Deinit */
HAL_NVIC_DisableIRQ(TIM2_IRQn);
/* USER CODE BEGIN TIM2_MspDeInit 1 */
/* USER CODE END TIM2_MspDeInit 1 */
}
else 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();
/* USER CODE BEGIN TIM3_MspDeInit 1 */
/* USER CODE END TIM3_MspDeInit 1 */
}
else if(tim_baseHandle->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspDeInit 0 */
/* USER CODE END TIM4_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM4_CLK_DISABLE();
/* TIM4 interrupt Deinit */
HAL_NVIC_DisableIRQ(TIM4_IRQn);
/* USER CODE BEGIN TIM4_MspDeInit 1 */
/* USER CODE END TIM4_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
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本文详细介绍使用IBMTivoliIdentityManager进行用户管理的具体方法与实践案例，为读者提供全面的技术指导。
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