LQBMK|tim\bsp_tim.h

已于 2024-12-04 19:38:26 修改
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文章标签： 嵌入式硬件 单片机
于 2024-10-30 18:46:02 首次发布
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本文链接：https://blog.youkuaiyun.com/weixin_51370842/article/details/143372051
版权 
#include "tim\bsp_tim.h"
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim6;
TIM_HandleTypeDef htim15;
TIM_HandleTypeDef htim16;
TIM_HandleTypeDef htim17;
/* TIM2 init function 输入捕获PWM占空比和周期
从模式复位Reset模式:使用内部时钟作为时钟源，TI1/2外部有效信号复位计数器。
例如，CH1触发输入上升沿有效时，计数器复位到默认值0。
*/
void InputPWM_TIM2_Init(void){
  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_SlaveConfigTypeDef sSlaveConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_IC_InitTypeDef sConfigIC = {0};

  htim2.Instance = TIM2;
  htim2.Init.Prescaler = 80-1;
  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim2.Init.Period = 65535;
  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_IC_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
  }
  sSlaveConfig.SlaveMode = TIM_SLAVEMODE_RESET;
  sSlaveConfig.InputTrigger = TIM_TS_TI1FP1;
  sSlaveConfig.TriggerPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
  sSlaveConfig.TriggerFilter = 0;
  if (HAL_TIM_SlaveConfigSynchro(&htim2, &sSlaveConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &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(&htim2, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
  sConfigIC.ICSelection = TIM_ICSELECTION_INDIRECTTI;
  if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }

}
/* TIM3 init function 输入捕获PWM占空比和周期
从模式复位Reset模式:使用内部时钟作为时钟源，TI1/2外部有效信号复位计数器。
例如，CH1触发输入上升沿有效时，计数器复位到默认值0。
*/
void InputPWM_TIM3_Init(void){
  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_SlaveConfigTypeDef sSlaveConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_IC_InitTypeDef sConfigIC = {0};

  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 80-1;
  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim3.Init.Period = 65535;
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
  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_IC_Init(&htim3) != HAL_OK)
  {
    Error_Handler();
  }
  sSlaveConfig.SlaveMode = TIM_SLAVEMODE_RESET;
  sSlaveConfig.InputTrigger = TIM_TS_TI1FP1;
  sSlaveConfig.TriggerPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
  sSlaveConfig.TriggerFilter = 0;
  if (HAL_TIM_SlaveConfigSynchro(&htim3, &sSlaveConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &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(&htim3, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
  sConfigIC.ICSelection = TIM_ICSELECTION_INDIRECTTI;
  if (HAL_TIM_IC_ConfigChannel(&htim3, &sConfigIC, TIM_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }
}
/* TIM6 init function 基本定时器:1S */
void Basic_TIM6_Init(void){
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  htim6.Instance = TIM6;
  htim6.Init.Prescaler = 8000-1;
  htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim6.Init.Period = 9999;
  htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
  if (HAL_TIM_Base_Init(&htim6) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim6, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
}
/* TIM15 init function 输出比较模式2:电平翻转模式。当匹配时，引脚状态翻转。*/
void OutputSQU_TIM15_Init(void){
  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};
  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
  htim15.Instance = TIM15;
  htim15.Init.Prescaler = 80-1;
  htim15.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim15.Init.Period = 65535;
  htim15.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim15.Init.RepetitionCounter = 0;
  htim15.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
  if (HAL_TIM_Base_Init(&htim15) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim15, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_OC_Init(&htim15) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim15, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_TOGGLE;
  sConfigOC.Pulse = 199;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
  if (HAL_TIM_OC_ConfigChannel(&htim15, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.Pulse = 99;
  if (HAL_TIM_OC_ConfigChannel(&htim15, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }
  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
  sBreakDeadTimeConfig.DeadTime = 0;
  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
  sBreakDeadTimeConfig.BreakFilter = 0;
  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
  if (HAL_TIMEx_ConfigBreakDeadTime(&htim15, &sBreakDeadTimeConfig) != HAL_OK)
  {
    Error_Handler();
  }
  HAL_TIM_MspPostInit(&htim15);
}
/* TIM16 init function 输出PWM模式1
在递增计数时，TIMx_CNT<TIMx_CCRx时OCxREF为有效电平，否则为无效电平；
在递减计数时，TIMx_CNT>TIMx_CCRx时OCxREF为无效电平，否则为有效电平。
*/
void OutputPWM_TIM16_Init(void){

  TIM_OC_InitTypeDef sConfigOC = {0};
  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
  htim16.Instance = TIM16;
  htim16.Init.Prescaler = 80-1;
  htim16.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim16.Init.Period = 999;
  htim16.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim16.Init.RepetitionCounter = 0;
  htim16.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
  if (HAL_TIM_Base_Init(&htim16) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_Init(&htim16) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 300;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
  if (HAL_TIM_PWM_ConfigChannel(&htim16, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
  sBreakDeadTimeConfig.DeadTime = 0;
  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
  sBreakDeadTimeConfig.BreakFilter = 0;
  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
  if (HAL_TIMEx_ConfigBreakDeadTime(&htim16, &sBreakDeadTimeConfig) != HAL_OK)
  {
    Error_Handler();
  }
  HAL_TIM_MspPostInit(&htim16);

}
/* TIM17 init function 输出PWM模式1
在递增计数时，TIMx_CNT<TIMx_CCRx时OCxREF为有效电平，否则为无效电平；
在递减计数时，TIMx_CNT>TIMx_CCRx时OCxREF为无效电平，否则为有效电平。
*/
void OutputPWM_TIM17_Init(void){
  TIM_OC_InitTypeDef sConfigOC = {0};
  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};

  htim17.Instance = TIM17;
  htim17.Init.Prescaler = 80-1;
  htim17.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim17.Init.Period = 999;
  htim17.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim17.Init.RepetitionCounter = 0;
  htim17.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
  if (HAL_TIM_Base_Init(&htim17) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_Init(&htim17) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 800;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
  if (HAL_TIM_PWM_ConfigChannel(&htim17, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
  sBreakDeadTimeConfig.DeadTime = 0;
  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
  sBreakDeadTimeConfig.BreakFilter = 0;
  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
  if (HAL_TIMEx_ConfigBreakDeadTime(&htim17, &sBreakDeadTimeConfig) != HAL_OK)
  {
    Error_Handler();
  }
  HAL_TIM_MspPostInit(&htim17);

}

void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle){
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(tim_baseHandle->Instance==TIM2)
  {
    /* TIM2 clock enable */
    __HAL_RCC_TIM2_CLK_ENABLE();
    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**TIM2 GPIO Configuration
    PA15     ------> TIM2_CH1
    */
    GPIO_InitStruct.Pin = GPIO_PIN_15;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
    /* TIM2 interrupt Init */
    HAL_NVIC_SetPriority(TIM2_IRQn, 3, 0);
    HAL_NVIC_EnableIRQ(TIM2_IRQn);
  }
  else if(tim_baseHandle->Instance==TIM3)
  {
    /* TIM3 clock enable */
    __HAL_RCC_TIM3_CLK_ENABLE();
    __HAL_RCC_GPIOB_CLK_ENABLE();
    /**TIM3 GPIO Configuration
    PB4     ------> TIM3_CH1
    */
    GPIO_InitStruct.Pin = GPIO_PIN_4;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
    /* TIM3 interrupt Init */
    HAL_NVIC_SetPriority(TIM3_IRQn, 3, 0);
    HAL_NVIC_EnableIRQ(TIM3_IRQn);
  }
  else if(tim_baseHandle->Instance==TIM6)
  {

    /* TIM6 clock enable */
    __HAL_RCC_TIM6_CLK_ENABLE();
    /* TIM6 interrupt Init */
    HAL_NVIC_SetPriority(TIM6_DAC_IRQn, 2, 0);
    HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
  }
  else if(tim_baseHandle->Instance==TIM15)
  {

    /* TIM15 clock enable */
    __HAL_RCC_TIM15_CLK_ENABLE();

    /* TIM15 interrupt Init */
    HAL_NVIC_SetPriority(TIM1_BRK_TIM15_IRQn, 3, 0);
    HAL_NVIC_EnableIRQ(TIM1_BRK_TIM15_IRQn);

  }
  else if(tim_baseHandle->Instance==TIM16)
  {

    /* TIM16 clock enable */
    __HAL_RCC_TIM16_CLK_ENABLE();

  }
  else if(tim_baseHandle->Instance==TIM17)
  {

    /* TIM17 clock enable */
    __HAL_RCC_TIM17_CLK_ENABLE();

  }
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle){

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(timHandle->Instance==TIM15)
  {
  /* USER CODE BEGIN TIM15_MspPostInit 0 */

  /* USER CODE END TIM15_MspPostInit 0 */
    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**TIM15 GPIO Configuration
    PA2     ------> TIM15_CH1
    PA3     ------> TIM15_CH2
    */
    GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_3;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF9_TIM15;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /* USER CODE BEGIN TIM15_MspPostInit 1 */

  /* USER CODE END TIM15_MspPostInit 1 */
  }
  else if(timHandle->Instance==TIM16)
  {
  /* USER CODE BEGIN TIM16_MspPostInit 0 */

  /* USER CODE END TIM16_MspPostInit 0 */

    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**TIM16 GPIO Configuration
    PA6     ------> TIM16_CH1
    */
    GPIO_InitStruct.Pin = GPIO_PIN_6;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF1_TIM16;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /* USER CODE BEGIN TIM16_MspPostInit 1 */

  /* USER CODE END TIM16_MspPostInit 1 */
  }
  else if(timHandle->Instance==TIM17)
  {
  /* USER CODE BEGIN TIM17_MspPostInit 0 */

  /* USER CODE END TIM17_MspPostInit 0 */

    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**TIM17 GPIO Configuration
    PA7     ------> TIM17_CH1
    */
    GPIO_InitStruct.Pin = GPIO_PIN_7;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF1_TIM17;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /* USER CODE BEGIN TIM17_MspPostInit 1 */

  /* USER CODE END TIM17_MspPostInit 1 */
  }
}

1.TIM6和TIM7基本定时器配置，一般定时为1s,PSC=8000-1,ARR=10000-1；

void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim){
 static uint16_t counter=0;
 if(htim->Instance==TIM6){
  sprintf((char *)Uart_String, "%04d:Hello,world.\r\n", counter);
  HAL_UART_Transmit(&huart1,(unsigned char *)Uart_String, strlen((char *)Uart_String), 50);
  if(++counter==10000)counter=0;
 }
}

2.TIM2和TIM3：测量输入PWM的周期和占空比，需要开启TIM2的IC通道1和2的中断，以及TIM3通道1和2的中断；PSC=80-1,ARR=65535；

void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim){
    if(htim->Instance == TIM3){
        if(htim->Channel ==HAL_TIM_ACTIVE_CHANNEL_1){
            InputPWM1_T=HAL_TIM_ReadCapturedValue(&htim3,TIM_CHANNEL_1)+1;
            InputPWM1_Duty=1.0*InputPWM1_High/InputPWM1_T;
        }else if(htim->Channel ==HAL_TIM_ACTIVE_CHANNEL_2){
            InputPWM1_High=HAL_TIM_ReadCapturedValue(&htim3,TIM_CHANNEL_2)+1;
        }
    }
    if(htim->Instance == TIM2){
        if(htim->Channel ==HAL_TIM_ACTIVE_CHANNEL_1){
            InputPWM2_T=HAL_TIM_ReadCapturedValue(&htim2,TIM_CHANNEL_1)+1;
            InputPWM2_Duty=1.0*InputPWM2_High/InputPWM2_T;
        }else if(htim->Channel ==HAL_TIM_ACTIVE_CHANNEL_2){
            InputPWM2_High=HAL_TIM_ReadCapturedValue(&htim2,TIM_CHANNEL_2)+1;
        }
    }
}

3.TIM15：输出2路不同频率，占空比为50%的方波，需要开启TIM15的OC通道1和2的中断，以及TIM3通道1和2的中断；PSC=80-1,ARR=65535；

void HAL_TIM_OC_DelayElapsedCallback(TIM_HandleTypeDef *htim){
  if(htim->Instance ==TIM15){
    if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1){
      __HAL_TIM_SetCompare(&htim15,TIM_CHANNEL_1,(__HAL_TIM_GetCounter(&htim15)+499));//1K
    }else if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_2){
      __HAL_TIM_SetCompare(&htim15,TIM_CHANNEL_2,(__HAL_TIM_GetCounter(&htim15)+99));//5K
    }
  }
}

4.TIM16和TIM17：输出2路频率相同，占空比不同的PWM，TIM16通道1和TIM17通道1；PSC=80-1,ARR=1000-1；

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