C++ HAL_TIM_IC_ConfigChannel函数代码示例

/* TIM4 init function */
void MX_TIM4_Init(void)
{

  TIM_MasterConfigTypeDef sMasterConfig;
  TIM_IC_InitTypeDef sConfigIC;

  htim4.Instance = TIM4;
  htim4.Init.Prescaler = 0;
  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim4.Init.Period = 0;
  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  HAL_TIM_IC_Init(&htim4);

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig);

  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
  sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
  sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
  sConfigIC.ICFilter = 0;
  HAL_TIM_IC_ConfigChannel(&htim4, &sConfigIC, TIM_CHANNEL_1);

  HAL_TIM_IC_ConfigChannel(&htim4, &sConfigIC, TIM_CHANNEL_2);

}

/* TIM3 init function */
void MX_TIM3_Init(void)
{
  TIM_ClockConfigTypeDef sClockSourceConfig;
  TIM_MasterConfigTypeDef sMasterConfig;
  TIM_IC_InitTypeDef sConfigIC;

  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 71;
  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim3.Init.Period = 0xffff;
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  HAL_TIM_Base_Init(&htim3);

  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig);

  HAL_TIM_IC_Init(&htim3);

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig);

  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
  sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
  sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
  sConfigIC.ICFilter = 0;
  HAL_TIM_IC_ConfigChannel(&htim3, &sConfigIC, TIM_CHANNEL_4);

}

/* TIM5 init function */
void MX_TIM5_Init(void)
{
  TIM_MasterConfigTypeDef sMasterConfig;
  TIM_IC_InitTypeDef sConfigIC;
  TIM_OC_InitTypeDef sConfigOC;

  htim5.Instance = TIM5;
  htim5.Init.Prescaler = 0;
  htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim5.Init.Period = 8400000 * 5; // 500 ms
  htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  HAL_TIM_IC_Init(&htim5);

  HAL_TIM_PWM_Init(&htim5);

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig);

  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_BOTHEDGE;
  sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
  sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
  sConfigIC.ICFilter = 0;
  HAL_TIM_IC_ConfigChannel(&htim5, &sConfigIC, TIM_CHANNEL_1);

  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 840;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_2);

  HAL_TIM_MspPostInit(&htim5);

}

/**             
  * @brief  TIM4 Configuration
  * @note   TIM4 configuration is based on APB1 frequency
  * @note   TIM4 Update event occurs each Input Capture Rising Edge   
  * @param  None
  * @retval None
  */
void TIM4_Config(void)
{
  TIM_IC_InitTypeDef    TIMInput_Config;
  uint16_t PeriodValue = 0;

  TIM_SlaveConfigTypeDef sSlaveConfig;
  
  /*##-1- Configure the TIM peripheral #######################################*/
  /* Input Capture configuration */
  Input_Handle.Instance = TIM4;
  
  /* Calculate the period value */
  PeriodValue = (uint16_t) ((SystemCoreClock) / FREQ);
  
  Input_Handle.Init.Period = PeriodValue;          
  Input_Handle.Init.Prescaler = 0;       
  Input_Handle.Init.ClockDivision = 0;    
  Input_Handle.Init.CounterMode = TIM_COUNTERMODE_UP; 
  Input_Handle.Init.RepetitionCounter = 0;
  HAL_TIM_IC_Init(&Input_Handle);

  /*##-2- Configure the Input Capture ########################################*/  
  /* Input Capture configuration of channel 2 */
  TIMInput_Config.ICPolarity  = TIM_ICPOLARITY_RISING;
  TIMInput_Config.ICSelection = TIM_ICSELECTION_DIRECTTI;
  TIMInput_Config.ICPrescaler = TIM_ICPSC_DIV1;
  TIMInput_Config.ICFilter    = 0;
  if(HAL_TIM_IC_ConfigChannel(&Input_Handle, &TIMInput_Config, TIM_CHANNEL_2) != HAL_OK)
  {
    /* Initialization Error */
    Error_Handler();
  }

  /*##-3- Configure the Trigger Input ########################################*/  
  /* TIM4 Input Trigger selection */
  sSlaveConfig.InputTrigger = TIM_TS_ITR2;
  sSlaveConfig.SlaveMode = TIM_SLAVEMODE_TRIGGER;

  HAL_TIM_SlaveConfigSynchronization(&Input_Handle, &sSlaveConfig);

  /* Reset the flags */
  Input_Handle.Instance->SR = 0;

  /*##-4- Enable TIM peripheral counter ######################################*/
  /* Start the TIM Input Capture measurement in interrupt mode */
  if(HAL_TIM_IC_Start_IT(&Input_Handle, TIM_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief  Configures TIM5 to measure the LSI oscillator frequency. 
  * @param  None
  * @retval LSI Frequency
  */
static uint32_t GetLSIFrequency(void)
{
  TIM_IC_InitTypeDef    TIMInput_Config;

  /* Configure the TIM peripheral *********************************************/ 
  /* Set TIMx instance */  
  Input_Handle.Instance = TIM5;
  
  /* TIM5 configuration: Input Capture mode ---------------------
     The LSI oscillator is connected to TIM5 TIM_CHANNEL_4.
     The Rising edge is used as active edge.
     The TIM5 CCR TIM_CHANNEL_4 is used to compute the frequency value. 
  ------------------------------------------------------------ */
  Input_Handle.Init.Prescaler         = 0; 
  Input_Handle.Init.CounterMode       = TIM_COUNTERMODE_UP;  
  Input_Handle.Init.Period            = 0xFFFF; 
  Input_Handle.Init.ClockDivision     = 0;     
  if(HAL_TIM_IC_Init(&Input_Handle) != HAL_OK)
  {
    /* Initialization Error */
    Error_Handler();
  }
  
  /* Connect internally the TIM5 TIM_CHANNEL_4 Input Capture to the LSI clock output */
  __HAL_RCC_AFIO_CLK_ENABLE();
  __HAL_AFIO_REMAP_TIM5CH4_ENABLE();
  
  /* Configure the Input Capture of TIM_CHANNEL_4 */
  TIMInput_Config.ICPolarity  = TIM_ICPOLARITY_RISING;
  TIMInput_Config.ICSelection = TIM_ICSELECTION_DIRECTTI;
  TIMInput_Config.ICPrescaler = TIM_ICPSC_DIV8;
  TIMInput_Config.ICFilter    = 0;
  if(HAL_TIM_IC_ConfigChannel(&Input_Handle, &TIMInput_Config, TIM_CHANNEL_4) != HAL_OK)
  {
    /* Initialization Error */
    Error_Handler();
  }

  /* Start the TIM Input Capture measurement in interrupt mode */
  if(HAL_TIM_IC_Start_IT(&Input_Handle, TIM_CHANNEL_4) != HAL_OK)
  {
    Error_Handler();
  }

  /* Wait until the TIM5 get 2 LSI edges */
  while(uwCaptureNumber != 2)
  {
  }

  /* Disable TIM5 CC1 Interrupt Request */
  HAL_TIM_IC_Stop_IT(&Input_Handle, TIM_CHANNEL_4);
  
  /* Deinitialize the TIM5 peripheral registers to their default reset values */
  HAL_TIM_IC_DeInit(&Input_Handle);

  return uwLsiFreq;
}

/* TIM1 init function */
void MX_TIM1_Init(void)
{
  TIM_ClockConfigTypeDef sClockSourceConfig;
  TIM_SlaveConfigTypeDef sSlaveConfig;
  TIM_MasterConfigTypeDef sMasterConfig;
  TIM_IC_InitTypeDef sConfigIC;

  htim1.Instance = TIM1;
  htim1.Init.Prescaler = 167;
  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim1.Init.Period = 0xFFFF;
  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim1.Init.RepetitionCounter = 0;
  HAL_TIM_Base_Init(&htim1);

  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig);

  HAL_TIM_IC_Init(&htim1);

  sSlaveConfig.SlaveMode = TIM_SLAVEMODE_RESET;
  sSlaveConfig.InputTrigger = TIM_TS_TI1F_ED;
  sSlaveConfig.TriggerPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
  sSlaveConfig.TriggerFilter = 0;
  HAL_TIM_SlaveConfigSynchronization(&htim1, &sSlaveConfig);

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig);

  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
  sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
  sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
  sConfigIC.ICFilter = 0;
  HAL_TIM_IC_ConfigChannel(&htim1, &sConfigIC, TIM_CHANNEL_1);

  HAL_TIM_IC_ConfigChannel(&htim1, &sConfigIC, TIM_CHANNEL_2);

  HAL_TIM_IC_ConfigChannel(&htim1, &sConfigIC, TIM_CHANNEL_3);

  HAL_TIM_ConfigTI1Input(&htim1, TIM_TI1SELECTION_XORCOMBINATION);

}

void TIM_Init(TIM_HandleTypeDef *timh)
{
    TIM_IC_InitTypeDef       sConfig;

    timh->Init.Period = 0xFFFF;
    timh->Init.Prescaler = 0;
    timh->Init.Prescaler = ((SystemCoreClock) / 1000000) - 1;	// 1Mhz
    timh->Init.ClockDivision = 0;
    timh->Init.CounterMode = TIM_COUNTERMODE_UP;
    HAL_TIM_IC_Init(timh);

    // Common configuration
    sConfig.ICPrescaler = TIM_ICPSC_DIV1;
    sConfig.ICFilter = 0;

    // Configure the Input Capture of channel 1
    sConfig.ICPolarity = TIM_ICPOLARITY_RISING;
    sConfig.ICSelection = TIM_ICSELECTION_INDIRECTTI;
    HAL_TIM_IC_ConfigChannel(timh, &sConfig, TIM_CHANNEL_1);

    // Configure the Input Capture of channel 2
    sConfig.ICPolarity = TIM_ICPOLARITY_FALLING;
    sConfig.ICSelection = TIM_ICSELECTION_DIRECTTI;
    HAL_TIM_IC_ConfigChannel(timh, &sConfig, TIM_CHANNEL_2);

    // Configure the Input Capture of channel 3
    sConfig.ICPolarity = TIM_ICPOLARITY_RISING;
    sConfig.ICSelection = TIM_ICSELECTION_INDIRECTTI;
    HAL_TIM_IC_ConfigChannel(timh, &sConfig, TIM_CHANNEL_3);

    // Configure the Input Capture of channel 4
    sConfig.ICPolarity = TIM_ICPOLARITY_FALLING;
    sConfig.ICSelection = TIM_ICSELECTION_DIRECTTI;
    HAL_TIM_IC_ConfigChannel(timh, &sConfig, TIM_CHANNEL_4);

    HAL_TIM_IC_Start_IT(timh, TIM_CHANNEL_1);
    HAL_TIM_IC_Start_IT(timh, TIM_CHANNEL_2);
    HAL_TIM_IC_Start_IT(timh, TIM_CHANNEL_3);
    HAL_TIM_IC_Start_IT(timh, TIM_CHANNEL_4);
}

/* TIM5 init function */
void MX_TIM5_Init(void)
{
  TIM_MasterConfigTypeDef sMasterConfig;
  TIM_IC_InitTypeDef sConfigIC;

  htim5.Instance = TIM5;
  htim5.Init.Prescaler = 0;
  htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim5.Init.Period = 0xFFFFFFFF;
  htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  if (HAL_TIM_IC_Init(&htim5) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_BOTHEDGE;
  sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
  sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
  sConfigIC.ICFilter = 15;
  if (HAL_TIM_IC_ConfigChannel(&htim5, &sConfigIC, TIM_CHANNEL_3) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

  if (HAL_TIM_IC_ConfigChannel(&htim5, &sConfigIC, TIM_CHANNEL_4) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

}

DHT22_RESULT DHT22_Init(DHT22_HandleTypeDef* handle) {
    handle->timHandle.Init.Period = 0xFFFF;
    handle->timHandle.Init.Prescaler = 0;
    handle->timHandle.Init.ClockDivision = 0;
    handle->timHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
    if (HAL_TIM_IC_Init(&handle->timHandle) != HAL_OK) {
        return DHT22_ERROR;
    }
    handle->timICHandle.ICPolarity = TIM_ICPOLARITY_FALLING;
    handle->timICHandle.ICSelection = TIM_ICSELECTION_DIRECTTI;
    handle->timICHandle.ICPrescaler = TIM_ICPSC_DIV1;
    handle->timICHandle.ICFilter = 0;
    if (HAL_TIM_IC_ConfigChannel(&handle->timHandle, &handle->timICHandle,
                                 handle->timChannel) != HAL_OK) {
        return DHT22_ERROR;
    }
    return DHT22_OK;
}

/**
  * @brief  Configures TIM2 channel 4 in input capture mode
  * @param  None
  * @retval None
  */
static void TIM_Config(void)
{
  /*##-1- Configure the TIM peripheral #######################################*/ 
  /* Set TIMx instance */
  TimHandle.Instance = TIMx;
 
  /* Initialize TIMx peripheral as follow:
       + Period = 0xFFFF
       + Prescaler = 0
       + ClockDivision = 0
       + Counter direction = Up
  */
  TimHandle.Init.Period        = 0xFFFF;
  TimHandle.Init.Prescaler     = 0;
  TimHandle.Init.ClockDivision = 0;
  TimHandle.Init.CounterMode   = TIM_COUNTERMODE_UP;  
  if(HAL_TIM_IC_Init(&TimHandle) != HAL_OK)
  {
    /* Error */
    ErrorHandler();
  }
  
  HAL_TIMEx_RemapConfig(&TimHandle, TIM2_TI4_COMP1);
   
  /*##-2- Configure the Input Capture channel ################################*/ 
  /* Configure the Input Capture of channel 4 */
  sICConfig.ICPolarity  = TIM_ICPOLARITY_BOTHEDGE;
  sICConfig.ICSelection = TIM_ICSELECTION_DIRECTTI;
  sICConfig.ICPrescaler = TIM_ICPSC_DIV1;
  sICConfig.ICFilter    = 0;   
  if(HAL_TIM_IC_ConfigChannel(&TimHandle, &sICConfig, TIM_CHANNEL_4) != HAL_OK)
  {
    /* Configuration Error */
    ErrorHandler();
  }
  
  /*##-3- Start the Input Capture in interrupt mode ##########################*/
  if(HAL_TIM_IC_Start_IT(&TimHandle, TIM_CHANNEL_4) != HAL_OK)
  {
    /* Starting Error */
    ErrorHandler();
  }
}

void pwmICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity)
{
    TIM_HandleTypeDef* Handle = timerFindTimerHandle(tim);
    if (Handle == NULL) return;

    TIM_IC_InitTypeDef TIM_ICInitStructure;

    TIM_ICInitStructure.ICPolarity = polarity;
    TIM_ICInitStructure.ICSelection = TIM_ICSELECTION_DIRECTTI;
    TIM_ICInitStructure.ICPrescaler = TIM_ICPSC_DIV1;

    if (inputFilteringMode == INPUT_FILTERING_ENABLED) {
        TIM_ICInitStructure.ICFilter = INPUT_FILTER_TO_HELP_WITH_NOISE_FROM_OPENLRS_TELEMETRY_RX;
    } else {
        TIM_ICInitStructure.ICFilter = 0x00;
    }

    HAL_TIM_IC_ConfigChannel(Handle, &TIM_ICInitStructure, channel);
    HAL_TIM_IC_Start_IT(Handle,channel);
}

/**
  * @brief  Main program.
  * @param  None
  * @retval None
  */
int main(void)
{
  /* STM32F4xx HAL library initialization:
       - Configure the Flash prefetch, instruction and Data caches
       - Configure the Systick to generate an interrupt each 1 msec
       - Set NVIC Group Priority to 4
       - Global MSP (MCU Support Package) initialization
     */
  if(HAL_Init()!= HAL_OK)
  {
    /* Start Conversation Error */
    Error_Handler(); 
  }
  
  /* Configure the system clock to 84 Mhz */
  SystemClock_Config();
  
  /* Configure LED5 */
  BSP_LED_Init(LED5);
  
  /*##-1- Configure the TIM peripheral #######################################*/ 
  /* Set TIMx instance */
  TimHandle.Instance = TIMx;

  /* Initialize TIMx peripheral as follow:
       + Period = 0xFFFF
       + Prescaler = 0
       + ClockDivision = 0
       + Counter direction = Up
  */
  TimHandle.Init.Period = 0xFFFF;
  TimHandle.Init.Prescaler = 0;
  TimHandle.Init.ClockDivision = 0;
  TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;  
  if(HAL_TIM_IC_Init(&TimHandle) != HAL_OK)
  {
    /* Initialization Error */
    Error_Handler();
  }
  
  /*##-2- Configure the Input Capture channels ###############################*/ 
  /* Common configuration */
  sConfig.ICPrescaler = TIM_ICPSC_DIV1;
  sConfig.ICFilter = 0;  
  
  /* Configure the Input Capture of channel 1 */
  sConfig.ICPolarity = TIM_ICPOLARITY_FALLING;
  sConfig.ICSelection = TIM_ICSELECTION_INDIRECTTI;    
  if(HAL_TIM_IC_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1) != HAL_OK)
  {
    /* Configuration Error */
    Error_Handler();
  }
  
  /* Configure the Input Capture of channel 2 */
  sConfig.ICPolarity = TIM_ICPOLARITY_RISING;
  sConfig.ICSelection = TIM_ICSELECTION_DIRECTTI;
  if(HAL_TIM_IC_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_2) != HAL_OK)
  {
    /* Configuration Error */
    Error_Handler();
  }
  /*##-3- Configure the slave mode ###########################################*/
  /* Select the slave Mode: Reset Mode */
  sSlaveConfig.SlaveMode     = TIM_SLAVEMODE_RESET;
  sSlaveConfig.InputTrigger  = TIM_TS_TI2FP2;
  if(HAL_TIM_SlaveConfigSynchronization(&TimHandle, &sSlaveConfig) != HAL_OK)
  {
    /* Configuration Error */
    Error_Handler();
  }
  
  /*##-4- Start the Input Capture in interrupt mode ##########################*/
  if(HAL_TIM_IC_Start_IT(&TimHandle, TIM_CHANNEL_2) != HAL_OK)
  {
    /* Starting Error */
    Error_Handler();
  }
  
  /*##-5- Start the Input Capture in interrupt mode ##########################*/
  if(HAL_TIM_IC_Start_IT(&TimHandle, TIM_CHANNEL_1) != HAL_OK)
  {
    /* Starting Error */
    Error_Handler();
  }
  
  /* Infinite loop */
  while (1)
  {    
  }
}

/* TIM5 init function */
void MX_TIM5_Init(void)
{
  TIM_ClockConfigTypeDef sClockSourceConfig;
  TIM_SlaveConfigTypeDef sSlaveConfig;
  TIM_MasterConfigTypeDef sMasterConfig;
  TIM_IC_InitTypeDef sConfigIC;

  htim5.Instance = TIM5;
  htim5.Init.Prescaler = 840;
  htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim5.Init.Period = 65535;
  htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  if (HAL_TIM_Base_Init(&htim5) != HAL_OK)
  {
    Error_Handler();
  }

  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim5, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }

  if (HAL_TIM_IC_Init(&htim5) != HAL_OK)
  {
    Error_Handler();
  }

  sSlaveConfig.SlaveMode = TIM_SLAVEMODE_RESET;
  sSlaveConfig.InputTrigger = TIM_TS_TI2FP2;
  sSlaveConfig.TriggerPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
  sSlaveConfig.TriggerFilter = 0;
  if (HAL_TIM_SlaveConfigSynchronization(&htim5, &sSlaveConfig) != HAL_OK)
  {
    Error_Handler();
  }

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }

  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
  sConfigIC.ICSelection = TIM_ICSELECTION_INDIRECTTI;
  sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
  sConfigIC.ICFilter = 0;
  if (HAL_TIM_IC_ConfigChannel(&htim5, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }

  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
  sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
  if (HAL_TIM_IC_ConfigChannel(&htim5, &sConfigIC, TIM_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }

}

/**
  * @brief  Main program.
  * @param  None
  * @retval None
  */
int main(void)
{
  /* STM32F0xx HAL library initialization:
       - Configure the Flash prefetch
       - Systick timer is configured by default as source of time base, but user 
         can eventually implement his proper time base source (a general purpose 
         timer for example or other time source), keeping in mind that Time base 
         duration should be kept 1ms since PPP_TIMEOUT_VALUEs are defined and 
         handled in milliseconds basis.
       - Low Level Initialization
     */
  HAL_Init();

  /* Configure LED2 */
  BSP_LED_Init(LED2);

  /* Configure the system clock to 48 MHz */
  SystemClock_Config();

  /*##-1- Configure the TIM peripheral #######################################*/
  /* ---------------------------------------------------------------------------
  TIM3 configuration: PWM Input mode

  In this example TIM3 input clock (TIM3CLK) is set to APB1 clock (PCLK1),
  since APB1 prescaler is 1.
    TIM3CLK = PCLK1
    PCLK1 = HCLK
    => TIM3CLK = HCLK = SystemCoreClock

  External Signal Frequency = TIM3 counter clock / TIM3_CCR2 in Hz.

  External Signal DutyCycle = (TIM3_CCR1*100)/(TIM3_CCR2) in %.

  --------------------------------------------------------------------------- */

  /* Set TIMx instance */
  TimHandle.Instance = TIMx;

  /* Initialize TIMx peripheral as follows:
       + Period = 0xFFFF
       + Prescaler = 0
       + ClockDivision = 0
       + Counter direction = Up
  */
  TimHandle.Init.Period            = 0xFFFF;
  TimHandle.Init.Prescaler         = 0;
  TimHandle.Init.ClockDivision     = 0;
  TimHandle.Init.CounterMode       = TIM_COUNTERMODE_UP;
  TimHandle.Init.RepetitionCounter = 0;
  if (HAL_TIM_IC_Init(&TimHandle) != HAL_OK)
  {
    /* Initialization Error */
    Error_Handler();
  }

  /*##-2- Configure the Input Capture channels ###############################*/
  /* Common configuration */
  sConfig.ICPrescaler = TIM_ICPSC_DIV1;
  sConfig.ICFilter = 0;

  /* Configure the Input Capture of channel 1 */
  sConfig.ICPolarity = TIM_ICPOLARITY_FALLING;
  sConfig.ICSelection = TIM_ICSELECTION_INDIRECTTI;
  if (HAL_TIM_IC_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1) != HAL_OK)
  {
    /* Configuration Error */
    Error_Handler();
  }

  /* Configure the Input Capture of channel 2 */
  sConfig.ICPolarity = TIM_ICPOLARITY_RISING;
  sConfig.ICSelection = TIM_ICSELECTION_DIRECTTI;
  if (HAL_TIM_IC_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_2) != HAL_OK)
  {
    /* Configuration Error */
    Error_Handler();
  }
  /*##-3- Configure the slave mode ###########################################*/
  /* Select the slave Mode: Reset Mode  */
  sSlaveConfig.SlaveMode        = TIM_SLAVEMODE_RESET;
  sSlaveConfig.InputTrigger     = TIM_TS_TI2FP2;
  sSlaveConfig.TriggerPolarity  = TIM_TRIGGERPOLARITY_NONINVERTED;
  sSlaveConfig.TriggerPrescaler = TIM_TRIGGERPRESCALER_DIV1;
  sSlaveConfig.TriggerFilter    = 0;
  if (HAL_TIM_SlaveConfigSynchronization(&TimHandle, &sSlaveConfig) != HAL_OK)
  {
    /* Configuration Error */
    Error_Handler();
  }

  /*##-4- Start the Input Capture in interrupt mode ##########################*/
  if (HAL_TIM_IC_Start_IT(&TimHandle, TIM_CHANNEL_2) != HAL_OK)
  {
    /* Starting Error */
    Error_Handler();
//.........这里部分代码省略.........

//.........这里部分代码省略.........
    HAL_TIM_PWM_Start(&htimPump, TIM_CHANNEL_1);
    HAL_TIM_PWM_Start(&htimPump, TIM_CHANNEL_2);

    MOTOR_SetVal(MOTOR_M1, 0, 0);
    MOTOR_SetVal(MOTOR_M2, 0 , 0);
    MOTOR_SetVal(MOTOR_PUMP, 0, 0);

    // Encoder ----------------------------------------------------------

	// Configure the hall encoder pins
	GPIO_InitStruct.Pin = MOTOR_HALL_M1A_ENC_PIN | MOTOR_HALL_M1B_ENC_PIN;
	GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
	GPIO_InitStruct.Alternate = MOTOR_HALL_ENC1_TIMER_AF;
	HAL_GPIO_Init(MOTOR_HALL_M1_ENC_PORT, &GPIO_InitStruct);

	GPIO_InitStruct.Pin = MOTOR_HALL_M2A_ENC_PIN | MOTOR_HALL_M2B_ENC_PIN;
	GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
	GPIO_InitStruct.Alternate = MOTOR_HALL_ENC2_TIMER_AF;
	HAL_GPIO_Init(MOTOR_HALL_M2_ENC_PORT, &GPIO_InitStruct);

	GPIO_InitStruct.Pin = MOTOR_HALL_M1A_SPEED_PIN | MOTOR_HALL_M1B_SPEED_PIN
						| MOTOR_HALL_M2A_SPEED_PIN | MOTOR_HALL_M2B_SPEED_PIN;
	GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
	GPIO_InitStruct.Alternate = MOTOR_HALL_SPEED_TIMER_AF;
	HAL_GPIO_Init(MOTOR_HALL_SPEED_PORT, &GPIO_InitStruct);

    // Timer configuration for hall encoder M1
	htimEncM1.Instance = MOTOR_HALL_ENC1_TIMER;
	htimEncM1.Init.Period = 0xFFFF;
	htimEncM1.Init.Prescaler = 0;
	htimEncM1.Init.ClockDivision = 0;
	htimEncM1.Init.CounterMode = TIM_COUNTERMODE_UP;

	sConfigEncM.EncoderMode = TIM_ENCODERMODE_TI2;
	sConfigEncM.IC1Filter = 0;
	sConfigEncM.IC1Polarity = TIM_ICPOLARITY_RISING;
	sConfigEncM.IC1Prescaler = TIM_ICPSC_DIV1;
	sConfigEncM.IC1Selection = TIM_ICSELECTION_DIRECTTI;
	sConfigEncM.IC2Filter = 0;
	sConfigEncM.IC2Polarity = TIM_ICPOLARITY_RISING;
	sConfigEncM.IC2Prescaler = TIM_ICPSC_DIV1;
	sConfigEncM.IC2Selection = TIM_ICSELECTION_DIRECTTI;

    // Encoder Mode
	HAL_TIM_Encoder_Init(&htimEncM1, &sConfigEncM);
    HAL_TIM_Encoder_Start(&htimEncM1, TIM_CHANNEL_1);
    HAL_TIM_Encoder_Start(&htimEncM1, TIM_CHANNEL_2);

    // Timer configuration for hall encoder M2
	htimEncM2.Instance = MOTOR_HALL_ENC2_TIMER;
	htimEncM2.Init.Period = 0xFFFF;
	htimEncM2.Init.Prescaler = 0;
	htimEncM2.Init.ClockDivision = 0;
	htimEncM2.Init.CounterMode = TIM_COUNTERMODE_UP;

    // Encoder mode
	HAL_TIM_Encoder_Init(&htimEncM2, &sConfigEncM);
    HAL_TIM_Encoder_Start(&htimEncM2, TIM_CHANNEL_1);
    HAL_TIM_Encoder_Start(&htimEncM2, TIM_CHANNEL_2);

#ifdef MOTOR_MEASURE_SPEED

    // Timer configuration for input capture
    htimEncSpeed.Instance = MOTOR_HALL_SPEED_TIMER;
    htimEncSpeed.Init.Period = 0xFFFF;
    htimEncSpeed.Init.Prescaler = 84-1; // 10us
    htimEncSpeed.Init.ClockDivision = 0;
    htimEncSpeed.Init.CounterMode = TIM_COUNTERMODE_UP;
    HAL_TIM_IC_Init(&htimEncSpeed);


    sConfigEncSpeed.ICFilter = 0;
    sConfigEncSpeed.ICPolarity = TIM_ICPOLARITY_RISING;
    sConfigEncSpeed.ICPrescaler = TIM_ICPSC_DIV1;
    sConfigEncSpeed.ICSelection = TIM_ICSELECTION_DIRECTTI;

    // Configure the NVIC
    HAL_NVIC_SetPriority(TIM_HALL_SPEED_IRQn, 0, 1);

    /* Enable the TIM8 global Interrupt */
    HAL_NVIC_EnableIRQ(TIM_HALL_SPEED_IRQn);

    // Input capture mode
    HAL_TIM_IC_ConfigChannel(&htimEncSpeed, &sConfigEncSpeed, TIM_CHANNEL_1);
    HAL_TIM_IC_ConfigChannel(&htimEncSpeed, &sConfigEncSpeed, TIM_CHANNEL_2);
    HAL_TIM_IC_ConfigChannel(&htimEncSpeed, &sConfigEncSpeed, TIM_CHANNEL_3);
    HAL_TIM_IC_ConfigChannel(&htimEncSpeed, &sConfigEncSpeed, TIM_CHANNEL_4);
    HAL_TIM_IC_Start_IT(&htimEncSpeed, TIM_CHANNEL_1);
    HAL_TIM_IC_Start_IT(&htimEncSpeed, TIM_CHANNEL_2);
    HAL_TIM_IC_Start_IT(&htimEncSpeed, TIM_CHANNEL_3);
    HAL_TIM_IC_Start_IT(&htimEncSpeed, TIM_CHANNEL_4);
#endif //MOTOR_MEASURE_SPEED

}