/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file tim.c
 * @brief   This file provides code for the configuration
 *          of the TIM instances.
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2023 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 htim6;
TIM_HandleTypeDef htim21;

/* TIM6 init function */
void MX_TIM6_Init(void)
{

  /* USER CODE BEGIN TIM6_Init 0 */

  /* USER CODE END TIM6_Init 0 */

  TIM_MasterConfigTypeDef sMasterConfig = {0};

  /* USER CODE BEGIN TIM6_Init 1 */

  /* USER CODE END TIM6_Init 1 */
  htim6.Instance = TIM6;
  htim6.Init.Prescaler = 3199;
  htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim6.Init.Period = 99;
  htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  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();
  }
  /* USER CODE BEGIN TIM6_Init 2 */

  /* USER CODE END TIM6_Init 2 */
}
/* TIM21 init function */
void MX_TIM21_Init(void)
{

  /* USER CODE BEGIN TIM21_Init 0 */

  /* USER CODE END TIM21_Init 0 */

  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};

  /* USER CODE BEGIN TIM21_Init 1 */

  /* USER CODE END TIM21_Init 1 */
  htim21.Instance = TIM21;
  htim21.Init.Prescaler = 32 - 1;
  htim21.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim21.Init.Period = 1000 - 1;
  htim21.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim21.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
  if (HAL_TIM_PWM_Init(&htim21) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim21, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 100;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  if (HAL_TIM_PWM_ConfigChannel(&htim21, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM21_Init 2 */

  /* USER CODE END TIM21_Init 2 */
  HAL_TIM_MspPostInit(&htim21);
}

void HAL_TIM_Base_MspInit(TIM_HandleTypeDef *tim_baseHandle)
{

  if (tim_baseHandle->Instance == TIM6)
  {
    /* USER CODE BEGIN TIM6_MspInit 0 */

    /* USER CODE END TIM6_MspInit 0 */
    /* TIM6 clock enable */
    __HAL_RCC_TIM6_CLK_ENABLE();

    /* TIM6 interrupt Init */
    HAL_NVIC_SetPriority(TIM6_DAC_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
    /* USER CODE BEGIN TIM6_MspInit 1 */

    /* USER CODE END TIM6_MspInit 1 */
  }
}

void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef *tim_pwmHandle)
{

  if (tim_pwmHandle->Instance == TIM21)
  {
    /* USER CODE BEGIN TIM21_MspInit 0 */

    /* USER CODE END TIM21_MspInit 0 */
    /* TIM21 clock enable */
    __HAL_RCC_TIM21_CLK_ENABLE();

    /* TIM21 interrupt Init */
    HAL_NVIC_SetPriority(TIM21_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(TIM21_IRQn);
    /* USER CODE BEGIN TIM21_MspInit 1 */

    /* USER CODE END TIM21_MspInit 1 */
  }
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *timHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if (timHandle->Instance == TIM21)
  {
    /* USER CODE BEGIN TIM21_MspPostInit 0 */

    /* USER CODE END TIM21_MspPostInit 0 */

    __HAL_RCC_GPIOB_CLK_ENABLE();
    /**TIM21 GPIO Configuration
    PB14     ------> TIM21_CH2
    */
    GPIO_InitStruct.Pin = PUL_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF6_TIM21;
    HAL_GPIO_Init(PUL_GPIO_Port, &GPIO_InitStruct);

    /* USER CODE BEGIN TIM21_MspPostInit 1 */

    /* USER CODE END TIM21_MspPostInit 1 */
  }
}

void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef *tim_baseHandle)
{

  if (tim_baseHandle->Instance == TIM6)
  {
    /* USER CODE BEGIN TIM6_MspDeInit 0 */

    /* USER CODE END TIM6_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM6_CLK_DISABLE();

    /* TIM6 interrupt Deinit */
    /* USER CODE BEGIN TIM6:TIM6_DAC_IRQn disable */
    /**
     * Uncomment the line below to disable the "TIM6_DAC_IRQn" interrupt
     * Be aware, disabling shared interrupt may affect other IPs
     */
    /* HAL_NVIC_DisableIRQ(TIM6_DAC_IRQn); */
    /* USER CODE END TIM6:TIM6_DAC_IRQn disable */

    /* USER CODE BEGIN TIM6_MspDeInit 1 */

    /* USER CODE END TIM6_MspDeInit 1 */
  }
}

void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef *tim_pwmHandle)
{

  if (tim_pwmHandle->Instance == TIM21)
  {
    /* USER CODE BEGIN TIM21_MspDeInit 0 */

    /* USER CODE END TIM21_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM21_CLK_DISABLE();

    /* TIM21 interrupt Deinit */
    HAL_NVIC_DisableIRQ(TIM21_IRQn);
    /* USER CODE BEGIN TIM21_MspDeInit 1 */

    /* USER CODE END TIM21_MspDeInit 1 */
  }
}

/* USER CODE BEGIN 1 */
extern void motor_IRQHandler(TIM_HandleTypeDef *htim); // 电机中断服务函数
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
  if (htim == &htim6)
  {
  }
  else if (htim == &htim21)
  {
    motor_IRQHandler(htim);
  }
}
/* USER CODE END 1 */