自学教程：C++ HAL_TIM_ConfigClockSource函数代码示例

/* TIM9 init function */void MX_TIM9_Init(void){  TIM_ClockConfigTypeDef sClockSourceConfig;  TIM_OC_InitTypeDef sConfigOC;  htim9.Instance = TIM9;  htim9.Init.Prescaler = 167;  htim9.Init.CounterMode = TIM_COUNTERMODE_UP;  htim9.Init.Period = 19999;  htim9.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;  HAL_TIM_Base_Init(&htim9);  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;  HAL_TIM_ConfigClockSource(&htim9, &sClockSourceConfig);  HAL_TIM_PWM_Init(&htim9);  sConfigOC.OCMode = TIM_OCMODE_PWM1;  sConfigOC.Pulse = 1500;  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;  HAL_TIM_PWM_ConfigChannel(&htim9, &sConfigOC, TIM_CHANNEL_1);  HAL_TIM_PWM_ConfigChannel(&htim9, &sConfigOC, TIM_CHANNEL_2);}

/* TIM3 init function */void SC_TIM3_Init(SERVO_CONTROLLER_Frequency frequency){  TIM_ClockConfigTypeDef sClockSourceConfig;  TIM_MasterConfigTypeDef sMasterConfig;  TIM_OC_InitTypeDef sConfigOC;  htim3.Instance = TIM3;  htim3.Init.Prescaler = CORE_FCLK / TIM_FCLK - 1;  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;  htim3.Init.Period = (uint16_t)(TIM_FCLK / frequency);   //should not exceed 0xFFFF  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;  HAL_TIM_Base_Init(&htim3);  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;  HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig);  HAL_TIM_PWM_Init(&htim3);  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;  HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig);  sConfigOC.OCMode = TIM_OCMODE_PWM1;  sConfigOC.Pulse = 0;  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;  HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1);  HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2);  HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3);}

/******************************************************//** * @brief  Initialises the step clock by setting  * corresponding GPIO, Timer, Pwm,... * @param  None * @retval None **********************************************************/void BSP_MotorControlBoard_StepClockInit(void){  TIM_OC_InitTypeDef sConfigOC;  TIM_MasterConfigTypeDef sMasterConfig;  TIM_ClockConfigTypeDef sClockSourceConfig;    hTimStepClock.Instance = BSP_MOTOR_CONTROL_BOARD_TIMER_STEP_CLOCK;  hTimStepClock.Init.Prescaler = TIMER_PRESCALER -1;  hTimStepClock.Init.CounterMode = TIM_COUNTERMODE_UP;  hTimStepClock.Init.Period = 0;  hTimStepClock.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;  HAL_TIM_PWM_Init(&hTimStepClock);  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;  HAL_TIM_ConfigClockSource(&hTimStepClock, &sClockSourceConfig);    sConfigOC.OCMode = TIM_OCMODE_PWM1;  sConfigOC.Pulse = 0;  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;  HAL_TIM_PWM_ConfigChannel(&hTimStepClock, &sConfigOC, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_STEP_CLOCK);    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;  HAL_TIMEx_MasterConfigSynchronization(&hTimStepClock, &sMasterConfig);}

/* TIM2 init function */void MX_TIM2_Init(void){  TIM_ClockConfigTypeDef sClockSourceConfig;  TIM_MasterConfigTypeDef sMasterConfig;  TIM_OC_InitTypeDef sConfigOC;  htim2.Instance = TIM2;  htim2.Init.Prescaler = 0;  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;  htim2.Init.Period = 47;  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;  HAL_TIM_Base_Init(&htim2);  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;  HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig);  HAL_TIM_PWM_Init(&htim2);  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;  HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig);  sConfigOC.OCMode = TIM_OCMODE_PWM1;  sConfigOC.Pulse = 0;  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;  HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1);  HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4);  HAL_TIM_MspPostInit(&htim2);}

void time2_init(void){	  TIM_ClockConfigTypeDef sClockSourceConfig;//	  GPIO_InitTypeDef GPIO_InitStruct;			  htim2.Instance = TIM2;	  htim2.Init.Prescaler = 84 - 1;	  //1us	  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;	  htim2.Init.Period = 1000-1;			  //10us	  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;	  htim2.Init.RepetitionCounter = 0;	  HAL_TIM_Base_Init(&htim2);		  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;	  HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig);#if 0  /* GPIO Ports Clock Enable */  __GPIOC_CLK_ENABLE();    GPIO_InitStruct.Pin = GPIO_PIN_0;    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;    GPIO_InitStruct.Speed = GPIO_SPEED_LOW;	 GPIO_InitStruct.Pull = GPIO_NOPULL;    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);#endif}

/* TIM2 init function */void MX_TIM2_Init(void){  TIM_ClockConfigTypeDef sClockSourceConfig;  TIM_MasterConfigTypeDef sMasterConfig;  htim2.Instance = TIM2;  htim2.Init.Prescaler = 1;  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;  htim2.Init.Period = 875;  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;  htim2.Init.RepetitionCounter = 0;  HAL_TIM_Base_Init(&htim2);  // Initialize interrupt triggering//  HAL_NVIC_EnableIRQ(TIM2_IRQn);  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;  HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig);  sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;  HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig);  if (HAL_TIM_Base_Start_IT(&htim2) != HAL_OK) {      while(1);  }}

/* TIM2 init function */static void MX_TIM2_Init(void){  TIM_ClockConfigTypeDef sClockSourceConfig;  TIM_MasterConfigTypeDef sMasterConfig;  htim2.Instance = TIM2;  htim2.Init.Prescaler = 84;  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;  htim2.Init.Period = 1000000;  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;  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();  }  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)  {    Error_Handler();  }}

void MX_TIM1_Init(void) {  TIM_ClockConfigTypeDef sClockSourceConfig;  TIM_MasterConfigTypeDef sMasterConfig;  TIM_SlaveConfigTypeDef sSlaveConfig;  htim2.Instance = TIM2;  htim2.Init.Prescaler = 31999;  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;  htim2.Init.Period = 249;  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;  HAL_TIM_Base_Init(&htim2);  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;  HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig);  sSlaveConfig.SlaveMode = TIM_SLAVEMODE_TRIGGER;  sSlaveConfig.InputTrigger = TIM_TS_TI1FP1;  sSlaveConfig.TriggerPolarity = TIM_TRIGGERPOLARITY_RISING;  sSlaveConfig.TriggerFilter = 15;  HAL_TIM_SlaveConfigSynchronization(&htim2, &sSlaveConfig);  sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;  HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig);}

/* 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);}

/* TIM1 init function */void MX_TIM1_Init(void){  TIM_ClockConfigTypeDef sClockSourceConfig;  TIM_MasterConfigTypeDef sMasterConfig;  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;  TIM_OC_InitTypeDef sConfigOC;  htim1.Instance = TIM1;  htim1.Init.Prescaler = 0;  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;  htim1.Init.Period = 0;  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_OC_Init(&htim1);  HAL_TIM_PWM_Init(&htim1);  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;  HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig);  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.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;  HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig);  sConfigOC.OCMode = TIM_OCMODE_TIMING;  sConfigOC.Pulse = 0;  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;  HAL_TIM_OC_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1);  HAL_TIM_OC_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2);  HAL_TIM_OC_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3);  sConfigOC.OCMode = TIM_OCMODE_PWM1;  HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4);  HAL_TIM_MspPostInit(&htim1);}

void hubInit(void) {	initIO();	calculatePeriod();	hubLUTInit();	initRows();	hubOrientation = HUB_ROTATE_0;	hubSetOrient(hubOrientation);	clearScreen();	//fillScreen(COLOR_RGB(255, 255, 255));	hubTestBmp();	screenRedraw();		// 100 Hz * 16 Phases  HUB_TIMER_CLK_ENABLE();  TIM_ClockConfigTypeDef sClockSourceConfig;  hubtim.Instance = HUB_TIMER;  hubtim.Init.Prescaler = HUB_PRESCALER - 1;  hubtim.Init.CounterMode = TIM_COUNTERMODE_UP;  hubtim.Init.Period = period0 - 1;  hubtim.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;  HAL_TIM_Base_Init(&hubtim);  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;  HAL_TIM_ConfigClockSource(&hubtim, &sClockSourceConfig);	HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_4);  HAL_NVIC_SetPriority(TIM1_BRK_TIM9_IRQn, 0, 0);  HAL_NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn);		HAL_TIM_Base_Start_IT(&hubtim);		// Timer 2 for NOE	HUB_TIMER2_CLK_ENABLE();  TIM_OC_InitTypeDef sConfigOC;  hubtim2.Instance = HUB_TIMER2;  hubtim2.Init.Prescaler = 0;  hubtim2.Init.CounterMode = TIM_COUNTERMODE_UP;  hubtim2.Init.Period = 0xffff;  hubtim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;  HAL_TIM_Base_Init(&hubtim2);  HAL_TIM_OC_Init(&hubtim2);  sConfigOC.OCMode = TIM_OCMODE_PWM1;  sConfigOC.Pulse = period2Min;  sConfigOC.OCPolarity = TIM_OCPOLARITY_LOW;  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;  HAL_TIM_OC_ConfigChannel(&hubtim2, &sConfigOC, NOE_TIM_CHANNEL);	HAL_TIM_PWM_Start(&hubtim2, NOE_TIM_CHANNEL); }

/* TIM9 init function */void MX_TIM9_Init(void){  TIM_ClockConfigTypeDef sClockSourceConfig;  htim9.Instance = TIM9;  htim9.Init.Prescaler = 0;  htim9.Init.CounterMode = TIM_COUNTERMODE_UP;  htim9.Init.Period = 0;  htim9.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;  HAL_TIM_Base_Init(&htim9);  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;  HAL_TIM_ConfigClockSource(&htim9, &sClockSourceConfig);}

/* TIM3 init function */void MX_TIM3_Init(void){  TIM_ClockConfigTypeDef sClockSourceConfig;  TIM_MasterConfigTypeDef sMasterConfig;/*  htim3.Instance = TIM3;  htim3.Init.Prescaler =10; //( SystemCoreClock /1000000) - 1;;  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;  htim3.Init.Period = 10;  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;  HAL_TIM_Base_Init(&htim3);*/	//benceküdte:	// 12.5MHz period	htim3.Instance = TIM3;	htim3.Init.Prescaler = 1;// ( (32000000) / 60000 ) - 1;	// 1 us - 1 MHz	htim3.Init.CounterMode = TIM_COUNTERMODE_UP;	htim3.Init.Period = 200;	htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;	HAL_TIM_Base_Init(&htim3);			/////////////////////////////////////////////////  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;  HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig);  HAL_TIM_PWM_Init(&htim3);  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;  HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig);  sConfigOC.OCMode = TIM_OCMODE_PWM1;  sConfigOC.Pulse = 0;  sConfigOC.OCPolarity = TIM_OCPOLARITY_LOW;  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;  HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1);  HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3);  HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4);		  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;	  HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2);}

/* TIM3 init function */void MX_TIM3_Init(void){  TIM_ClockConfigTypeDef sClockSourceConfig;  TIM_MasterConfigTypeDef sMasterConfig;  TIM_OC_InitTypeDef sConfigOC;  htim3.Instance = TIM3;  htim3.Init.Prescaler = 15;  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;  htim3.Init.Period = 4545;  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;  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 = 2273;  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)  {    Error_Handler();  }  HAL_TIM_MspPostInit(&htim3);}

void initializesync(void){		//Sets up TIM8 for sync pulse generation	/* TIM8 init function */  TIM_ClockConfigTypeDef sClockSourceConfig;  TIM_MasterConfigTypeDef sMasterConfig;  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;  TIM_OC_InitTypeDef sConfigOC;  htim8.Instance = TIM8;  htim8.Init.Prescaler = 65535;  htim8.Init.CounterMode = TIM_COUNTERMODE_UP;  htim8.Init.Period = 160; //Sets the 30Hz pulse ~31.27Hz when = 80 //Right now ~16Hz  htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;  htim8.Init.RepetitionCounter = 0;  HAL_TIM_Base_Init(&htim8);  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;  HAL_TIM_ConfigClockSource(&htim8, &sClockSourceConfig);  HAL_TIM_OC_Init(&htim8);  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;  HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig);  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.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;  HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig);  sConfigOC.OCMode = TIM_OCMODE_PWM1;  sConfigOC.Pulse = 10;   sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_LOW;  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;  HAL_TIM_OC_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_1);  }

/* TIM3 init function */void MX_TIM3_Init(void) {  TIM_ClockConfigTypeDef sClockSourceConfig;  htim3.Instance = TIM3;  htim3.Init.Prescaler = 0;  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;  htim3.Init.Period = 16383;  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;  HAL_TIM_Base_Init(&htim3);  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_ETRMODE2;  sClockSourceConfig.ClockPolarity = TIM_CLOCKPOLARITY_NONINVERTED;  sClockSourceConfig.ClockPrescaler = TIM_CLOCKPRESCALER_DIV1;  sClockSourceConfig.ClockFilter = 0;  HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig);  HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);  HAL_NVIC_EnableIRQ(TIM3_IRQn);}

/* 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);}

/* TIM1 init function */void SC_TIM1_Init(SERVO_CONTROLLER_Frequency frequency){  TIM_ClockConfigTypeDef sClockSourceConfig;  TIM_MasterConfigTypeDef sMasterConfig;  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;  TIM_OC_InitTypeDef sConfigOC;  htim1.Instance = TIM1;  htim1.Init.Prescaler = CORE_FCLK / TIM_FCLK - 1;  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;  htim1.Init.Period = (uint16_t)(TIM_FCLK / frequency);   //should not exceed 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_PWM_Init(&htim1);  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;  HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig);  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;  sBreakDeadTimeConfig.DeadTime = 0;  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;  HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig);  sConfigOC.OCMode = TIM_OCMODE_PWM1;  sConfigOC.Pulse = 0;  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;  HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4);}

/* TIM3 init function */void MX_TIM3_Init(void){  TIM_ClockConfigTypeDef sClockSourceConfig;  TIM_MasterConfigTypeDef sMasterConfig;  htim3.Instance = TIM3;  htim3.Init.Prescaler = 48000;  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;  htim3.Init.Period = 0;  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;  HAL_TIM_Base_Init(&htim3);  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;  HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig);  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;  HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig);}

void MX_TIM1_Init(void) {  TIM_ClockConfigTypeDef sClockSourceConfig;  TIM_MasterConfigTypeDef sMasterConfig;  __HAL_RCC_TIM1_CLK_ENABLE();  htim1.Instance = TIM1;  htim1.Init.Prescaler = 41999;  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;  htim1.Init.Period = 1999;  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;  HAL_TIM_Base_Init(&htim1);  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;  HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig);  sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;  HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig);}

/* TIM9 init function */void MX_TIM9_Init(void){  TIM_ClockConfigTypeDef sClockSourceConfig;  htim9.Instance = TIM9;  htim9.Init.Prescaler = 168-1;  htim9.Init.CounterMode = TIM_COUNTERMODE_UP;  htim9.Init.Period = 10000-1;  htim9.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;  if (HAL_TIM_Base_Init(&htim9) != HAL_OK)  {    Error_Handler();  }  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;  if (HAL_TIM_ConfigClockSource(&htim9, &sClockSourceConfig) != HAL_OK)  {    Error_Handler();  }}

void inituscounter(void){		//Sets up a micro-second timer	TIM_ClockConfigTypeDef sClockSourceConfig;  TIM_MasterConfigTypeDef sMasterConfig;  htim1.Instance = TIM1;  htim1.Init.Prescaler = 168;  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;  htim1.Init.Period = exposure;  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);  sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;  HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig);	}

/**  * @brief TIM2 Initialization Function  * @param None  * @retval None  */static 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};  /* USER CODE BEGIN TIM2_Init 1 */  /* USER CODE END TIM2_Init 1 */  htim2.Instance = TIM2;  htim2.Init.Prescaler = 1000000;  htim2.Init.CounterMode = TIM_COUNTERMODE_DOWN;  htim2.Init.Period = 1;  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV4;  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;  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();  }  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)  {    Error_Handler();  }  /* USER CODE BEGIN TIM2_Init 2 */  /* USER CODE END TIM2_Init 2 */}

/* TIM2 init function */void MX_TIM2_Init(void){  TIM_ClockConfigTypeDef sClockSourceConfig;  TIM_MasterConfigTypeDef sMasterConfig;  TIM_OC_InitTypeDef sConfigOC;  htim2.Instance = TIM2;  htim2.Init.Prescaler = (uint32_t) (SystemCoreClock / (MOTOR_PWM_HZ * MOTOR_PWM_PERIOD)) - 1;;  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;  htim2.Init.Period = MOTOR_PWM_PERIOD;  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;  HAL_TIM_Base_Init(&htim2);  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;  HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig);  HAL_TIM_PWM_Init(&htim2);  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;  HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig);  sConfigOC.OCMode = TIM_OCMODE_PWM1;  sConfigOC.Pulse = 0;  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;  HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1);  HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2);  HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3);  HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4);}

/* 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();  }}

//.........这里部分代码省略.........	TimHandle.Init.Prescaler = 20;	__TIM8_CLK_ENABLE()	;	gi.Pin = GPIO_PIN_6 | GPIO_PIN_7 | GPIO_PIN_9;	gi.Alternate = GPIO_AF3_TIM8;	HAL_GPIO_Init(GPIOC, &gi);	TimHandle.Instance = TIM8;	HAL_TIM_PWM_Init(&TimHandle);	HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1);	HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_2);	HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_4);	HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_1); //C6 O1.3	HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_2); //C7 O1.4	HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_4); //C9 O1.5	CLEAR_BIT(TIM8->CCMR1, TIM_CCMR1_OC1PE);	CLEAR_BIT(TIM8->CCMR1, TIM_CCMR1_OC2PE);	CLEAR_BIT(TIM8->CCMR2, TIM_CCMR2_OC4PE);	LOGI(SUCCESSFUL_STRING, "TIM8");	__TIM1_CLK_ENABLE()	;	gi.Pin = GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_10;	gi.Alternate = GPIO_AF1_TIM1;	HAL_GPIO_Init(GPIOA, &gi);	TimHandle.Instance = TIM1;	TIM_ClockConfigTypeDef sClockSourceConfig;	TIM_MasterConfigTypeDef sMasterConfig;	TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;	HAL_TIM_Base_Init(&TimHandle);	sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;	HAL_TIM_ConfigClockSource(&TimHandle, &sClockSourceConfig);	HAL_TIM_PWM_Init(&TimHandle);	sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;	sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;	HAL_TIMEx_MasterConfigSynchronization(&TimHandle, &sMasterConfig);	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.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;	HAL_TIMEx_ConfigBreakDeadTime(&TimHandle, &sBreakDeadTimeConfig);	HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1);	HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_2);	HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_3);	HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_1); //A8 O1.6	HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_2); //A9 O1.7	HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_3); //A10 O1.8	CLEAR_BIT(TIM1->CCMR1, TIM_CCMR1_OC1PE);	CLEAR_BIT(TIM1->CCMR1, TIM_CCMR1_OC2PE);	CLEAR_BIT(TIM1->CCMR2, TIM_CCMR2_OC3PE);	LOGI(SUCCESSFUL_STRING, "TIM1");#endif#ifdef SENSACTHS04	TimHandle.Init.Prescaler = 10; //for 84MHz-Timers

/* TIM1 init function */void MX_TIM1_Init(void){  TIM_ClockConfigTypeDef sClockSourceConfig;  TIM_MasterConfigTypeDef sMasterConfig;  TIM_OC_InitTypeDef sConfigOC;  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;  htim1.Instance = TIM1;  htim1.Init.Prescaler = 0;  htim1.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3;  htim1.Init.Period = TIM_1_8_PERIOD_CLOCKS;  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;  htim1.Init.RepetitionCounter = TIM_1_8_RCR;  if (HAL_TIM_Base_Init(&htim1) != HAL_OK)  {    _Error_Handler(__FILE__, __LINE__);  }  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;  if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)  {    _Error_Handler(__FILE__, __LINE__);  }  if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)  {    _Error_Handler(__FILE__, __LINE__);  }  if (HAL_TIM_OC_Init(&htim1) != HAL_OK)  {    _Error_Handler(__FILE__, __LINE__);  }  sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)  {    _Error_Handler(__FILE__, __LINE__);  }  sConfigOC.OCMode = TIM_OCMODE_PWM2;  sConfigOC.Pulse = 0;  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(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)  {    _Error_Handler(__FILE__, __LINE__);  }  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)  {    _Error_Handler(__FILE__, __LINE__);  }  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)  {    _Error_Handler(__FILE__, __LINE__);  }  sConfigOC.OCMode = TIM_OCMODE_TIMING;  if (HAL_TIM_OC_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)  {    _Error_Handler(__FILE__, __LINE__);  }  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE;  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;  sBreakDeadTimeConfig.DeadTime = TIM_1_8_DEADTIME_CLOCKS;  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)  {    _Error_Handler(__FILE__, __LINE__);  }  HAL_TIM_MspPostInit(&htim1);}

/** * @brief  Period elapsed callback in non blocking mode * @param  htim : TIM handle * @retval None */void timesBaseInit(void){	TIM_ClockConfigTypeDef sClockSourceConfig;	TIM_MasterConfigTypeDef sMasterConfig;	TIM_OC_InitTypeDef sConfigOC;	uint32_t uwPrescalerValue = 0;	/*##-1- Configure the TIM peripheral #######################################*/	/* -----------------------------------------------------------------------	    In this example TIM3 input clock (TIM3CLK) is set to 2 * APB1 clock (PCLK1),	    since APB1 prescaler is different from 1.	      TIM3CLK = 2 * PCLK1	      PCLK1 = HCLK / 4	      => TIM3CLK = HCLK / 2 = SystemCoreClock /2	    To get TIM3 counter clock at 10 KHz, the Prescaler is computed as following:	    Prescaler = (TIM3CLK / TIM3 counter clock) - 1	    Prescaler = ((SystemCoreClock /2) /10 KHz) - 1	      ----------------------------------------------------------------------- */	/* Compute the prescaler value to have TIM7 counter clock equal to 10 KHz */	uwPrescalerValue = (uint32_t) ((SystemCoreClock /2) / (HI_TIME_FREQ * 2));	htim7.Instance = TIM7;	htim7.Init.Prescaler =  uwPrescalerValue;	htim7.Init.CounterMode = TIM_COUNTERMODE_UP;	htim7.Init.Period = 2-1;	htim7.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;	HAL_TIM_Base_Init(&htim7);	sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;	sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;	HAL_TIMEx_MasterConfigSynchronization(&htim7, &sMasterConfig);	HAL_TIM_Base_Start_IT(&htim7);	uwPrescalerValue = (uint32_t) ((SystemCoreClock /2) / (LOW_TIME_FREQ * 100));	htim6.Instance = TIM6;	htim6.Init.Prescaler =  uwPrescalerValue;	htim6.Init.CounterMode = TIM_COUNTERMODE_UP;	htim6.Init.Period = 100-1;	HAL_TIM_Base_Init(&htim6);	sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;	sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;	HAL_TIMEx_MasterConfigSynchronization(&htim6, &sMasterConfig);	if(HAL_TIM_Base_Start_IT(&htim6) != HAL_OK)	{		/* Starting Error */		//	    Error_Handler();	}	/*## Configure the TIM peripheral for ADC123 injected trigger ####################*/	/* -----------------------------------------------------------------------	 	    Use TIM5 for start Injected conversion on ADC1 (gyro rate).	 	    Use TIM5 for start Injected conversion on ADC2 (not use).	 	    Use TIM5 for start Injected conversion on ADC3 (not use).	 	     ----------------------------------------------------------------------- */	/* Compute the prescaler value to have TIM5 counter clock equal to 10 KHz */	uwPrescalerValue = (uint32_t) ((SystemCoreClock /2) / (GYRO_TIME_FREQ * 100));	htim5.Instance = TIM5;	htim5.Init.Prescaler =  uwPrescalerValue;	htim5.Init.CounterMode = TIM_COUNTERMODE_UP;	htim5.Init.Period = 100-1;	htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;	//	  htim5.Init.RepetitionCounter = 0x0;	HAL_TIM_Base_Init(&htim5);	sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;	HAL_TIM_ConfigClockSource(&htim5, &sClockSourceConfig);	sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;			//TIM_TRGO_UPDATE see adc.c => ADC1 injected section	sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;	HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig);	HAL_TIM_Base_Start_IT(&htim5);	/*## Configure the TIM peripheral for ADC23 regular trigger ####################*/	/* -----------------------------------------------------------------------	 	    Use TIM2 for start Regular conversion on ADC2 (telemeters, just use in timer base).	 	    Use TIM2 for start Regular conversion on ADC3 (not use).	 	     ----------------------------------------------------------------------- */	/* Compute the prescaler value to have TIM2 counter clock equal to 10 KHz */	uwPrescalerValue = (uint32_t) ((SystemCoreClock /2) / (TELEMETERS_TIME_FREQ * 100));	htim2.Instance = TIM2;	htim2.Init.Prescaler =  uwPrescalerValue;	htim2.Init.CounterMode = TIM_COUNTERMODE_UP;	htim2.Init.Period = 100-1;	htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;	htim2.Init.RepetitionCounter = 0x0;	HAL_TIM_Base_Init(&htim2);//.........这里部分代码省略.........

void test_Motor_Move() {	GPIO_InitTypeDef GPIO_InitStruct;	  TIM_ClockConfigTypeDef sClockSourceConfig;	  TIM_OC_InitTypeDef sConfigOC;	  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;	  TIM_MasterConfigTypeDef sMasterConfig;	  ADXRS620_Init();	  init_display();	  uint32_t coef = 6;	  uint32_t correct = 0;	  long K1 = 1571;	  long K2 = 1532;	  long K3 = 225;//	  1571//	  1532//	  225//	  23562//	  22982//	  225	  int PWMOld = 0;	  int PWM =0;	  int error =0;	  int errorOld=0;	  int consigne = 0;	  htim8.Instance = TIM8;	  htim8.Init.Prescaler = 4;	  htim8.Init.CounterMode = TIM_COUNTERMODE_UP;	  htim8.Init.Period = 1000-1;	  htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;	  htim8.Init.RepetitionCounter = 0;	  HAL_TIM_Base_Init(&htim8);	  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;	  HAL_TIM_ConfigClockSource(&htim8, &sClockSourceConfig);	  HAL_TIM_PWM_Init(&htim8);	  sConfigOC.OCMode = TIM_OCMODE_PWM1;	  sConfigOC.Pulse = 500;	  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;	  sConfigOC.OCNPolarity = TIM_OCPOLARITY_LOW;	  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;	  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;	  HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_1);//	  HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_2);//	  HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_3);	  HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_4);	  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;	  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;	  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;	  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;	  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;	  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;	  HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig);	  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;	  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;	  HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig);	  GPIO_InitStruct.Pin = GPIO_PIN_7|GPIO_PIN_8;	  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;	  GPIO_InitStruct.Pull = GPIO_NOPULL;	  GPIO_InitStruct.Speed = GPIO_SPEED_LOW;	  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);	  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_7, SET);	  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_8, SET);	  uint32_t Pulses[2] = {50,50};	  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_11, RESET);//	  sConfigOC.OCMode = TIM_OCMODE_PWM1;//	  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;//	  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;//	  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;	  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_11, SET);	  //for(int y = 0; y < 4000; y++)	  consigne = 200;	  PWM = consigne;//	  PWM_R = consigne;	  while(1)	  {		  	      PWMOld = PWM;		  		  errorOld = error;		  		  error = (int32_t) gyro_Current_Angle;//.........这里部分代码省略.........