RobotHardware-UESTC/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/timer.c

#ifdef __cplusplus
extern "C" {
#endif 

#include "timer.h"
#include "nvic.h"

void Timer_InitBase(TIM_TypeDef *TIMx, uint32_t Time_us)
{
    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;

    if( TIMx == TIM2){
        RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 , ENABLE); /* enable clock */
        TIM2_NVIC_Configuration();    //enable interruptation
    }
    else if( TIMx == TIM3){
        RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3 , ENABLE); /* enable clock */
        TIM3_NVIC_Configuration();     //enable interruptation
    }
    else if( TIMx == TIM4){
        RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4 , ENABLE); /* enable clock */
        TIM4_NVIC_Configuration();    //enable interruptation
    }
    else if( TIMx == TIM5){
        RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5 , ENABLE); /* enable clock */
        TIM5_NVIC_Configuration();    //enable interruptation
    }
    else if( TIMx == TIM6){
        RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6 , ENABLE); /* enable clock */
        TIM6_NVIC_Configuration();    //enable interruptation
    }
    else if( TIMx == TIM7){
        RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7 , ENABLE); /* enable clock */
        TIM7_NVIC_Configuration();    //enable interruptation
    }
    TIM_DeInit(TIMx);
    TIM_TimeBaseStructure.TIM_Period= Time_us-1; 					/* The value of auto reload register  */
    TIM_TimeBaseStructure.TIM_Prescaler= (72 - 1);				    /* Prescler : 72M/72 */

    if(TIMx == TIM3 || TIMx == TIM4){                               /* ClockDivision*/
        TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV4;
    }else{
        TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;
    }
     		    
    TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up;       /* Count upwards */
    TIM_TimeBaseInit(TIMx , &TIM_TimeBaseStructure);
    TIM_ClearFlag(TIMx , TIM_FLAG_Update);							/* Clear interrupt flags */
    TIM_ITConfig(TIMx ,TIM_IT_Update,ENABLE);
    TIM_Cmd(TIMx , ENABLE);
}	

#ifdef __cplusplus
}
#endif