2021年国电设题目，送药小车，时间紧张未实现全部功能，可以参考

/** ****************************************************************************** * @file stm32f4xx_hal_tim.c * @author MCD Application Team * @brief TIM HAL module driver. * This file provides firmware functions to manage the following * functionalities of the Timer (TIM) peripheral: * + TIM Time Base Initialization * + TIM Time Base Start * + TIM Time Base Start Interruption * + TIM Time Base Start DMA * + TIM Output Compare/PWM Initialization * + TIM Output Compare/PWM Channel Configuration * + TIM Output Compare/PWM Start * + TIM Output Compare/PWM Start Interruption * + TIM Output Compare/PWM Start DMA * + TIM Input Capture Initialization * + TIM Input Capture Channel Configuration * + TIM Input Capture Start * + TIM Input Capture Start Interruption * + TIM Input Capture Start DMA * + TIM One Pulse Initialization * + TIM One Pulse Channel Configuration * + TIM One Pulse Start * + TIM Encoder Interface Initialization * + TIM Encoder Interface Start * + TIM Encoder Interface Start Interruption * + TIM Encoder Interface Start DMA * + Commutation Event configuration with Interruption and DMA * + TIM OCRef clear configuration * + TIM External Clock configuration @verbatim ============================================================================== ##### TIMER Generic features ##### ============================================================================== [..] The Timer features include: (#) 16-bit up, down, up/down auto-reload counter. (#) 16-bit programmable prescaler allowing dividing (also on the fly) the counter clock frequency either by any factor between 1 and 65536. (#) Up to 4 independent channels for: (++) Input Capture (++) Output Compare (++) PWM generation (Edge and Center-aligned Mode) (++) One-pulse mode output (#) Synchronization circuit to control the timer with external signals and to interconnect several timers together. (#) Supports incremental encoder for positioning purposes ##### How to use this driver ##### ============================================================================== [..] (#) Initialize the TIM low level resources by implementing the following functions depending on the selected feature: (++) Time Base : HAL_TIM_Base_MspInit() (++) Input Capture : HAL_TIM_IC_MspInit() (++) Output Compare : HAL_TIM_OC_MspInit() (++) PWM generation : HAL_TIM_PWM_MspInit() (++) One-pulse mode output : HAL_TIM_OnePulse_MspInit() (++) Encoder mode output : HAL_TIM_Encoder_MspInit() (#) Initialize the TIM low level resources : (##) Enable the TIM interface clock using __HAL_RCC_TIMx_CLK_ENABLE(); (##) TIM pins configuration (+++) Enable the clock for the TIM GPIOs using the following function: __HAL_RCC_GPIOx_CLK_ENABLE(); (+++) Configure these TIM pins in Alternate function mode using HAL_GPIO_Init(); (#) The external Clock can be configured, if needed (the default clock is the internal clock from the APBx), using the following function: HAL_TIM_ConfigClockSource, the clock configuration should be done before any start function. (#) Configure the TIM in the desired functioning mode using one of the Initialization function of this driver: (++) HAL_TIM_Base_Init: to use the Timer to generate a simple time base (++) HAL_TIM_OC_Init and HAL_TIM_OC_ConfigChannel: to use the Timer to generate an Output Compare signal. (++) HAL_TIM_PWM_Init and HAL_TIM_PWM_ConfigChannel: to use the Timer to generate a PWM signal. (++) HAL_TIM_IC_Init and HAL_TIM_IC_ConfigChannel: to use the Timer to measure an external signal. (++) HAL_TIM_OnePulse_Init and HAL_TIM_OnePulse_ConfigChannel: to use the Timer in One Pulse Mode. (++) HAL_TIM_Encoder_Init: to use the Timer Encoder Interface. (#) Activate the TIM peripheral using one of the start functions depending from the feature used: (++) Time Base : HAL_TIM_Base_Start(), HAL_TIM_Base_Start_DMA(), HAL_TIM_Base_Start_IT() (++) Input Capture : HAL_TIM_IC_Start(), HAL_TIM_IC_Start_DMA(), HAL_TIM_IC_Start_IT() (++) Output Compare : HAL_TIM_OC_Start(), HAL_TIM_OC_Start_DMA(), HAL_TIM_OC_Start_IT() (++) PWM generation : HAL_TIM_PWM_Start(), HAL_TIM_PWM_Start_DMA(), HAL_TIM_PWM_Start_IT() (++) One-pulse mode output : HAL_TIM_OnePulse_Start(), HAL_TIM_OnePulse_Start_IT() (++) Encoder mode output : HAL_TIM_Encoder_Start(), HAL_TIM_Encoder_Start_DMA(), HAL_TIM_Encoder_Start_IT(). (#) The DMA Burst is managed with the two following functions: HAL_TIM_DMABurst_WriteStart() HAL_TIM_DMABurst_ReadStart() *** Callback registration *** ============================================= [..] The compilation define USE_HAL_TIM_REGISTER_CALLBACKS when set to 1 allows the user to configure dynamically the driver callbacks. [..] Use Function HAL_TIM_RegisterCallback() to register a callback. HAL_TIM_RegisterCallback() takes as parameters the HAL peripheral handle, the Callback ID and a pointer to the user callback function. [..] Use function HAL_TIM_UnRegisterCallback() to reset a callback to the default weak function. HAL_TIM_UnRegisterCallback takes as parameters the HAL peripheral handle, and the Callback ID. [..] These functions allow to register/unregister following callbacks: (+) Base_MspInitCallback : TIM Base Msp Init Callback. (+) Base_MspDeInitCallback : TIM Base Msp DeInit Callback. (+) IC_MspInitCallback : TIM IC Msp Init Callback. (+) IC_MspDeInitCallback : TIM IC Msp DeInit Callback. (+) OC_MspInitCallback : TIM OC Msp Init Callback. (+) OC_MspDeInitCallback : TIM OC Msp DeInit Callback. (+) PWM_MspInitCallback : TIM PWM Msp Init Callback. (+) PWM_MspDeInitCallback : TIM PWM Msp DeInit Callback. (+) OnePulse_MspInitCallback : TIM One Pulse Msp Init Callback. (+) OnePulse_MspDeInitCallback : TIM One Pulse Msp DeInit Callback. (+) Encoder_MspInitCallback : TIM Encoder Msp Init Callback. (+) Encoder_MspDeInitCallback : TIM Encoder Msp DeInit Callback. (+) HallSensor_MspInitCallback : TIM Hall Sensor Msp Init Callback. (+) HallSensor_MspDeInitCallback : TIM Hall Sensor Msp DeInit Callback. (+) PeriodElapsedCallback : TIM Period Elapsed Callback. (+) PeriodElapsedHalfCpltCallback : TIM Period Elapsed half complete Callback. (+) TriggerCallback : TIM Trigger Callback. (+) TriggerHalfCpltCallback : TIM Trigger half complete Callback. (+) IC_CaptureCallback : TIM Input Capture Callback. (+) IC_CaptureHalfCpltCallback : TIM Input Capture half complete Callback. (+) OC_DelayElapsedCallback : TIM Output Compare Delay Elapsed Callback. (+) PWM_PulseFinishedCallback : TIM PWM Pulse Finished Callback. (+) PWM_PulseFinishedHalfCpltCallback : TIM PWM Pulse Finished half complete Callback. (+) ErrorCallback : TIM Error Callback. (+) CommutationCallback :