cubemx更改两个RGBled配置，从普通IO更改成PWM

Inc/tim.h

@@ -32,6 +32,10 @@ extern "C" {
 
 /* USER CODE END Includes */
 
+extern TIM_HandleTypeDef htim2;
+
+extern TIM_HandleTypeDef htim3;
+
 extern TIM_HandleTypeDef htim4;
 
 extern TIM_HandleTypeDef htim6;
@@ -42,10 +46,14 @@ extern TIM_HandleTypeDef htim8;
 
 /* USER CODE END Private defines */
 
+void MX_TIM2_Init(void);
+void MX_TIM3_Init(void);
 void MX_TIM4_Init(void);
 void MX_TIM6_Init(void);
 void MX_TIM8_Init(void);
 
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
+
 /* USER CODE BEGIN Prototypes */
 
 /* USER CODE END Prototypes */

LWIP.ioc

@@ -39,15 +39,17 @@ Mcu.CPN=STM32F407ZET6
 Mcu.Family=STM32F4
 Mcu.IP0=ETH
 Mcu.IP1=FREERTOS
+Mcu.IP10=TIM8
+Mcu.IP11=USART1
 Mcu.IP2=LWIP
 Mcu.IP3=NVIC
 Mcu.IP4=RCC
 Mcu.IP5=SYS
-Mcu.IP6=TIM4
-Mcu.IP7=TIM6
-Mcu.IP8=TIM8
-Mcu.IP9=USART1
-Mcu.IPNb=10
+Mcu.IP6=TIM2
+Mcu.IP7=TIM3
+Mcu.IP8=TIM4
+Mcu.IP9=TIM6
+Mcu.IPNb=12
 Mcu.Name=STM32F407Z(E-G)Tx
 Mcu.Package=LQFP144
 Mcu.Pin0=PE2
@@ -123,15 +125,15 @@ PA2.Signal=ETH_MDIO
 PA3.GPIOParameters=GPIO_Label
 PA3.GPIO_Label=DIS_R1
 PA3.Locked=true
-PA3.Signal=GPIO_Output
+PA3.Signal=S_TIM2_CH4
 PA5.GPIOParameters=GPIO_Label
 PA5.GPIO_Label=DIS_G1
 PA5.Locked=true
-PA5.Signal=GPIO_Output
+PA5.Signal=S_TIM2_CH1_ETR
 PA6.GPIOParameters=GPIO_Label
 PA6.GPIO_Label=DIS_B1
 PA6.Locked=true
-PA6.Signal=GPIO_Output
+PA6.Signal=S_TIM3_CH1
 PA7.Mode=RMII
 PA7.Signal=ETH_CRS_DV
 PA9.Mode=Asynchronous
@@ -139,7 +141,7 @@ PA9.Signal=USART1_TX
 PB10.GPIOParameters=GPIO_Label
 PB10.GPIO_Label=DIS_R2
 PB10.Locked=true
-PB10.Signal=GPIO_Output
+PB10.Signal=S_TIM2_CH3
 PB11.Locked=true
 PB11.Mode=RMII
 PB11.Signal=ETH_TX_EN
@@ -152,11 +154,11 @@ PB13.Signal=ETH_TXD1
 PB8.GPIOParameters=GPIO_Label
 PB8.GPIO_Label=DIS_G2
 PB8.Locked=true
-PB8.Signal=GPIO_Output
+PB8.Signal=S_TIM4_CH3
 PB9.GPIOParameters=GPIO_Label
 PB9.GPIO_Label=DIS_B2
 PB9.Locked=true
-PB9.Signal=GPIO_Output
+PB9.Signal=S_TIM4_CH4
 PC1.Mode=RMII
 PC1.Signal=ETH_MDC
 PC4.Mode=RMII
@@ -265,16 +267,43 @@ RCC.VCOOutputFreq_Value=336000000
 RCC.VcooutputI2S=192000000
 SH.GPXTI8.0=GPIO_EXTI8
 SH.GPXTI8.ConfNb=1
+SH.S_TIM2_CH1_ETR.0=TIM2_CH1,PWM Generation1 CH1
+SH.S_TIM2_CH1_ETR.ConfNb=1
+SH.S_TIM2_CH3.0=TIM2_CH3,PWM Generation3 CH3
+SH.S_TIM2_CH3.ConfNb=1
+SH.S_TIM2_CH4.0=TIM2_CH4,PWM Generation4 CH4
+SH.S_TIM2_CH4.ConfNb=1
+SH.S_TIM3_CH1.0=TIM3_CH1,PWM Generation1 CH1
+SH.S_TIM3_CH1.ConfNb=1
 SH.S_TIM4_CH1.0=TIM4_CH1,Encoder_Interface
 SH.S_TIM4_CH1.ConfNb=1
 SH.S_TIM4_CH2.0=TIM4_CH2,Encoder_Interface
 SH.S_TIM4_CH2.ConfNb=1
+SH.S_TIM4_CH3.0=TIM4_CH3,PWM Generation3 CH3
+SH.S_TIM4_CH3.ConfNb=1
+SH.S_TIM4_CH4.0=TIM4_CH4,PWM Generation4 CH4
+SH.S_TIM4_CH4.ConfNb=1
 SH.S_TIM8_CH1.0=TIM8_CH1,Encoder_Interface
 SH.S_TIM8_CH1.ConfNb=1
 SH.S_TIM8_CH2.0=TIM8_CH2,Encoder_Interface
 SH.S_TIM8_CH2.ConfNb=1
+TIM2.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_DISABLE
+TIM2.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM2.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
+TIM2.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
+TIM2.IPParameters=Channel-PWM Generation4 CH4,Channel-PWM Generation1 CH1,Channel-PWM Generation3 CH3,AutoReloadPreload,Prescaler,Period
+TIM2.Period=1000
+TIM2.Prescaler=84-1
+TIM3.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM3.IPParameters=Channel-PWM Generation1 CH1,Prescaler,Period
+TIM3.Period=1000
+TIM3.Prescaler=84-1
+TIM4.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
+TIM4.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
 TIM4.EncoderMode=TIM_ENCODERMODE_TI12
-TIM4.IPParameters=EncoderMode
+TIM4.IPParameters=EncoderMode,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,Prescaler,Period
+TIM4.Period=1000
+TIM4.Prescaler=84-1
 TIM6.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
 TIM6.IPParameters=Prescaler,Period,AutoReloadPreload
 TIM6.Period=1000-1

MDK-ARM/LWIP.uvoptx

@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<?xml version="1.0" encoding="UTF-8"?>
 <ProjectOpt xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_optx.xsd">
 
   <SchemaVersion>1.0</SchemaVersion>
@@ -45,7 +45,7 @@
         <PageWidth>79</PageWidth>
         <PageLength>66</PageLength>
         <TabStop>8</TabStop>
-        <ListingPath></ListingPath>
+        <ListingPath />
       </OPTLEX>
       <ListingPage>
         <CreateCListing>1</CreateCListing>
@@ -104,16 +104,16 @@
         <bSchkAxf>0</bSchkAxf>
         <bTchkAxf>0</bTchkAxf>
         <nTsel>3</nTsel>
-        <sDll></sDll>
-        <sDllPa></sDllPa>
-        <sDlgDll></sDlgDll>
-        <sDlgPa></sDlgPa>
-        <sIfile></sIfile>
-        <tDll></tDll>
-        <tDllPa></tDllPa>
-        <tDlgDll></tDlgDll>
-        <tDlgPa></tDlgPa>
-        <tIfile></tIfile>
+        <sDll />
+        <sDllPa />
+        <sDlgDll />
+        <sDlgPa />
+        <sIfile />
+        <tDll />
+        <tDllPa />
+        <tDlgDll />
+        <tDlgPa />
+        <tIfile />
         <pMon>BIN\CMSIS_AGDI.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
@@ -130,12 +130,12 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>ARMDBGFLAGS</Key>
-          <Name></Name>
+          <Name />
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGUARM</Key>
-          <Name></Name>
+          <Name />
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -153,7 +153,7 @@
           <Name>-U-O142 -O2254 -S0 -C0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_512.FLM -FS08000000 -FL080000 -FP0($$Device:STM32F407ZETx$CMSIS\Flash\STM32F4xx_512.FLM)</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
-      <Breakpoint/>
+      <Breakpoint />
       <WatchWindow1>
         <Ww>
           <count>0</count>
@@ -195,19 +195,19 @@
         <newCpu>0</newCpu>
         <uProt>0</uProt>
       </DebugFlag>
-      <LintExecutable></LintExecutable>
-      <LintConfigFile></LintConfigFile>
+      <LintExecutable />
+      <LintConfigFile />
       <bLintAuto>0</bLintAuto>
       <bAutoGenD>0</bAutoGenD>
       <LntExFlags>0</LntExFlags>
-      <pMisraName></pMisraName>
-      <pszMrule></pszMrule>
-      <pSingCmds></pSingCmds>
-      <pMultCmds></pMultCmds>
-      <pMisraNamep></pMisraNamep>
-      <pszMrulep></pszMrulep>
-      <pSingCmdsp></pSingCmdsp>
-      <pMultCmdsp></pMultCmdsp>
+      <pMisraName />
+      <pszMrule />
+      <pSingCmds />
+      <pMultCmds />
+      <pMisraNamep />
+      <pszMrulep />
+      <pSingCmdsp />
+      <pMultCmdsp />
       <DebugDescription>
         <Enable>1</Enable>
         <EnableFlashSeq>0</EnableFlashSeq>

Src/gpio.c

@@ -56,12 +56,6 @@ void MX_GPIO_Init(void)
   HAL_GPIO_WritePin(DEBUG_LIGHT_GPIO_Port, DEBUG_LIGHT_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOA, DIS_R1_Pin|DIS_G1_Pin|DIS_B1_Pin, GPIO_PIN_RESET);
-
-  /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOB, DIS_R2_Pin|DIS_G2_Pin|DIS_B2_Pin, GPIO_PIN_RESET);
-
-  /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(ETH_RST_GPIO_Port, ETH_RST_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pin : PtPin */
@@ -71,26 +65,12 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(DEBUG_LIGHT_GPIO_Port, &GPIO_InitStruct);
 
-  /*Configure GPIO pins : PAPin PAPin PAPin */
-  GPIO_InitStruct.Pin = DIS_R1_Pin|DIS_G1_Pin|DIS_B1_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
   /*Configure GPIO pin : PtPin */
   GPIO_InitStruct.Pin = KEY1_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
   GPIO_InitStruct.Pull = GPIO_PULLUP;
   HAL_GPIO_Init(KEY1_GPIO_Port, &GPIO_InitStruct);
 
-  /*Configure GPIO pins : PBPin PBPin PBPin */
-  GPIO_InitStruct.Pin = DIS_R2_Pin|DIS_G2_Pin|DIS_B2_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-
   /*Configure GPIO pin : PtPin */
   GPIO_InitStruct.Pin = GENLOCK_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;

Src/main.c

@@ -95,6 +95,8 @@ int main(void)
   MX_USART1_UART_Init();
   MX_TIM4_Init();
   MX_TIM8_Init();
+  MX_TIM2_Init();
+  MX_TIM3_Init();
   /* USER CODE BEGIN 2 */
 
   /* USER CODE END 2 */

Src/tim.c

@@ -24,10 +24,108 @@
 
 /* USER CODE END 0 */
 
+TIM_HandleTypeDef htim2;
+TIM_HandleTypeDef htim3;
 TIM_HandleTypeDef htim4;
 TIM_HandleTypeDef htim6;
 TIM_HandleTypeDef htim8;
 
+/* TIM2 init function */
+void MX_TIM2_Init(void)
+{
+
+  /* USER CODE BEGIN TIM2_Init 0 */
+
+  /* USER CODE END TIM2_Init 0 */
+
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM2_Init 1 */
+
+  /* USER CODE END TIM2_Init 1 */
+  htim2.Instance = TIM2;
+  htim2.Init.Prescaler = 84-1;
+  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim2.Init.Period = 1000;
+  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM2_Init 2 */
+
+  /* USER CODE END TIM2_Init 2 */
+  HAL_TIM_MspPostInit(&htim2);
+
+}
+/* TIM3 init function */
+void MX_TIM3_Init(void)
+{
+
+  /* USER CODE BEGIN TIM3_Init 0 */
+
+  /* USER CODE END TIM3_Init 0 */
+
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM3_Init 1 */
+
+  /* USER CODE END TIM3_Init 1 */
+  htim3.Instance = TIM3;
+  htim3.Init.Prescaler = 84-1;
+  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim3.Init.Period = 1000;
+  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  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 = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM3_Init 2 */
+
+  /* USER CODE END TIM3_Init 2 */
+  HAL_TIM_MspPostInit(&htim3);
+
+}
 /* TIM4 init function */
 void MX_TIM4_Init(void)
 {
@@ -38,16 +136,21 @@ void MX_TIM4_Init(void)
 
   TIM_Encoder_InitTypeDef sConfig = {0};
   TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
 
   /* USER CODE BEGIN TIM4_Init 1 */
 
   /* USER CODE END TIM4_Init 1 */
   htim4.Instance = TIM4;
-  htim4.Init.Prescaler = 0;
+  htim4.Init.Prescaler = 84-1;
   htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim4.Init.Period = 65535;
+  htim4.Init.Period = 1000;
   htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
+  {
+    Error_Handler();
+  }
   sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
   sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
   sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
@@ -67,9 +170,22 @@ void MX_TIM4_Init(void)
   {
     Error_Handler();
   }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
   /* USER CODE BEGIN TIM4_Init 2 */
 
   /* USER CODE END TIM4_Init 2 */
+  HAL_TIM_MspPostInit(&htim4);
 
 }
 /* TIM6 init function */
@@ -151,11 +267,33 @@ void MX_TIM8_Init(void)
 
 }
 
-void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
+void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
 {
 
   GPIO_InitTypeDef GPIO_InitStruct = {0};
-  if(tim_encoderHandle->Instance==TIM4)
+  if(tim_pwmHandle->Instance==TIM2)
+  {
+  /* USER CODE BEGIN TIM2_MspInit 0 */
+
+  /* USER CODE END TIM2_MspInit 0 */
+    /* TIM2 clock enable */
+    __HAL_RCC_TIM2_CLK_ENABLE();
+  /* USER CODE BEGIN TIM2_MspInit 1 */
+
+  /* USER CODE END TIM2_MspInit 1 */
+  }
+  else if(tim_pwmHandle->Instance==TIM3)
+  {
+  /* USER CODE BEGIN TIM3_MspInit 0 */
+
+  /* USER CODE END TIM3_MspInit 0 */
+    /* TIM3 clock enable */
+    __HAL_RCC_TIM3_CLK_ENABLE();
+  /* USER CODE BEGIN TIM3_MspInit 1 */
+
+  /* USER CODE END TIM3_MspInit 1 */
+  }
+  else if(tim_pwmHandle->Instance==TIM4)
   {
   /* USER CODE BEGIN TIM4_MspInit 0 */
 
@@ -179,7 +317,33 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
 
   /* USER CODE END TIM4_MspInit 1 */
   }
-  else if(tim_encoderHandle->Instance==TIM8)
+}
+
+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, 5, 0);
+    HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
+  /* USER CODE BEGIN TIM6_MspInit 1 */
+
+  /* USER CODE END TIM6_MspInit 1 */
+  }
+}
+
+void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
+{
+
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(tim_encoderHandle->Instance==TIM8)
   {
   /* USER CODE BEGIN TIM8_MspInit 0 */
 
@@ -204,31 +368,112 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
   /* USER CODE END TIM8_MspInit 1 */
   }
 }
-
-void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
 {
 
-  if(tim_baseHandle->Instance==TIM6)
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(timHandle->Instance==TIM2)
   {
-  /* USER CODE BEGIN TIM6_MspInit 0 */
+  /* USER CODE BEGIN TIM2_MspPostInit 0 */
+
+  /* USER CODE END TIM2_MspPostInit 0 */
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    /**TIM2 GPIO Configuration
+    PA3     ------> TIM2_CH4
+    PA5     ------> TIM2_CH1
+    PB10     ------> TIM2_CH3
+    */
+    GPIO_InitStruct.Pin = DIS_R1_Pin|DIS_G1_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
-  /* USER CODE END TIM6_MspInit 0 */
-    /* TIM6 clock enable */
-    __HAL_RCC_TIM6_CLK_ENABLE();
+    GPIO_InitStruct.Pin = DIS_R2_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
+    HAL_GPIO_Init(DIS_R2_GPIO_Port, &GPIO_InitStruct);
 
-    /* TIM6 interrupt Init */
-    HAL_NVIC_SetPriority(TIM6_DAC_IRQn, 5, 0);
-    HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
-  /* USER CODE BEGIN TIM6_MspInit 1 */
+  /* USER CODE BEGIN TIM2_MspPostInit 1 */
 
-  /* USER CODE END TIM6_MspInit 1 */
+  /* USER CODE END TIM2_MspPostInit 1 */
   }
+  else if(timHandle->Instance==TIM3)
+  {
+  /* USER CODE BEGIN TIM3_MspPostInit 0 */
+
+  /* USER CODE END TIM3_MspPostInit 0 */
+
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**TIM3 GPIO Configuration
+    PA6     ------> TIM3_CH1
+    */
+    GPIO_InitStruct.Pin = DIS_B1_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
+    HAL_GPIO_Init(DIS_B1_GPIO_Port, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM3_MspPostInit 1 */
+
+  /* USER CODE END TIM3_MspPostInit 1 */
+  }
+  else if(timHandle->Instance==TIM4)
+  {
+  /* USER CODE BEGIN TIM4_MspPostInit 0 */
+
+  /* USER CODE END TIM4_MspPostInit 0 */
+
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    /**TIM4 GPIO Configuration
+    PB8     ------> TIM4_CH3
+    PB9     ------> TIM4_CH4
+    */
+    GPIO_InitStruct.Pin = DIS_G2_Pin|DIS_B2_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM4_MspPostInit 1 */
+
+  /* USER CODE END TIM4_MspPostInit 1 */
+  }
+
 }
 
-void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle)
+void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle)
 {
 
-  if(tim_encoderHandle->Instance==TIM4)
+  if(tim_pwmHandle->Instance==TIM2)
+  {
+  /* USER CODE BEGIN TIM2_MspDeInit 0 */
+
+  /* USER CODE END TIM2_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM2_CLK_DISABLE();
+  /* USER CODE BEGIN TIM2_MspDeInit 1 */
+
+  /* USER CODE END TIM2_MspDeInit 1 */
+  }
+  else if(tim_pwmHandle->Instance==TIM3)
+  {
+  /* USER CODE BEGIN TIM3_MspDeInit 0 */
+
+  /* USER CODE END TIM3_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM3_CLK_DISABLE();
+  /* USER CODE BEGIN TIM3_MspDeInit 1 */
+
+  /* USER CODE END TIM3_MspDeInit 1 */
+  }
+  else if(tim_pwmHandle->Instance==TIM4)
   {
   /* USER CODE BEGIN TIM4_MspDeInit 0 */
 
@@ -239,31 +484,17 @@ void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle)
     /**TIM4 GPIO Configuration
     PD12     ------> TIM4_CH1
     PD13     ------> TIM4_CH2
+    PB8     ------> TIM4_CH3
+    PB9     ------> TIM4_CH4
     */
     HAL_GPIO_DeInit(GPIOD, GPIO_PIN_12|GPIO_PIN_13);
 
+    HAL_GPIO_DeInit(GPIOB, DIS_G2_Pin|DIS_B2_Pin);
+
   /* USER CODE BEGIN TIM4_MspDeInit 1 */
 
   /* USER CODE END TIM4_MspDeInit 1 */
   }
-  else if(tim_encoderHandle->Instance==TIM8)
-  {
-  /* USER CODE BEGIN TIM8_MspDeInit 0 */
-
-  /* USER CODE END TIM8_MspDeInit 0 */
-    /* Peripheral clock disable */
-    __HAL_RCC_TIM8_CLK_DISABLE();
-
-    /**TIM8 GPIO Configuration
-    PC6     ------> TIM8_CH1
-    PC7     ------> TIM8_CH2
-    */
-    HAL_GPIO_DeInit(GPIOC, GPIO_PIN_6|GPIO_PIN_7);
-
-  /* USER CODE BEGIN TIM8_MspDeInit 1 */
-
-  /* USER CODE END TIM8_MspDeInit 1 */
-  }
 }
 
 void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
@@ -285,6 +516,29 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
   }
 }
 
+void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle)
+{
+
+  if(tim_encoderHandle->Instance==TIM8)
+  {
+  /* USER CODE BEGIN TIM8_MspDeInit 0 */
+
+  /* USER CODE END TIM8_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM8_CLK_DISABLE();
+
+    /**TIM8 GPIO Configuration
+    PC6     ------> TIM8_CH1
+    PC7     ------> TIM8_CH2
+    */
+    HAL_GPIO_DeInit(GPIOC, GPIO_PIN_6|GPIO_PIN_7);
+
+  /* USER CODE BEGIN TIM8_MspDeInit 1 */
+
+  /* USER CODE END TIM8_MspDeInit 1 */
+  }
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */