FLIR blackfly s industrial camera: synchronous shooting of multiple cameras through external trigger

Preface

In this blog Flir Blackfly S Industrial camera ： Configure multiple cameras for synchronous shooting This paper introduces how to shoot synchronously with multiple cameras through the main and auxiliary cameras .
There is another way to achieve synchronous shooting of multiple cameras , That is, through external triggering , The trigger signals of all cameras are connected to the same touch source , You can strictly realize synchronous shooting

This blog mainly introduces How to use STM32F4 Of TIM14 To produce PWM Output , The output frequency is 20hz And 25hz, The proportion of high level is before the cycle 10%. Realize the generation of synchronous signal .

PWM brief introduction

PWM Definition ：
Pulse width modulation (PWM), It's English “Pulse Width Modulation” Abbreviation , Short for pulse width modulation .

PWM It is a very effective technology to control analog circuit by using digital output of microprocessor .

A little bit more simple , It's the control of pulse width ,

PWM Principle diagram

There's a PWM Schematic diagram . This picture must be well understood .
In the figure , Suppose the timer works in the up count PWM Pattern , And when CNT<CCRx when , Output 0, When CNT>=CCRx Time output 1.（ Specifically, it is smaller than the output 0 still 1 You can set ）

Then you can get the above PWM Sketch Map ： When CNT Less than CCRx When ,IO Output low level (0), When CNT A value greater than or equal to CCRx When ,IO Output high level (1), When CNT achieve ARR When it's worth it , Back to zero , And then count up again , In turn, cycle .

change CCRx Value , You can change PWM The duty cycle of the output , change ARR Value , You can change PWM The frequency of the output , This is it. PWM The principle of output .

STM32F4 In addition to TIM6 and 7. Other timers can be used to generate PWM Output . One of the advanced timers TIM1 and TIM8 It can produce as many as 7 On the road PWM Output . And universal timers can also generate up to 4 On the road PWM Output . Here we only use TIM14 Of CH1 All the way to PWM Output .

PWM register

To make STM32F4 Universal timer TIMx produce PWM Output , use 3 A register , To control PWM Of .

These three registers are ：

• Capture / Compare mode register （TIMx_CCMR1/2）
• Capture / Compare enable register （TIMx_CCER）
• Capture / Compare register （TIMx_CCR1~4）

Briefly introduce these three registers ：

1： Capture / Compare mode register （TIMx_CCMR1/2）, This register generally has 2 individual ：TIMx _CCMR1 and TIMx _CCMR2. however TIM14 only one .TIMx_CCMR1 control CH1 and 2, and TIMx_CCMR2 control CH3 and 4.

Now we will use TIM14 For example
TIM14_CCMR1 The register bits are described in the figure Shown ：
Some bits of this register are in different modes , Function differently . Divide the registers 2 layer , The upper layer corresponds to output and the lower layer corresponds to input .

Mode setting bit OC1M, This part is made up of 3 A composition . A total of... Can be configured 7 Patterns ,
We use PWM Pattern , So this 3 Bit must be set to 110/111.110 and 111 These two kinds of PWM The difference between modes is that the polarity of the output level is opposite .

CC1S Used to set the direction of the channel （ Input / Output ） The default setting is 0, Is to set the channel as the output .
Be careful ： This is because of our TIM14 Only 1 Channels , So only the eighth place is valid , The upper eight bits are invalid , Other timers with multiple channels , The top eight is also valid

2：TIM14 Capture of / Compare enable register （TIM14_CCER）, This register controls the switch of each input and output channel . The description of each bit of this register is shown in Fig Shown ：

This register is relatively simple , We only use CC1E position , This bit is an input / Capture 1 Output enable bit , If you want to PWM from IO output , This bit must be set to 1, So we need to set this bit to 1.

Again , because TIM14 Only 1 Channels , So only the lower four digits are valid , If it is another timer , Other bits of this register may also be valid .

3： Capture / Compare register （TIMx_CCR1~4）, This register has 4 individual , Corresponding 4 Channels CH1~4. however TIM14 only one , namely ：TIM14_CCR1, The description of each bit of the register is shown in the figure ：

position 15:0 CCR1[15:0]: Capture / Compare 1 value
If the passage CC1 To configure For export ：
CCR1 To load into the actual capture / Compare 1 Register value （ Preload value ）
If it doesn't pass TIMx_CCMR In register OC1PE Bit enable preload function , The written value is transferred directly to the current register . Otherwise, it will only take effect when an update event occurs （ Copy to the capture that actually works / Compare register 1） Actual capture / The comparison register contains the counter to be compared with TIMx_CNT Compare and compare in OC1 The value signaled on the output .

In output mode , The value of this register is the same as CNT Value comparison of , Generate corresponding actions according to the comparison results . Take advantage of this , By modifying the value of this register , You can control PWM The output pulse width of .

If it's a general timer , Then it is enough to configure the above three registers , But if it's an advanced timer , It also needs to be equipped with
Set up ： Brake and deadband register （TIMx_BDTR）, The description of each bit of the register is shown in the figure ：

This register , We only need to pay attention to the highest position ：MOE position , If you want an advanced timer PWM Normal output , Must be set MOE Position as 1, Otherwise there will be no output .

PWM Implementation method

Through TIM14_CH1 Output PWM, The following describes the steps to configure this function through library functions .

1 Turn on TIM14 and GPIO The clock , To configure PF9 Choose the reuse function AF9（TIM14） Output .

To use TIM14, We have to turn on TIM14 The clock of , To configure PF9 For reuse （AF9） Output , To achieve TIM14_CH1 Of PWM after PF9
Output . Library functions enable TIM14 The way to clock is ：

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM14,ENABLE); //TIM14  Clock enable 

Also enable GPIOF The clock of
To configure PF9 Pin mapping to AF9, Reuse as timer 14, The function called is ：

GPIO_PinAFConfig(GPIOF,GPIO_PinSource9,GPIO_AF_TIM14); //GPIOF9  Reuse as timer  14

The last set PF9 Output for reuse function , Only... Are listed here GPIO A line of code initialized to the reuse function ：

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; // Reuse function 

For the pin relationship of timer channel , You can see STM32F4 The corresponding data book , such as PWM , We use timers 14 The passage of 1, Corresponding pin PF9 You can see from the data book table ：

2 initialization TIM14, Set up TIM14 Of ARR and PSC Equal parameter .

In the open TIM14 After the clock , We need to set ARR and PSC Two registers to control the output PWM The cycle of .
The library function is through TIM_TimeBaseInit Functionally implemented , The format of the call is ：

TIM_TimeBaseStructure.TIM_Period = arr; // Set auto reload load value 
TIM_TimeBaseStructure.TIM_Prescaler =psc; // Set the prescaler value 
TIM_TimeBaseStructure.TIM_ClockDivision = 0; // Set the clock split :TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; // Upcount mode 
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); // Initialize... According to the specified parameters  TIMx  Of 

3 Set up TIM14_CH1 Of PWM Pattern , Can make TIM14 Of CH1 Output .

Set up TIM14_CH1 by PWM Pattern （ The default is frozen ）
In library functions ,PWM passageway
Setting is through the function TIM_OC1Init()~TIM_OC4Init() To set up , Different channels have different settings , here
We use channels 1, So the function used is TIM_OC1Init().

void TIM_OC1Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct);

Look at the structure TIM_OCInitTypeDef The definition of ：

typedef struct
{
    
 uint16_t TIM_OCMode; 
 uint16_t TIM_OutputState; 
 uint16_t TIM_OutputNState; */
 uint16_t TIM_Pulse; 
 uint16_t TIM_OCPolarity; 
 uint16_t TIM_OCNPolarity; 
 uint16_t TIM_OCIdleState; 
 uint16_t TIM_OCNIdleState; 
} TIM_OCInitTypeDef

Here are some member variables related to requirements :

• Parameters TIM_OCMode The setting mode is PWM Or output comparison , Here we are PWM Pattern .
• Parameters TIM_OutputState Used to set the compare output enable , That is to enable PWM Output to port .
• Parameters TIM_OCPolarity Used to set whether the polarity is high or low .
• Other parameters TIM_OutputNState,TIM_OCNPolarity,TIM_OCIdleState and TIM_OCNIdleState It's only used by advanced timers .

TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; // Choice mode  PWM
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; // Compare output enable 
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; // Low output polarity 
TIM_OC1Init(TIM14, &TIM_OCInitStructure); // according to T The specified parameter initializes the peripheral TIM1 4OC1

4 Can make TIM14

TIM_Cmd(TIM14, ENABLE); // Can make  TIM14

5 modify TIM14_CCR1 To control the duty cycle

After the above settings ,PWM In fact, it has started to output , It's just that the duty cycle and frequency are fixed , And we modify it TIM14_CCR1 You can control CH1 The output duty cycle of .
In library functions , modify TIM14_CCR1 The function of the duty cycle is ：

void TIM_SetCompare1(TIM_TypeDef* TIMx, uint16_t Compare2);

For other channels , There is a function name , The function format is TIM_SetComparex(x=1,2,3,4)

Through the above 5 A step , We can control TIM14 Of CH1 Output PWM Wave .

Although the advanced timer is similar to the general timer , But if the advanced timer wants to output PWM, You must also set a
individual MOE position (TIMx_BDTR Of the 15 position ), To enable the main output , Otherwise it won't output PWM. Functions set by library functions
by ：

void TIM_CtrlPWMOutputs(TIM_TypeDef* TIMx, FunctionalState NewState)

PWM Frequency settings

adopt PWM You can know the principle of , When the frequency of the timer is fixed ,PWM The period of is only related to ARR of , The timer can also set a frequency division coefficient , So the calculation is as follows

TIM14 The clock is 84M

The frequency division coefficient is a, The overload value is b.
pwm The frequency is 84M/（ab）
pwm The period is （ab）/84M

At the beginning , The purpose is to produce 25hz And 20hz The signal of , Then the settings can be as follows ：
25hz：

		PWM_PSC = 84;// Division coefficient .---- The counting frequency is 84M/PWM_PSC = 1M hz
		PWM_ARR = 40000;// Reload value ----PWM frequency  (84M/PWM_PSC)/PWM_ARR = 25 hz

20hz：

		PWM_PSC = 84;// Division coefficient .---- The counting frequency is 84M/PWM_PSC = 1M hz
		PWM_ARR = 50000;// Reload value ----PWM frequency  (84M/PWM_PSC)/PWM_ARR = 25 hz

Code

The key part of the code is given below .

// adopt PWM Generate camera shooting signal 
#define CAMERA_TRIGGER_20HZ 0
#define CAMERA_TRIGGER_25HZ 1

u32 PWM_PSC ;//PWM  The prescaled coefficients 
u32 PWM_ARR ;//PWM  Reload value 
float PWM_a;//PWM  Duty cycle 
uint32_t PWM_CCR;//PWM  It's worth 
int main(void)
{
     

	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);// Set system interrupt priority group 2
	delay_init(168);  // Initialization delay function 

  if(CAMERA_TRIGGER_25HZ)
	{
    
		PWM_PSC = 84;// Division coefficient .---- The counting frequency is 84M/PWM_PSC = 1M hz
		PWM_ARR = 40000;// Reload value ----PWM frequency  (84M/PWM_PSC)/PWM_ARR = 25 hz
		PWM_a = 0.1;// Duty cycle  
	}else if(CAMERA_TRIGGER_20HZ)
	{
    
		PWM_PSC = 84;// Division coefficient .---- The counting frequency is 84M/PWM_PSC = 1M hz
		PWM_ARR = 50000;// Reload value ----PWM frequency  (84M/PWM_PSC)/PWM_ARR = 25 hz
		PWM_a = 0.1;// Duty cycle  
	}
	
	PWM_CCR = (uint32_t)PWM_ARR*PWM_a;	     
 	TIM14_PWM_Init(PWM_ARR,PWM_PSC);	// Set up PWM cycle 
	TIM_SetCompare1(TIM14,PWM_CCR);	// Modify the comparison value , Change the duty cycle 
	
   while(1) 
	{
    
 		//delay_ms(1); 
	}
}

//TIM14 PWM Partial initialization  
//PWM Output initialization 
//arr： Auto reload value 
//psc： Clock presplitting frequency 
void TIM14_PWM_Init(u32 arr,u32 psc)
{
    		 					 
	// This part needs to be modified manually IO Port setup 
	
	GPIO_InitTypeDef GPIO_InitStructure;
	TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
	TIM_OCInitTypeDef  TIM_OCInitStructure;
	
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM14,ENABLE);  	//TIM14 Clock enable  
	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOF, ENABLE); 	// Can make PORTF The clock  
	
	GPIO_PinAFConfig(GPIOF,GPIO_PinSource9,GPIO_AF_TIM14); //GPIOF9 Reuse as timer 14
	
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;           //GPIOF9
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;        // Reuse function 
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;	// Speed 100MHz
	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;      // Push pull multiplex output 
	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;        // Pull up 
	GPIO_Init(GPIOF,&GPIO_InitStructure);              // initialization PF9
	  
	TIM_TimeBaseStructure.TIM_Prescaler=psc-1;  // Timer frequency division 
	TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up; // Upcount mode 
	TIM_TimeBaseStructure.TIM_Period=arr-1;   // Automatic reload load value 
	TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1; 
	
	TIM_TimeBaseInit(TIM14,&TIM_TimeBaseStructure);// Initialize the timer 14
	
	// initialization TIM14 Channel1 PWM Pattern  
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; // Select timer mode :TIM Pulse width modulation mode 2
 	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; // Compare output enable 
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; // Output polarity :TIM High output polarity 
	TIM_OC1Init(TIM14, &TIM_OCInitStructure);  // according to T The specified parameter initializes the peripheral TIM1 4OC1

	TIM_OC1PreloadConfig(TIM14, TIM_OCPreload_Enable);  // Can make TIM14 stay CCR1 Pre loaded registers on 
 
  TIM_ARRPreloadConfig(TIM14,ENABLE);//ARPE Can make  
	
	TIM_Cmd(TIM14, ENABLE);  // Can make TIM14
 
										  
}  

Result

Check the two signals through the oscilloscope
25hz The signal is as follows ：

20hz The signal is as follows ：