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並前往https://www.st.com/resource/en/application_note/dm00236305-generalpurpose-timer-cookbook-for-stm32-microcontrollers-stmicroelectronics.pdf

General-purpose timer cookbook for STM32 microcontrollers

Hardware-precision delay loop implementation using TIM6 timer peripheral. Any other STM32 timer can be used to fulfill this function, but.

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