What is the function of TIM13?

Does TIM8 and TIM13 both enter the TIM8_UP_TIM13_IRQHandler?
TIM8 periodically generates update events, why configure TIM13?

TIM13 is used to measure the time it takes to update each component parameter.
For example:


This measures the time consumed by axis.encoder_.update().

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I want to know what is the function of uart4,can you help me?Thank you.

UART Interface | ODrive (odriverobotics.com) may give you some instructions.
Otherwise, you can create a new topic for more help.