mwc基于stm32四軸飛行器源碼

ID:320177 · 發(fā)表于 2018-5-2 03:55

基于stm32四軸飛行器源碼有c語(yǔ)言源碼，應(yīng)用keil5 即可得到最終結(jié)果

單片機(jī)源程序如下:

/**********************************************************************************
* 文件名：incap.c
* 描述：四通道輸入捕獲
* 實(shí)驗(yàn)平臺(tái)：四軸飛行器STM3主控板
* 庫(kù)版本：ST3.5
* 作者：
* 時(shí)間：
**********************************************************************************/
#include "PPM.h"
//定時(shí)器5通道1輸入捕獲配置
u8 TIM5CH1_CAPTURE_STA=0; //通道1輸入捕獲狀態(tài)
u16 TIM5CH1_CAPTURE_VAL; //通道1輸入捕獲值
u8 TIM5CH2_CAPTURE_STA=0; //通道2輸入捕獲狀態(tài)
u16 TIM5CH2_CAPTURE_VAL; //通道2輸入捕獲值
u8 TIM5CH3_CAPTURE_STA=0; //通道3輸入捕獲狀態(tài)
u16 TIM5CH3_CAPTURE_VAL; //通道3輸入捕獲值
u8 TIM5CH4_CAPTURE_STA=0; //通道4輸入捕獲狀態(tài)
u16 TIM5CH4_CAPTURE_VAL; //通道4輸入捕獲值
u32 tempup1=0;//捕獲總高電平的時(shí)間us單位
u32 tempup2=0;//捕獲總高電平的時(shí)間us單位
u32 tempup3=0;//捕獲總高電平的時(shí)間us單位
u32 tempup4=0;//捕獲總高電平的時(shí)間us單位
unsigned int pwmout1,pwmout2,pwmout3,pwmout4; //輸出占空比
void TIM5_Cap_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM5_ICInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE); //使能TIM5時(shí)鐘
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); //使能GPIOA時(shí)鐘
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1|GPIO_Pin_2|GPIO_Pin_3; //PA0 清除之前設(shè)置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD; //PA0 輸入
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_ResetBits(GPIOA,GPIO_Pin_0|GPIO_Pin_1|GPIO_Pin_2|GPIO_Pin_3);
//初始化定時(shí)器5 TIM5
TIM_TimeBaseStructure.TIM_Period = arr; //設(shè)定計(jì)數(shù)器自動(dòng)重裝值
TIM_TimeBaseStructure.TIM_Prescaler =psc; //預(yù)分頻器
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //設(shè)置時(shí)鐘分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上計(jì)數(shù)模式
TIM_TimeBaseInit(TIM5, &TIM_TimeBaseStructure); //根據(jù)TIM_TimeBaseInitStruct中指定的參數(shù)初始化TIMx的時(shí)間基數(shù)單位
//初始化TIM5輸入捕獲參數(shù)
TIM5_ICInitStructure.TIM_Channel = TIM_Channel_1; //CC1S=01 選擇輸入端 IC1映射到TI1上
TIM5_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕獲
TIM5_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
TIM5_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //配置輸入分頻,不分頻
TIM5_ICInitStructure.TIM_ICFilter = 0x00;//IC1F=0000 配置輸入濾波器不濾波
TIM_ICInit(TIM5, &TIM5_ICInitStructure);
TIM5_ICInitStructure.TIM_Channel = TIM_Channel_2; //CC1S=01 選擇輸入端 IC1映射到TI1上
TIM5_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕獲
TIM5_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
TIM5_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //配置輸入分頻,不分頻
TIM5_ICInitStructure.TIM_ICFilter = 0x00;//IC1F=0000 配置輸入濾波器不濾波
TIM_ICInit(TIM5, &TIM5_ICInitStructure);
TIM5_ICInitStructure.TIM_Channel = TIM_Channel_3; //CC1S=01 選擇輸入端 IC1映射到TI1上
TIM5_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕獲
TIM5_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
TIM5_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //配置輸入分頻,不分頻
TIM5_ICInitStructure.TIM_ICFilter = 0x00;//IC1F=0000 配置輸入濾波器不濾波
TIM_ICInit(TIM5, &TIM5_ICInitStructure);
TIM5_ICInitStructure.TIM_Channel = TIM_Channel_4; //CC1S=01 選擇輸入端 IC1映射到TI1上
TIM5_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕獲
TIM5_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
TIM5_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //配置輸入分頻,不分頻
TIM5_ICInitStructure.TIM_ICFilter = 0x00;//IC1F=0000 配置輸入濾波器不濾波
TIM_ICInit(TIM5, &TIM5_ICInitStructure);
TIM_ITConfig(TIM5,TIM_IT_Update|TIM_IT_CC1|TIM_IT_CC2|TIM_IT_CC3|TIM_IT_CC4,ENABLE);//允許更新中斷 ,允許CC1IE捕獲中斷
TIM_Cmd(TIM5,ENABLE ); //使能定時(shí)器5
}
void get_pulsewidth(void) //計(jì)算捕獲的高電平時(shí)間
{
/*-------------------------------------------獲取通道1高電平-----------------------------------*/
if(TIM5CH1_CAPTURE_STA&0X80) //CH1 成功捕獲到了一次上升沿
{
tempup1=TIM5CH1_CAPTURE_STA&0X3F;
tempup1*=65536;//溢出時(shí)間總和
tempup1+=TIM5CH1_CAPTURE_VAL;//得到總的高電平時(shí)間
pwmout1=tempup1/4;
TIM5CH1_CAPTURE_STA=0;//開(kāi)啟下一次捕獲
/*--------------------------------------pwm輸出限制-----------------------------------------*/
// if(pwmout1<250) pwmout1=250;
// if(pwmout1>420) pwmout1=420; //油門(mén)限制
/*---------------------------------------------------------------------------------------------*/
}
/*-------------------------------------------獲取通道2高電平-----------------------------------*/
if(TIM5CH2_CAPTURE_STA&0X80) //CH2成功捕獲到了一次上升沿
{
tempup2=TIM5CH2_CAPTURE_STA&0X3F;
tempup2*=65536;//溢出時(shí)間總和
tempup2+=TIM5CH2_CAPTURE_VAL;//得到總的高電平時(shí)間
pwmout2=tempup2/4;
TIM5CH2_CAPTURE_STA=0;//開(kāi)啟下一次捕獲
}
/*-------------------------------------------獲取通道3高電平-----------------------------------*/
if(TIM5CH3_CAPTURE_STA&0X80) //CH3 成功捕獲到了一次上升沿
{
tempup3=TIM5CH3_CAPTURE_STA&0X3F;
tempup3*=65536;//溢出時(shí)間總和
tempup3+=TIM5CH3_CAPTURE_VAL;//得到總的高電平時(shí)間
pwmout3=tempup3/4;
TIM5CH3_CAPTURE_STA=0;//開(kāi)啟下一次捕獲
}
/*-------------------------------------------獲取通道4高電平-----------------------------------*/
if(TIM5CH4_CAPTURE_STA&0X80) //CH4 成功捕獲到了一次上升沿
{
tempup4=TIM5CH4_CAPTURE_STA&0X3F;
tempup4*=65536;//溢出時(shí)間總和
tempup4+=TIM5CH4_CAPTURE_VAL;//得到總的高電平時(shí)間
pwmout4=tempup4/4;
TIM5CH4_CAPTURE_STA=0;//開(kāi)啟下一次捕獲
}
}
//定時(shí)器5中斷服務(wù)程序
void TIM5_IRQHandler(void)
{
/* */
if((TIM5CH2_CAPTURE_STA&0X80)==0)//CH2還未成功捕獲
{
if (TIM_GetITStatus(TIM5, TIM_IT_Update) != RESET)
{
if(TIM5CH2_CAPTURE_STA&0X40)//已經(jīng)捕獲到高電平了
{
if((TIM5CH2_CAPTURE_STA&0X3F)==0X3F)//高電平太長(zhǎng)了
{
TIM5CH2_CAPTURE_STA|=0X80;//標(biāo)記成功捕獲了一次
TIM5CH2_CAPTURE_VAL=0XFFFF;
}
else TIM5CH2_CAPTURE_STA++;
}
}
if (TIM_GetITStatus(TIM5, TIM_IT_CC2) != RESET)//捕獲1發(fā)生捕獲事件
{
if(TIM5CH2_CAPTURE_STA&0X40) //捕獲到一個(gè)下降沿
{
TIM5CH2_CAPTURE_STA|=0X80; //標(biāo)記成功捕獲到一次上升沿
TIM5CH2_CAPTURE_VAL=TIM_GetCapture2(TIM5);
TIM_OC2PolarityConfig(TIM5,TIM_ICPolarity_Rising); //CC1P=0 設(shè)置為上升沿捕獲
}
else //還未開(kāi)始,第一次捕獲上升沿
{
TIM5CH2_CAPTURE_STA=0; //清空
TIM5CH2_CAPTURE_VAL=0;
TIM_SetCounter(TIM5,0);
TIM5CH2_CAPTURE_STA|=0X40; //標(biāo)記捕獲到了上升沿
TIM_OC2PolarityConfig(TIM5,TIM_ICPolarity_Falling); //CC1P=1 設(shè)置為下降沿捕獲
}
}
}
if((TIM5CH1_CAPTURE_STA&0X80)==0)//CH1 還未成功捕獲
{
if (TIM_GetITStatus(TIM5, TIM_IT_Update) != RESET)
{
if(TIM5CH1_CAPTURE_STA&0X40)//已經(jīng)捕獲到高電平了
{
if((TIM5CH1_CAPTURE_STA&0X3F)==0X3F)//高電平太長(zhǎng)了
{
TIM5CH1_CAPTURE_STA|=0X80;//標(biāo)記成功捕獲了一次
TIM5CH1_CAPTURE_VAL=0XFFFF;
}
else TIM5CH1_CAPTURE_STA++;
}
}
if (TIM_GetITStatus(TIM5, TIM_IT_CC1) != RESET)//捕獲1發(fā)生捕獲事件
{
if(TIM5CH1_CAPTURE_STA&0X40) //捕獲到一個(gè)下降沿
{
TIM5CH1_CAPTURE_STA|=0X80; //標(biāo)記成功捕獲到一次上升沿
TIM5CH1_CAPTURE_VAL=TIM_GetCapture1(TIM5);
TIM_OC1PolarityConfig(TIM5,TIM_ICPolarity_Rising); //CC1P=0 設(shè)置為上升沿捕獲
}
else //還未開(kāi)始,第一次捕獲上升沿
{
TIM5CH1_CAPTURE_STA=0; //清空
TIM5CH1_CAPTURE_VAL=0;
TIM_SetCounter(TIM5,0);
TIM5CH1_CAPTURE_STA|=0X40; //標(biāo)記捕獲到了上升沿
TIM_OC1PolarityConfig(TIM5,TIM_ICPolarity_Falling); //CC1P=1 設(shè)置為下降沿捕獲
}
}
}
if((TIM5CH3_CAPTURE_STA&0X80)==0)//CH3還未成功捕獲
{
if (TIM_GetITStatus(TIM5, TIM_IT_Update) != RESET)
{
if(TIM5CH3_CAPTURE_STA&0X40)//已經(jīng)捕獲到高電平了
{
if((TIM5CH3_CAPTURE_STA&0X3F)==0X3F)//高電平太長(zhǎng)了
{
TIM5CH3_CAPTURE_STA|=0X80;//標(biāo)記成功捕獲了一次
TIM5CH3_CAPTURE_VAL=0XFFFF;
}
else TIM5CH3_CAPTURE_STA++;
}
}
if (TIM_GetITStatus(TIM5, TIM_IT_CC3) != RESET)//捕獲1發(fā)生捕獲事件
{
if(TIM5CH3_CAPTURE_STA&0X40) //捕獲到一個(gè)下降沿
{
TIM5CH3_CAPTURE_STA|=0X80; //標(biāo)記成功捕獲到一次上升沿
TIM5CH3_CAPTURE_VAL=TIM_GetCapture3(TIM5);
TIM_OC3PolarityConfig(TIM5,TIM_ICPolarity_Rising); //CC1P=0 設(shè)置為上升沿捕獲
}else //還未開(kāi)始,第一次捕獲上升沿
{
TIM5CH3_CAPTURE_STA=0; //清空
TIM5CH3_CAPTURE_VAL=0;
TIM_SetCounter(TIM5,0);
TIM5CH3_CAPTURE_STA|=0X40; //標(biāo)記捕獲到了上升沿
TIM_OC3PolarityConfig(TIM5,TIM_ICPolarity_Falling); //CC1P=1 設(shè)置為下降沿捕獲
}
}
}
if((TIM5CH4_CAPTURE_STA&0X80)==0)//CH4 還未成功捕獲
{
if (TIM_GetITStatus(TIM5, TIM_IT_Update) != RESET)
{
if(TIM5CH4_CAPTURE_STA&0X40)//已經(jīng)捕獲到高電平了
{
if((TIM5CH4_CAPTURE_STA&0X3F)==0X3F)//高電平太長(zhǎng)了
{
TIM5CH4_CAPTURE_STA|=0X80;//標(biāo)記成功捕獲了一次
TIM5CH4_CAPTURE_VAL=0XFFFF;
}
else TIM5CH4_CAPTURE_STA++;
}
}
if (TIM_GetITStatus(TIM5, TIM_IT_CC4) != RESET)//捕獲1發(fā)生捕獲事件
{
if(TIM5CH4_CAPTURE_STA&0X40) //捕獲到一個(gè)下降沿
{
TIM5CH4_CAPTURE_STA|=0X80; //標(biāo)記成功捕獲到一次上升沿
TIM5CH4_CAPTURE_VAL=TIM_GetCapture4(TIM5);
TIM_OC4PolarityConfig(TIM5,TIM_ICPolarity_Rising); //CC1P=0 設(shè)置為上升沿捕獲
}
else //還未開(kāi)始,第一次捕獲上升沿
……………………
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mwc基于stm32四軸飛行器源碼