stm32智能小車源碼

ID:209704 · 發表于 2018-6-17 14:50

stm32智能小車

#include "pwm_output.h"
/*
* 函數名：TIM3_GPIO_Config
* 描述：配置TIM3復用輸出PWM時用到的I/O
* 輸入：無
* 輸出：無
* 調用：內部調用
*/
static void TIM3_GPIO_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* TIM3 clock enable */
//PCLK1經過2倍頻后作為TIM3的時鐘源等于72MHz
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1|RCC_APB2Periph_GPIOA, ENABLE);
/*GPIOA Configuration: TIM3 channel 1 and 2 as alternate function push-pull */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10 | GPIO_Pin_11 ;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; // 復用推挽輸出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
}
/*
* 函數名：TIM3_Mode_Config
* 描述：配置TIM3輸出的PWM信號的模式，如周期、極性、占空比
* 輸入：無
* 輸出：無
* 調用：內部調用
*/
static void TIM3_Mode_Config(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
/* PWM信號電平跳變值 */
u16 CCR1_Val = 1001;
u16 CCR2_Val = 1001;
u16 CCR3_Val = 1001;
u16 CCR4_Val = 1001;
/* -----------------------------------------------------------------------
TIM3 Configuration: generate 4 PWM signals with 4 different duty cycles:
TIM3CLK = 72 MHz, Prescaler = 0x0, TIM3 counter clock = 72 MHz
TIM3 ARR Register = 999 => TIM3 Frequency = TIM3 counter clock/(ARR + 1)
TIM3 Frequency = 72 KHz.
TIM3 Channel1 duty cycle = (TIM3_CCR1/ TIM3_ARR)* 100 = 50%
TIM3 Channel2 duty cycle = (TIM3_CCR2/ TIM3_ARR)* 100 = 37.5%
TIM3 Channel3 duty cycle = (TIM3_CCR3/ TIM3_ARR)* 100 = 25%
TIM3 Channel4 duty cycle = (TIM3_CCR4/ TIM3_ARR)* 100 = 12.5%
----------------------------------------------------------------------- */
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = 19999; //當定時器從0計數到999，即為1000次，為一個定時周期
TIM_TimeBaseStructure.TIM_Prescaler = 71; //設置預分頻：不預分頻，即為72MHz
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1 ; //設置時鐘分頻系數：不分頻
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上計數模式
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
/* PWM1 Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //配置為PWM模式1
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR1_Val; //設置跳變值，當計數器計數到這個值時，電平發生跳變
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //當定時器計數值小于CCR1_Val時為高電平
TIM_OC1Init(TIM1, &TIM_OCInitStructure); //使能通道1
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel2 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR2_Val; //設置通道2的電平跳變值，輸出另外一個占空比的PWM
TIM_OC2Init(TIM1, &TIM_OCInitStructure); //使能通道2
TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel3 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR3_Val; //設置通道3的電平跳變值，輸出另外一個占空比的PWM
TIM_OC3Init(TIM1, &TIM_OCInitStructure); //使能通道3
TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel4 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR4_Val; //設置通道4的電平跳變值，輸出另外一個占空比的PWM
TIM_OC4Init(TIM1, &TIM_OCInitStructure); //使能通道4
TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM1, ENABLE); // 使能TIM3重載寄存器ARR
/* TIM3 enable counter */
TIM_Cmd(TIM1, ENABLE); //使能定時器3
}
/*
* 函數名：TIM3_PWM_Init
* 描述：TIM3 輸出PWM信號初始化，只要調用這個函數
* TIM3的四個通道就會有PWM信號輸出
* 輸入：無
* 輸出：無
* 調用：外部調用
*/
void TIM3_PWM_Init(void)
{
TIM3_GPIO_Config();
TIM3_Mode_Config();
}
void TIM3_OUT( u16 CCR1 , u16 CCR2 , u16 CCR3 , u16 CCR4 )
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
/* PWM信號電平跳變值 */
u16 CCR1_Val;
u16 CCR2_Val;
u16 CCR3_Val;
u16 CCR4_Val;
CCR1_Val=CCR1;
CCR2_Val=CCR2;
CCR3_Val=CCR3;
CCR4_Val=CCR4;
/* PWM1 Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //配置為PWM模式1
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR1; //設置跳變值，當計數器計數到這個值時，電平發生跳變
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //當定時器計數值小于CCR1_Val時為高電平
TIM_OC1Init(TIM1, &TIM_OCInitStructure); //使能通道1
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel2 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR2; //設置通道2的電平跳變值，輸出另外一個占空比的PWM
TIM_OC2Init(TIM1, &TIM_OCInitStructure); //使能通道2
TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel3 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR3; //設置通道3的電平跳變值，輸出另外一個占空比的PWM
TIM_OC3Init(TIM1, &TIM_OCInitStructure); //使能通道3
TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel4 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR4; //設置通道4的電平跳變值，輸出另外一個占空比的PWM
TIM_OC4Init(TIM1, &TIM_OCInitStructure); //使能通道4
TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM1, ENABLE); // 使能TIM3重載寄存器ARR
/* TIM3 enable counter */
TIM_Cmd(TIM1, ENABLE); //使能定時器3
}
/******************* (C) COPYRIGHT 2012 WildFire Team *****END OF FILE************/

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stm32智能小車源碼