#include "PWMOUT.h"
#include "PID.h"


void TIM3_Init(void) 
{
	NVIC_InitTypeDef  NVIC_InitStructure;
	TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
	
	NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
	NVIC_Init(&NVIC_InitStructure);
	
	// 自动装载的计数值   1ms
	TIM_TimeBaseStructure.TIM_Period = 1000; // 10KHz
	TIM_TimeBaseStructure.TIM_Prescaler = (72 - 1); // 1MHz
	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
	TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
	TIM_ClearITPendingBit(TIM3, TIM_IT_Update);
	TIM_Cmd(TIM3,ENABLE);
}

void TIM3_IRQHandler(void) 
{
	if(TIM_GetITStatus(TIM3,TIM_IT_Update))
	{
		  pid.C1ms++;
		  TIM_ClearITPendingBit(TIM3, TIM_IT_Update);	//清除中断标志
	}
}

void TimePwm_init(int arr,int psc) 
{
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
    TIM_OCInitTypeDef  TIM_OCInitStructure;
        
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB  | RCC_APB2Periph_AFIO, ENABLE);
    //GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE);     
    
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; //TIM3_CH3
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOB, &GPIO_InitStructure);
        
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); 
    
    TIM_TimeBaseStructure.TIM_Period = arr; 
    TIM_TimeBaseStructure.TIM_Prescaler =psc; 
    TIM_TimeBaseStructure.TIM_ClockDivision = 0; 
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  
    TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); 
        
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
    TIM_OC3Init(TIM3, &TIM_OCInitStructure);
    TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);  
    TIM_Cmd(TIM3, ENABLE); 
}