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


void TIM2_Init(void) 
{
	NVIC_InitTypeDef  NVIC_InitStructure;
	TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
	
	NVIC_InitStructure.NVIC_IRQChannel = TIM2_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(TIM2, &TIM_TimeBaseStructure);
	TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
	TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
	TIM_Cmd(TIM2,ENABLE);
}

void TIM2_IRQHandler(void) 
{
	if(TIM_GetITStatus(TIM2,TIM_IT_Update))
	{
		  pid.C1ms++;
		  TIM_ClearITPendingBit(TIM2, TIM_IT_Update);	//清除中断标志
	}
}

void TimePwm_init(int arr,int psc)// 
{
   RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);	
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE); 
	
//	RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
//	GPIO_PinRemapConfig(GPIO_PartialRemap1_TIM2, ENABLE);
//	GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
	
	GPIO_InitTypeDef GPIO_InitStructure;
	
	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP;
	GPIO_InitStructure.GPIO_Pin=GPIO_Pin_0;     //PA1 TIM2_CH2
	GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
	GPIO_Init(GPIOB,&GPIO_InitStructure);
	
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
	
	TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;
	TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up;
	TIM_TimeBaseInitStructure.TIM_Period=arr;      //ARR
	TIM_TimeBaseInitStructure.TIM_Prescaler=psc;    //PSC
	TIM_TimeBaseInitStructure.TIM_RepetitionCounter=0;
	TIM_TimeBaseInit(TIM3,&TIM_TimeBaseInitStructure);
	
	TIM_OCInitTypeDef  TIM_OCInitStructure;
	TIM_OCStructInit(&TIM_OCInitStructure);//给结构体赋初始值
	
	TIM_OCInitStructure.TIM_OCMode=TIM_OCMode_PWM1;//输出比较模式
	TIM_OCInitStructure.TIM_OCPolarity=TIM_OCPolarity_High;//输出比较极性
	TIM_OCInitStructure.TIM_OutputState=TIM_OutputState_Enable;
	TIM_OCInitStructure.TIM_Pulse=0;  //CCR的值
	TIM_OC3Init(TIM3,&TIM_OCInitStructure);//TIM_OC1Init()函数用来初始化输出比较单元
	
	TIM_Cmd(TIM3,ENABLE);//定时器使能
}