You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
72 lines
2.3 KiB
72 lines
2.3 KiB
#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
|
|
}
|
|
|