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65 lines
2.1 KiB
65 lines
2.1 KiB
#include "PWMOUT.h"
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#include "PID.h"
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void TIM3_Init(void)
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{
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NVIC_InitTypeDef NVIC_InitStructure;
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
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NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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// 自动装载的计数值 1ms
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TIM_TimeBaseStructure.TIM_Period = 1000; // 10KHz
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TIM_TimeBaseStructure.TIM_Prescaler = (72 - 1); // 1MHz
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TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
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TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
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TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
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TIM_ClearITPendingBit(TIM3, TIM_IT_Update);
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TIM_Cmd(TIM3,ENABLE);
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}
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void TIM3_IRQHandler(void)
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{
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if(TIM_GetITStatus(TIM3,TIM_IT_Update))
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{
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pid.C1ms++;
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TIM_ClearITPendingBit(TIM3, TIM_IT_Update); //清除中断标志
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}
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}
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void TimePwm_init(int arr,int psc)
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
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TIM_OCInitTypeDef TIM_OCInitStructure;
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);
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//GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE);
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; //TIM3_CH3
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_Init(GPIOB, &GPIO_InitStructure);
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
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TIM_TimeBaseStructure.TIM_Period = arr;
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TIM_TimeBaseStructure.TIM_Prescaler =psc;
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TIM_TimeBaseStructure.TIM_ClockDivision = 0;
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TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
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TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
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TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
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TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
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TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
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TIM_OC3Init(TIM3, &TIM_OCInitStructure);
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TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
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TIM_Cmd(TIM3, ENABLE);
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}
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