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发表于 2019-6-4 16:21:23
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我的芯片没有TIME8，我按照你的例程，改成TIME1,但是电机就是不转，不知道什么原因
u8 rcr_remainder; //Öظ′¼Æêyóàêy2¿·Ö
u8 is_rcr_finish=1; //Öظ′¼ÆêyÆ÷êÇ·ñéèÖÃíê3é
long rcr_integer; //Öظ′¼ÆêyÕûêy2¿·Ö
long target_pos=0; //óD·ûoÅ·½Ïò
long current_pos=0; //óD·ûoÅ·½Ïò
//DIR_Type motor_dir=CW;//Ë3ê±Õë
u8 motor_dir;
/************** Çy¶ˉÆ÷¿ØÖÆDÅoÅÏß3õê¼»ˉ ****************/
void Driver_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); //ê1ÄüPC¶Ë¿úê±Öó
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2|GPIO_Pin_3; //PC0.2 ¶Ë¿úÅäÖÃ
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //íÆíìêä3ö
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //IO¿úËù¶èÎa50MHz
GPIO_Init(GPIOA, &GPIO_InitStructure); //¸ù¾Yé趨2Îêy3õê¼»ˉGPIOC
GPIO_SetBits(GPIOA,GPIO_Pin_3); //PC0êä3ö¸ß Ë3ê±Õë·½Ïò DRIVER_DIR
GPIO_ResetBits(GPIOA,GPIO_Pin_2); //PC2êä3öμí ê1Äüêä3ö DRIVER_OE
}
/***********************************************
//TIM8_CH2(PC7) μ￥Âö3åêä3ö+Öظ′¼Æêy1|Äü3õê¼»ˉ
//TIM8 ê±ÖóÆμÂê 72MHz
//arr￡o×Ô¶ˉÖØ×°Öμ
//psc￡oê±ÖóÔ¤·ÖÆμêy
************************************************/
void TIM1_OPM_RCR_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); //TIM8ê±Öóê1Äü
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA , ENABLE); //ê1ÄüGPIOCíaéèê±Öóê1Äü
//GPIO_PinRemapConfig(GPIO_PartialRemap_TIM1, ENABLE);
//éèÖøÃòy½ÅÎa¸′óÃêä3ö1|Äü,êä3öTIM1 CH1μÄ WMÂö3å2¨DÎ
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8; //TIM1_CH1
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //¸′óÃíÆíìêä3ö
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = arr; //éèÖÃÔúÏÂò»¸ö¸üDÂê¼t×°èë»î¶ˉμÄ×Ô¶ˉÖØ×°ÔؼÄ′æÆ÷ÖüÆúμÄÖμ
TIM_TimeBaseStructure.TIM_Prescaler =psc; //éèÖÃóÃà′×÷ÎaTIMxê±ÖóÆμÂê3yêyμÄÔ¤·ÖÆμÖμ
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //éèÖÃê±Öó·Ö¸î:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIMÏòéϼÆêyÄ￡ê½
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure); //¸ù¾YTIM_TimeBaseInitStructÖDÖ¸¶¨μÄ2Îêy3õê¼»ˉTIMxμÄê±¼ä»ùêyμ￥λ
TIM_ClearITPendingBit(TIM1,TIM_IT_Update);
TIM_UpdateRequestConfig(TIM1,TIM_UpdateSource_Regular); /********* éèÖÃÖ»óD¼Æêyòç3ö×÷Îa¸üDÂÖD¶Ï ********/
TIM_SelectOnePulseMode(TIM1,TIM_OPMode_Single);/******* μ￥Âö3åÄ￡ê½ **********/
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //Ñ¡Ôñ¶¨ê±Æ÷Ä￡ê½:TIMÂö3å¿í¶èμ÷ÖÆÄ￡ê½2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //±è½Ïêä3ö2ê1Äü
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable; /****** ±è½Ïêä3ö2Nê§Äü *******/
TIM_OCInitStructure.TIM_Pulse = arr>>1; //éèÖÃ′y×°èë2¶»ñ±è½Ï¼Ä′æÆ÷μÄÂö3åÖμ
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //êä3ö¼«DÔ:TIMêä3ö±è½Ï¼«DÔ¸ß
TIM_OC2Init(TIM1, &TIM_OCInitStructure); //¸ù¾YTIM_OCInitStructÖDÖ¸¶¨μÄ2Îêy3õê¼»ˉíaéèTIMx
TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable); //CH1ԤװÔØê1Äü
TIM_ARRPreloadConfig(TIM1, ENABLE); //ê1ÄüTIMxÔúARRéÏμÄԤװÔؼÄ′æÆ÷
TIM_ITConfig(TIM1, TIM_IT_Update ,ENABLE); //TIM1 ê1Äü»òÕßê§ÄüÖ¸¶¨μÄTIMÖD¶Ï
NVIC_InitStructure.NVIC_IRQChannel = TIM1_UP_IRQn; //TIM1ÖD¶Ï
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; //ÏèÕ¼óÅÏ輶1¼¶
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; //′óóÅÏ輶1¼¶
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQí¨μà±»ê1Äü
NVIC_Init(&NVIC_InitStructure); //¸ù¾YNVIC_InitStructÖDÖ¸¶¨μÄ2Îêy3õê¼»ˉíaéèNVIC¼Ä′æÆ÷
TIM_ClearITPendingBit(TIM1, TIM_IT_Update); //Çå3yTIMxμÄÖD¶Ï′y′|àíλ:TIM ÖD¶ÏÔ′
TIM_Cmd(TIM1, ENABLE); //ê1ÄüTIM1
}
/******* TIM8¸üDÂÖD¶Ï·tÎñ3ìDò *********/
void TIM1_UP_IRQHandler(void)
{
if(TIM_GetITStatus(TIM1,TIM_FLAG_Update)!=RESET)//¸üDÂÖD¶Ï
{
TIM_ClearITPendingBit(TIM1,TIM_FLAG_Update);//Çå3y¸üDÂÖD¶Ï±ê־λ
if(is_rcr_finish==0)//Öظ′¼ÆêyÆ÷Î′éèÖÃíê3é
{
if(rcr_integer!=0) //Õûêy2¿·ÖÂö3å»1Î′·￠Ëííê3é
{
TIM8->RCR=RCR_VAL;//éèÖÃÖظ′¼ÆêyÖμ
rcr_integer--;//¼õéùRCR_VAL+1¸öÂö3å
}else if(rcr_remainder!=0)//óàêy2¿·ÖÂö3å 2»Î»0
{
TIM1->RCR=rcr_remainder-1;//éèÖÃóàêy2¿·Ö
rcr_remainder=0;//Çåáã
is_rcr_finish=1;//Öظ′¼ÆêyÆ÷éèÖÃíê3é
}else goto out; //rcr_remainder=0￡¬Ö±½óíË3ö
TIM_GenerateEvent(TIM1,TIM_EventSource_Update);//2úéúò»¸ö¸üDÂê¼t ÖØDÂ3õê¼»ˉ¼ÆêyÆ÷
TIM_CtrlPWMOutputs(TIM1,ENABLE); //MOE Ö÷êä3öê1Äü
TIM_Cmd(TIM1, ENABLE); //ê1ÄüTIM1
if(motor_dir==1) //èç1û·½ÏòÎaË3ê±Õë
current_pos+=(TIM1->RCR+1);//¼óéÏÖظ′¼ÆêyÖμ
else //·ñÔò·½ÏòÎaÄæê±Õë
current_pos-=(TIM1->RCR+1);//¼õè￥Öظ′¼ÆêyÖμ
}else
{
out: is_rcr_finish=1;//Öظ′¼ÆêyÆ÷éèÖÃíê3é
TIM_CtrlPWMOutputs(TIM1,DISABLE); //MOE Ö÷êä3ö1رÕ
TIM_Cmd(TIM1, DISABLE); //1رÕTIM8
// printf("μ±Ç°Î»ÖÃ=%ld\r\n",current_pos);//′òó¡êä3ö
}
}
}
/***************** Æô¶ˉTIM8 *****************/
void TIM1_Startup(u32 frequency) //Æô¶ˉ¶¨ê±Æ÷8
{
u16 temp_arr=1000000/frequency-1;
TIM_SetAutoreload(TIM1,temp_arr);//é趨×Ô¶ˉÖØ×°Öμ
TIM_SetCompare1(TIM1,temp_arr>>1); //Æ￥ÅäÖμ2μèóúÖØ×°Öμò»°ë￡¬êÇòÔÕ¼¿Õ±èÎa50%
TIM_SetCounter(TIM1,0);//¼ÆêyÆ÷Çåáã
TIM_Cmd(TIM1, ENABLE); //ê1ÄüTIM1
}
/********************************************
//Ïà¶Ô¶¨Î»oˉêy
//num 0¡«2147483647
//frequency: 20Hz~100KHz
//dir: CW(Ë3ê±Õë·½Ïò) CCW(Äæê±Õë·½Ïò)
*********************************************/
void Locate_Rle(long num,u32 frequency,u8 dir) //Ïà¶Ô¶¨Î»oˉêy
{
if(num<=0) //êyÖμD¡μèóú0 ÔòÖ±½ó·μ»Ø
{
// printf("\r\nThe num should be greater than zero!!\r\n");
return;
}
if(TIM8->CR1&0x01)//éÏò»′ÎÂö3å»1Î′·￠Ëííê3é Ö±½ó·μ»Ø
{
// printf("\r\nThe last time pulses is not send finished,wait please!\r\n");
return;
}
if((frequency<20)||(frequency>100000))//Âö3åÆμÂê2»Ôú·¶Î§Äú Ö±½ó·μ»Ø
{
// printf("\r\nThe frequency is out of range! please reset it!!(range:20Hz~100KHz)\r\n");
return;
}
motor_dir=dir;//μÃμ½·½Ïò
DRIVER_DIR=motor_dir;//éèÖ÷½Ïò
if(motor_dir==1)//Ë3ê±Õë
target_pos=current_pos+num;//Ä¿±êλÖÃ
else if(motor_dir==0)//Äæê±Õë
target_pos=current_pos-num;//Ä¿±êλÖÃ
rcr_integer=num/(RCR_VAL+1);//Öظ′¼ÆêyÕûêy2¿·Ö
rcr_remainder=num%(RCR_VAL+1);//Öظ′¼Æêyóàêy2¿·Ö
is_rcr_finish=0;//Öظ′¼ÆêyÆ÷Î′éèÖÃíê3é
TIM1_Startup(frequency);//¿aÆôTIM1
}
/********************************************
//¾ø¶Ô¶¨Î»oˉêy
//num -2147483648¡«2147483647
//frequency: 20Hz~100KHz
*********************************************/
void Locate_Abs(long num,u32 frequency)//¾ø¶Ô¶¨Î»oˉêy
{
if(TIM8->CR1&0x01)//éÏò»′ÎÂö3å»1Î′·￠Ëííê3é Ö±½ó·μ»Ø
{
// printf("\r\nThe last time pulses is not send finished,wait please!\r\n");
return;
}
if((frequency<20)||(frequency>100000))//Âö3åÆμÂê2»Ôú·¶Î§Äú Ö±½ó·μ»Ø
{
// printf("\r\nThe frequency is out of range! please reset it!!(range:20Hz~100KHz)\r\n");
return;
}
target_pos=num;//éèÖÃÄ¿±êλÖÃ
if(target_pos!=current_pos)//Ä¿±êoíμ±Ç°Î»ÖÃ2»í¬
{
if(target_pos>current_pos)
motor_dir=1;//Ë3ê±Õë
else
motor_dir=0;//Äæê±Õë
DRIVER_DIR=motor_dir;//éèÖ÷½Ïò
rcr_integer=abs(target_pos-current_pos)/(RCR_VAL+1);//Öظ′¼ÆêyÕûêy2¿·Ö
rcr_remainder=abs(target_pos-current_pos)%(RCR_VAL+1);//Öظ′¼Æêyóàêy2¿·Ö
is_rcr_finish=0;//Öظ′¼ÆêyÆ÷Î′éèÖÃíê3é
TIM1_Startup(frequency);//¿aÆôTIM1
}
} |
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