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楼主 |
发表于 2017-2-5 11:31:15
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#ifndef __PWM_H
#define __PWM_H
#include "sys.h"
void TIM3_PWM_Init(u16 psc,u16 arr);//¶¨ê±Æ÷3PWM3õê¼»ˉ
void TIM4_PWM_Init(u16 psc,u16 arr);//¶¨ê±Æ÷4PWM3õê¼»ˉ
#endif
#include "pwm.h"
//TIM4 PB6 PB7 TIM3 PA6 PA7
void TIM3_PWM_Init(u16 psc,u16 arr)
{
GPIO_InitTypeDef GPIO_TIME3_PWM;
TIM_TimeBaseInitTypeDef TIM_Time3_Init;
TIM_OCInitTypeDef TIM3_OC_Init;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB|RCC_APB2Periph_AFIO,ENABLE);//PBê±Öóê1Äü ¸′óÃê±Öóê1Äü
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);//¶¨ê±Æ÷3ê±Öóê1Äü
GPIO_TIME3_PWM.GPIO_Mode=GPIO_Mode_AF_PP;//¸′óÃíÆíìêä3ö
GPIO_TIME3_PWM.GPIO_Pin=GPIO_Pin_6|GPIO_Pin_7;//PB4 PB5
GPIO_TIME3_PWM.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOA,&GPIO_TIME3_PWM);
TIM_Time3_Init.TIM_Prescaler=psc;
TIM_Time3_Init.TIM_Period=arr;
TIM_Time3_Init.TIM_CounterMode=TIM_CounterMode_Down;//ÏòϼÆêy
TIM_Time3_Init.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseInit(TIM3,&TIM_Time3_Init);//¶¨ê±Æ÷33õê¼»ˉ
TIM3_OC_Init.TIM_OCMode=TIM_OCMode_PWM1;//PWMÄ£ê½1
TIM3_OC_Init.TIM_OutputState=TIM_OutputState_Enable;//PWMêä3öí¨μàê1Äü
TIM3_OC_Init.TIM_OCPolarity=TIM_OCPolarity_Low;//±è½Ïêä3ö¼«DÔ ¸ß μí
TIM_OC1Init(TIM3,&TIM3_OC_Init);//OC1êä3ö±è½Ï2Îêy3õê¼»ˉ
TIM_OC2Init(TIM3,&TIM3_OC_Init);//OC2êä3ö±è½Ï2Îêy3õê¼»ˉ
TIM_OC1PreloadConfig(TIM3,TIM_OCPreload_Enable);//OC1
TIM_OC2PreloadConfig(TIM3,TIM_OCPreload_Enable);//OC2ê1ÄüÔ¤×°ÔØ¼Ä′æÆ÷
TIM_ARRPreloadConfig(TIM3,ENABLE);//×Ô¶ˉÖØ×°ÔØÔ¤×°ÔØ
TIM_Cmd(TIM3,ENABLE);//ê1ÄüTIM3
}
void TIM4_PWM_Init(u16 psc,u16 arr)
{
GPIO_InitTypeDef GPIO_TIME4_PWM;
TIM_TimeBaseInitTypeDef TIM_Time4_Init;
TIM_OCInitTypeDef TIM4_OC_Init;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB|RCC_APB2Periph_AFIO,ENABLE);//PBê±Öóê1Äü ¸′óÃê±Öóê1Äü
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4,ENABLE);//¶¨ê±Æ÷4ê±Öóê1Äü
GPIO_TIME4_PWM.GPIO_Mode=GPIO_Mode_AF_PP;//¸′óÃíÆíìêä3ö
GPIO_TIME4_PWM.GPIO_Pin=GPIO_Pin_6|GPIO_Pin_7;//PB6 PB7
GPIO_TIME4_PWM.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOB,&GPIO_TIME4_PWM);
TIM_Time4_Init.TIM_Prescaler=psc;
TIM_Time4_Init.TIM_Period=arr;
TIM_Time4_Init.TIM_CounterMode=TIM_CounterMode_Down;//ÏòϼÆêy
TIM_Time4_Init.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseInit(TIM4,&TIM_Time4_Init);//¶¨ê±Æ÷43õê¼»ˉ
TIM4_OC_Init.TIM_OCMode=TIM_OCMode_PWM1;//PWMÄ£ê½1
TIM4_OC_Init.TIM_OutputState=TIM_OutputState_Enable;//PWMêä3öí¨μàê1Äü
TIM4_OC_Init.TIM_OCPolarity=TIM_OCPolarity_Low;//±è½Ïêä3ö¼«DÔ ¸ß μí
TIM_OC1Init(TIM4,&TIM4_OC_Init);//OC1êä3ö±è½Ï2Îêy3õê¼»ˉ
TIM_OC2Init(TIM4,&TIM4_OC_Init);//OC2êä3ö±è½Ï2Îêy3õê¼»ˉ
TIM_OC1PreloadConfig(TIM4,TIM_OCPreload_Enable);//OC1
TIM_OC2PreloadConfig(TIM4,TIM_OCPreload_Enable);//OC2ê1ÄüÔ¤×°ÔØ¼Ä′æÆ÷
TIM_ARRPreloadConfig(TIM4,ENABLE);//×Ô¶ˉÖØ×°ÔØÔ¤×°ÔØ
TIM_Cmd(TIM4,ENABLE);//ê1ÄüTIM3
}
#include "sys.h"
#include "delay.h"
#include "pwm.h"
#include "drive.h"
#include "elude.h"
#include "tracking.h"
int main(void)
{
DRIVE_Init();
ELUDE_Init();
TRACKING_Init();
delay_init();
TIM3_PWM_Init(99,719);
TIM4_PWM_Init(99,719);
TIM_SetCompare1(TIM3,400);
TIM_SetCompare1(TIM4,400);
TIM_SetCompare2(TIM3,400);
TIM_SetCompare2(TIM4,400);
while(1)
{
DRIVE_Go();
if(elude3==0&&elude4==0)
{
DRIVE_Left();
delay_ms(1000);
}
if(elude1==0&&elude2==0)
{
DRIVE_Right();
delay_ms(1000);
}
if(elude2==0&&elude3==0)
{
DRIVE_Stop();
delay_ms(50);
DRIVE_Back();
delay_ms(1500);
DRIVE_Right();
delay_ms(1000);
}
// if(elude1==0&&elude2==0&&elude3==0&&elude4==0)
// DRIVE_Stop();
// if(tracking1==1&&tracking2==1&&tracking3==1&&tracking4==1&&tracking5==1)
// DRIVE_Stop();
}
}
我贴给你看看 我不知道怎么传文件
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