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158 lines
5.8 KiB
158 lines
5.8 KiB
#include "motor.h"
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#include "app.h"
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uint16_t ARR_Val;
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/***********************************************************************************************
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*函数名称：void TIM3_GPIO_configuration(void)
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*函数功能：定时器5的时钟基准配置以及时钟设置
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*输入参数：无
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*输出参数：无
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***********************************************************************************************/
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static void TIM3_GPIO_configuration(void)
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);//使能或者失能APB1外设时钟
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;//最高输出速率50MHz
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;//复用推挽输出
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GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化外设GPIOx寄存器
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}
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/***********************************************************************************************
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*函数名称：void TIM3_Mode_configuration(void)
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*函数功能：定时器3的时钟基准配置以及时钟设置
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*输入参数：无
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*输出参数：无
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***********************************************************************************************/
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static void TIM3_Mode_configuration(void)
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{
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);//使能或者失能APB1外设时钟
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TIM_TimeBaseStructure.TIM_Prescaler = 0;//预分频值
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TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;//向上计数模式
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TIM_TimeBaseStructure.TIM_Period = 7200;//在下一个更新事件装入活动的自动重装载寄存器周期的值
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TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//TDTS = Tck_tim
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TIM_TimeBaseStructure.TIM_RepetitionCounter = 0x01;//重复计数值
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TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStructure);//初始化
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TIM_ARRPreloadConfig(TIM3, ENABLE);//使能或者失能TIMx在ARR上的预装载寄存器
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TIM_Cmd(TIM3, ENABLE);//使能或者失能TIMx外设
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}
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/***********************************************************************************************
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*函数名称：void TIM3_PWM_configuration(void)
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*函数功能：定时器3的PWM输出配置
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*输入参数：无
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*输出参数：无
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***********************************************************************************************/
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static void TIM3_PWM_configuration(void)
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{
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TIM_OCInitTypeDef TIM_OCInitStructure;
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TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
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TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
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TIM_OCInitStructure.TIM_Pulse = 0; //0-7200之间变化
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TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
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TIM_OC3Init(TIM3, &TIM_OCInitStructure);
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TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
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TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
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TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
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TIM_OCInitStructure.TIM_Pulse = 0;
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TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
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TIM_OC4Init(TIM3, &TIM_OCInitStructure);
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TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);
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}
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/***********************************************************************************************
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*函数名称：void DIRECT_GPIO_Config(void)
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*函数功能：控制电机转动方向的IO口配置
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*输入参数：无
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*输出参数：无
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***********************************************************************************************/
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static void DIRECT_GPIO_Config(void)
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);//使能或者失能APB1外设时钟
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC,ENABLE);//使能或者失能APB1外设时钟
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10|GPIO_Pin_11;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;//最高输出速率50MHz
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;//推挽输出
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GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化外设GPIOx寄存器
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4|GPIO_Pin_5;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;//最高输出速率50MHz
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;//推挽输出
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GPIO_Init(GPIOC, &GPIO_InitStructure);//初始化外设GPIOx寄存器
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}
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/***********************************************************************************************
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*函数名称：void MOTOR_configuration(void)
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*函数功能：电机初始化配置
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*输入参数：无
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*输出参数：无
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***********************************************************************************************/
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void MOTOR_configuration(void)
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{
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TIM3_GPIO_configuration();
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DIRECT_GPIO_Config();
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TIM3_Mode_configuration();
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TIM3_PWM_configuration();
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}
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/***********************************************************************************************
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*函数名称：void MOTOR_SetFrenquency(void)
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*函数功能：PWM频率调节
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*输入参数：Fren:想要的频率
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*输出参数：无
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***********************************************************************************************/
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void MOTOR_SetFrenquency(uint32_t Fren)
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{
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ARR_Val = 800000/Fren;
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TIM_SetAutoreload(TIM3, ARR_Val);
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}
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/***********************************************************************************************
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*函数名称：void MOTOR2_Rotation(int pwm)
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*函数功能：设定电机的转速和方向
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*输入参数：pwn:转速设置
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*输出参数：无
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***********************************************************************************************/
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void MOTOR2_Rotation(int pwm)
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{
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if(pwm>=0) //方向设定
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{
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GPIO_ResetBits(GPIOB,GPIO_Pin_10);
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GPIO_SetBits(GPIOB,GPIO_Pin_11);
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}
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else
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{
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GPIO_ResetBits(GPIOB,GPIO_Pin_11);
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GPIO_SetBits(GPIOB,GPIO_Pin_10);
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}
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TIM_SetCompare3(TIM3, myabs(pwm));//设置TIM4捕获比较1寄存器值
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}
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/***********************************************************************************************
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*函数名称：void MOTOR4_Rotation(int pwm)
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*函数功能：设定电机的转速和方向
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*输入参数：pwn:转速设置
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*输出参数：无
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***********************************************************************************************/
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void MOTOR4_Rotation(int pwm)
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{
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if(pwm>=0) //方向设定
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{
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GPIO_ResetBits(GPIOC,GPIO_Pin_5);
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GPIO_SetBits(GPIOC,GPIO_Pin_4);
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}
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else
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{
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GPIO_ResetBits(GPIOC,GPIO_Pin_4);
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GPIO_SetBits(GPIOC,GPIO_Pin_5);
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}
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TIM_SetCompare4(TIM3, myabs(pwm));//设置TIM4捕获比较1寄存器值
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}
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