TIM函数
#include "timer.h"
#include "led.h"
#include "usart.h"
//通用定时器3中断初始化
//这里时钟选择为APB1的2倍，而APB1为36M
//arr：自动重装值。
//psc：时钟预分频数
//这里使用的是定时器3!
void TIM3_Int_Init(u16 arr,u16 psc)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //时钟使能
TIM_TimeBaseStructure.TIM_Period = arr; //设置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 计数到5000为500ms
TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值 10Khz的计数频率
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
TIM_ITConfig(TIM3,TIM_IT_Update,ENABLE ); //使能指定的TIM3中断,允许更新中断
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn; //TIM3中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //先占优先级0级
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3; //从优先级3级
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
NVIC_Init(&NVIC_InitStructure); //根据NVIC_InitStruct中指定的参数初始化外设NVIC寄存器
TIM_Cmd(TIM3, ENABLE); //使能TIMx外设
}
void TIM4_Int_Init(u16 arr,u16 psc)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); //时钟使能
TIM_TimeBaseStructure.TIM_Period = arr; //设置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 计数到5000为500ms
TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值 10Khz的计数频率
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
TIM_ITConfig(TIM4,TIM_IT_Update,ENABLE ); //使能指定的TIM3中断,允许更新中断
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn; //TIM3中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //先占优先级0级
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3; //从优先级3级
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
NVIC_Init(&NVIC_InitStructure); //根据NVIC_InitStruct中指定的参数初始化外设NVIC寄存器
TIM_Cmd(TIM4, ENABLE); //使能TIMx外设
}
//定时器3中断服务程序
void TIM3_IRQHandler(void) //TIM3中断
{
if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET) //检查指定的TIM中断发生与否:TIM 中断源
{
TIM_ClearITPendingBit(TIM3, TIM_IT_Update ); //清除TIMx的中断待处理位:TIM 中断源
// LED1=!LED1;
}
}
//TIM3 PWM部分初始化
//PWM输出初始化
//arr：自动重装值
//psc：时钟预分频数
void TIM3_PWM_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //使能定时器3时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE); //使能GPIO外设和AFIO复用功能模块时钟
GPIO_PinRemapConfig(GPIO_FullRemap_TIM3, ENABLE); //Timer全部重映射 TIM3_CH2->PB5
//设置该引脚为复用输出功能,输出TIM3 CH2的PWM脉冲波形 GPIOB.5
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9; //TIM_CH2
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOC, &GPIO_InitStructure);//初始化GPIO
//设置重映射
//初始化TIM3
TIM_TimeBaseStructure.TIM_Period = arr; //设置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
TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
//初始化TIM3 Channel2 PWM模式
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2,高极性
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高
TIM_OC1Init(TIM3, &TIM_OCInitStructure); //根据T指定的参数初始化外设TIM3 OC1
TIM_OC2Init(TIM3, &TIM_OCInitStructure); //根据T指定的参数初始化外设TIM3 OC2
TIM_OC3Init(TIM3, &TIM_OCInitStructure); //根据T指定的参数初始化外设TIM3 OC3
TIM_OC4Init(TIM3, &TIM_OCInitStructure); //根据T指定的参数初始化外设TIM3 OC4
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable); //使能TIM3在CCR2上的预装载寄存器
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_Cmd(TIM3, ENABLE); //使能TIM3
}
void TIM4_PWM_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); //使能定时器3时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD | RCC_APB2Periph_AFIO, ENABLE); //使能GPIO外设和AFIO复用功能模块时钟
GPIO_PinRemapConfig(GPIO_Remap_TIM4, ENABLE); //Timer3部分重映射 TIM3_CH2->PB5
//设置该引脚为复用输出功能,输出TIM3 CH2的PWM脉冲波形 GPIOB.5
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15; //TIM_CH2
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOD, &GPIO_InitStructure);//初始化GPIO
//设置重映射
//初始化TIM3
TIM_TimeBaseStructure.TIM_Period = arr; //设置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
TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
//初始化TIM3 Channel2 PWM模式
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2,
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高
TIM_OC1Init(TIM4, &TIM_OCInitStructure); //根据T指定的参数初始化外设TIM3 OC1
TIM_OC2Init(TIM4, &TIM_OCInitStructure); //根据T指定的参数初始化外设TIM3 OC2
TIM_OC3Init(TIM4, &TIM_OCInitStructure); //根据T指定的参数初始化外设TIM3 OC3
TIM_OC4Init(TIM4, &TIM_OCInitStructure); //根据T指定的参数初始化外设TIM3 OC4
TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable); //使能TIM3在CCR2上的预装载寄存器
TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_Cmd(TIM4, ENABLE); //使能TIM3
}
/*
TIM4映射PD12,13,14,15
TIM3映射PC6,7,8,9
*/
void go(void){ //前进
//低电平
TIM_SetCompare1(TIM4,899); //PD12,右前轮-
TIM_SetCompare2(TIM4,899); //左前轮-
TIM_SetCompare3(TIM4,899); //左后轮-
TIM_SetCompare4(TIM4,899); //右后轮-
//高电平
TIM_SetCompare1(TIM3,0); //PC6 右前轮+
TIM_SetCompare2(TIM3,0); //左前轮+
TIM_SetCompare3(TIM3,0); //左后轮+
TIM_SetCompare4(TIM3,0); //右后轮+
}
void stop(void){ //停止
TIM_SetCompare1(TIM4,899); //调整占空比
TIM_SetCompare2(TIM4,899);
TIM_SetCompare3(TIM4,899);
TIM_SetCompare4(TIM4,899);
TIM_SetCompare1(TIM3,899); //调整占空比
TIM_SetCompare2(TIM3,899);
TIM_SetCompare3(TIM3,899);
TIM_SetCompare4(TIM3,899);
}
void left(void){ //左转
TIM_SetCompare1(TIM4,899); //调整占空比
TIM_SetCompare2(TIM4,899);
TIM_SetCompare3(TIM4,899);
TIM_SetCompare4(TIM4,899);
TIM_SetCompare1(TIM3,0); //调整占空比
TIM_SetCompare2(TIM3,899);
TIM_SetCompare3(TIM3,899);
TIM_SetCompare4(TIM3,0);
}
void right(void){ //右转
TIM_SetCompare1(TIM4,899); //调整占空比
TIM_SetCompare2(TIM4,899);
TIM_SetCompare3(TIM4,899);
TIM_SetCompare4(TIM4,899);
TIM_SetCompare1(TIM3,899); //调整占空比
TIM_SetCompare2(TIM3,0);
TIM_SetCompare3(TIM3,0);
TIM_SetCompare4(TIM3,899);
}
主函数
#include "led.h"
#include "delay.h"
#include "key.h"
#include "sys.h"
#include "usart.h"
#include "timer.h" PWM输出实验
int main(void)
{
delay_init(); //延时函数初始化
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); //设置NVIC中断分组2:2位抢占优先级，2位响应优先级
uart_init(115200); //串口初始化为115200
LED_Init(); //LED端口初始化
TIM4_PWM_Init(899,9); //不分频。PWM频率=72000000/900=80Khz，设置跳转中断的时间长短T=72/[(arr+1)(psc+1)]
TIM3_PWM_Init(899,9);
while(1)
{
go();
delay_ms(10);
}
}
原理图: 无
仿真: 无
代码:
Keil程序.7z
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