STM32F103之实验1使用定时器驱动1个电机

#include "encoder.h"
#include "led.h"
void TIM4_Encoder_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);// 使能定时器时钟
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); //io口使能使用到的捕获编码器AB相借，
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7;;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空输入
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure); //推挽输出，IO口速度为50MHz

//初始化TIM4的时机单元
TIM_TimeBaseStructure.TIM_Period = 899; //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 80K
TIM_TimeBaseStructure.TIM_Prescaler =0; //设置用来作为TIMx时钟频率除数的预分频值不分频
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

//配置对应寄存器为编码器接口模式以及配置相关的输入捕获配置 //THE MODE OF ENCODER

TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12,TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
//TIM_ICPolarity_Rising上升沿捕获
TIM_ICStructInit(&TIM_ICInitStructure);

TIM_ICInitStructure.TIM_ICFilter=6;

TIM_ICInit(TIM4,&TIM_ICInitStructure);

// 其实中断可以不用开，因为硬件自行对计数器进行加减。
TIM_Cmd(TIM4, ENABLE); //使能TIM4
TIM_SetCounter(TIM4,0);

}

float HF_Get_Encode_TIM4(void)
{
float cnt;
cnt = (float)((uint16_t)0x7fff) - (float)((uint16_t)(TIM4->CNT)) ;
TIM4->CNT = 0x7fff;
return cnt;

}

#include "pwm.h"

#include "led.h"

//PWM输出初始化
//arr：自动重装值
//psc：时钟预分频数
void TIM1_PWM_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;

TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;

TIM_OCInitTypeDef TIM_OCInitStructure;

RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);// 使能timer1的时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA , ENABLE); //使能GPIO外设时钟使能

RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); //使能port of driver，pb01
   //电机的两个方向的引脚，一个高电平一个低电平PB01
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; //>PB0 端口配置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //通用推挽输出GPIO_Mode_Out_PP
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //IO口速度为50MHz，setbits输出高
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_SetBits(GPIOB,GPIO_Pin_0);
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; //
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //推 PB1
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //I
GPIO_Init(GPIOB, &GPIO_InitStructure); // 输出低
GPIO_ResetBits(GPIOB,GPIO_Pin_1);

//设置该引脚为复用输出功能,输出TIM1 CH1的PWM脉冲波形 PA8
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8; //TIM_CH1
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //推挽复用输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);

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 80K
TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值不分频
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(TIM1, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位

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_Pulse = 0; //设置待装入捕获比较寄存器的脉冲值
TIM_OCInitStructure.TIM_OCPolarity =TIM_OCPolarity_Low; //输出极性:TIM输出比较极性高
TIM_OC1Init(TIM1, &TIM_OCInitStructure); //根据TIM_OCInitStruct中指定的参数初始化外设TIMx
TIM_CtrlPWMOutputs(TIM1,ENABLE); //MOE 主输出使能
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable); //CH1预装载使能

TIM_ARRPreloadConfig(TIM1, ENABLE); //使能TIMx在ARR上的预装载寄存器

TIM_Cmd(TIM1, ENABLE); //使能TIM1

}

#include "led.h"
#include "delay.h"
#include "sys.h"
#include "pwm.h"
#include "usart.h"
#include "encoder.h"
#include "delay.h"
int main(void)
{
int cnt;

delay_init(); //延时函数初始化

LED_Init();//初始化与LED连接的硬件接口

TIM1_PWM_Init(899,0);//不分频。PWM频率=72000/(899+1)=80Khz . 电机的频率不得小于10K

TIM4_Encoder_Init(899,0);

while(1)
{

TIM_SetCompare1(TIM1,600);

GPIO_ResetBits(GPIOD,GPIO_Pin_2);
delay_ms(100);
GPIO_SetBits(GPIOD,GPIO_Pin_2);
delay_ms(100);
GPIO_SetBits(GPIOD,GPIO_Pin_2);//LED1输出高
delay_ms(300);
GPIO_ResetBits(GPIOD,GPIO_Pin_2);//LED1输出低
delay_ms(300);
cnt=HF_Get_Encode_TIM4(TIM4);

}

STM32F103之实验1使用定时器驱动1个电机

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