#include "core_cm3.h"
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include <stdio.h>
void main()
{
static void vLED1Task( void *pvParameters );
static void vPulseTask( void *pvParameters );
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD, ENABLE);
xTaskCreate( vLED1Task, ( signed char * ) "LED1", 128, NULL, tskIDLE_PRIORITY + 1, NULL );
xTaskCreate( vPulseTask, ( signed char * ) "PLUSE", 128, NULL, tskIDLE_PRIORITY + 2, NULL );
vTaskStartScheduler();
}
static void vLED1Task( void *pvParameters )
{
GPIO_InitTypeDef GPIO_InitStructure;
(void) pvParameters;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15;
GPIO_Init(GPIOB, &GPIO_InitStructure);
for ( ;; )
{
GPIO_SetBits(GPIOB, GPIO_Pin_15);
vTaskDelay(1);
GPIO_ResetBits(GPIOB, GPIO_Pin_15);
vTaskDelay(1);
}
}
#define TIM1_DMAR_ADDRESS ((uint32_t)0x40012C4C)
unsigned short const Tim1_Setup[32] =
{
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
29,
30,
31
};
static void vPulseTask( void *pvParameters )
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
DMA_InitTypeDef DMA_InitStructure;
(void) pvParameters;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1 | RCC_APB2Periph_AFIO , ENABLE);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_Init(GPIOA, &GPIO_InitStructure);
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)TIM1_DMAR_ADDRESS;
DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)Tim1_Setup;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST;
DMA_InitStructure.DMA_BufferSize = 32;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
DMA_Init(DMA1_Channel5, &DMA_InitStructure);
TIM_DMAConfig(TIM1, TIM_DMABase_PSC, TIM_DMABurstLength_1Transfer);
TIM_DMACmd(TIM1, TIM_DMA_Update, ENABLE);
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_Period = 1000 - 1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_Pulse = 500;
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM1, ENABLE);
// TIM_ITConfig(TIM1, TIM_IT_Update | TIM_IT_CC4, ENABLE);
TIM_Cmd(TIM1, ENABLE);
TIM_CtrlPWMOutputs(TIM1, ENABLE);
DMA_Cmd(DMA1_Channel5, ENABLE);
for ( ;; )
{
vTaskDelay(1);
}
}
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什么电机？怎么不用传感器？
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