#include "BSP.h"
/*****************************************
Author :JasonLin
Version :V2.0 Ownership-Reserved
Description:MCIO Board support package
*****************************************/
void NVIC_Configuration(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//中断分组2 两位抢占(0-3) 两位响应(0-3)=
NVIC_InitStructure.NVIC_IRQChannel = DMA1_Channel3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
///////////////////////////////////////CAN 0 1
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
//*****************************************************
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
//******************************************************
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
//*******************************************************
NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
//*******************************************************
NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
//*******************************************************
NVIC_InitStructure.NVIC_IRQChannel = TIM7_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/*优先级分组:优先级分组是为了给抢占式优先级和响应优先级在中断优先级寄存器的高四位分配各自所占的位数
在同一个程序中优先级分组只能设定一次 */
/*抢占优先级: 当一个中断正在执行而另一个具有更高抢占优先级的中断到来时,抢占优先级高的就会抢占CPU处理权
此时两个中断就属于嵌套中断关系,具有相同抢占优先级的中断没有嵌套关系*/
/*响应优先级:即副优先级,当两个抢占优先级相同的中断同时到来,具有响应优先级高的中断优先获得CPU的处理权
如果中断不是同时到来,则后来的要等待正在执行的中断处理完才能获得响应*/
}
///////////////////定时器功能初始化
void TIM1_Configuration(void)//TIM1四通道分别输出PWM1/PWM2/PWM3/PWM4,对应引脚为PA8/PA9/PA10/PA11
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10 | GPIO_Pin_11;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用满负载输出为3.3V
GPIO_Init(GPIOA, &GPIO_InitStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = PWMPeriod;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
TIM_OC2Init(TIM1, &TIM_OCInitStructure);
TIM_OC3Init(TIM1, &TIM_OCInitStructure);
TIM_OC4Init(TIM1, &TIM_OCInitStructure);
TIM1->CCR1 = 3600;
TIM1->CCR2 = 3600;
TIM1->CCR3 = 3600;
TIM1->CCR4 = 3600;
TIM_Cmd(TIM1, ENABLE);
TIM_CtrlPWMOutputs(TIM1, ENABLE);
}
////////////////////////////
void TIM8_Configuration(void)//TIM8四通道分别输出PWM1/PWM2/PWM3/PWM4,对应引脚为PC6/PC7/PC8/PC9
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOC, &GPIO_InitStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = PWMPeriod;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;
TIM_OC1Init(TIM8, &TIM_OCInitStructure);
TIM_OC2Init(TIM8, &TIM_OCInitStructure);
TIM_OC3Init(TIM8, &TIM_OCInitStructure);
TIM_OC4Init(TIM8, &TIM_OCInitStructure);
TIM8->CCR1 = 3600;
TIM8->CCR2 = 3600;
TIM8->CCR3 = 3600;
TIM8->CCR4 = 3600;
TIM_Cmd(TIM8, ENABLE);
TIM_CtrlPWMOutputs(TIM8, ENABLE);
}
/////////////////////////////
void TIM2_Configuration(void)//编码器接口设置(TIM2)/PA15-A相 PB3-B相
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
//GPIO_PinRemapConfig(GPIO_Remap_SWJ_Disable, ENABLE); //关闭JTAG接口
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable , ENABLE); //关闭JTAG接口 开启SWD
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
GPIO_PinRemapConfig(GPIO_FullRemap_TIM2,ENABLE); //TIM2引脚重定向
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15; //PA15
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_WriteBit(GPIOA, GPIO_Pin_15,Bit_SET);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; //PB3
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_WriteBit(GPIOB, GPIO_Pin_3,Bit_SET);
TIM_TimeBaseStructure.TIM_Period = ECDPeriod; //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 = 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(TIM2, &TIM_TimeBaseStructure);
//设置定时器2为编码器模式 IT1 IT2为上升沿计数
TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12,TIM_ICPolarity_BothEdge,TIM_ICPolarity_BothEdge);
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 6; //输入滤波器
TIM_ICInit(TIM2, &TIM_ICInitStructure);
TIM_ClearFlag(TIM2, TIM_FLAG_Update); //清除所有标志位
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE); //允许中断更新
TIM2->CNT = 0;
TIM_Cmd(TIM2, ENABLE);
}
///////////////////////////
void TIM3_Configuration(void)//编码器接口设置(TIM3)/PA6-A相 PA7-B相
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA , ENABLE); //使能GPIOA外设时钟
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //设置为上拉输入模式
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //IO口的速率为50M
GPIO_Init(GPIOA, &GPIO_InitStructure); //IO口配置函数
GPIO_WriteBit(GPIOA, GPIO_Pin_6,Bit_SET);
GPIO_WriteBit(GPIOA, GPIO_Pin_7,Bit_SET);
TIM_TimeBaseStructure.TIM_Period = ECDPeriod; //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 = 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
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
//设置定时器3为编码器模式 IT1 IT2为上升沿计数
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12,TIM_ICPolarity_BothEdge,TIM_ICPolarity_BothEdge);
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 6; //输入滤波器
TIM_ICInit(TIM3, &TIM_ICInitStructure);
TIM_ClearFlag(TIM3, TIM_FLAG_Update); //清除所有标志位
TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE); //允许中断更新
TIM3->CNT = 0;
TIM_Cmd(TIM3, ENABLE);
}
///////////////////////////
void TIM4_Configuration(void)//编码器接口设置(TIM4)/PB6-A相 PB7-B相
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB , ENABLE); //使能GPIOB外设时钟
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //设置为上拉输入模式
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //IO口的速率为50M
GPIO_Init(GPIOB, &GPIO_InitStructure); //IO口配置函数
GPIO_WriteBit(GPIOB, GPIO_Pin_6,Bit_SET);
GPIO_WriteBit(GPIOB, GPIO_Pin_7,Bit_SET);
TIM_TimeBaseStructure.TIM_Period = ECDPeriod;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
//设置定时器3为编码器模式 IT1 IT2为上升沿计数
TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12,TIM_ICPolarity_BothEdge,TIM_ICPolarity_BothEdge);
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 6; //输入滤波器
TIM_ICInit(TIM4, &TIM_ICInitStructure);
TIM_ClearFlag(TIM4, TIM_FLAG_Update); //清除所有标志位
TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE); //允许中断更新
TIM4->CNT = 0;
TIM_Cmd(TIM4, ENABLE);
}
///////////////////////////
void TIM5_Configuration(void)//编码器接口设置(TIM5)/PA0-A相 PA1-B相
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA , ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_WriteBit(GPIOA, GPIO_Pin_0,Bit_SET);
GPIO_WriteBit(GPIOA, GPIO_Pin_1,Bit_SET);
TIM_TimeBaseStructure.TIM_Period = ECDPeriod;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM5, &TIM_TimeBaseStructure);
//设置定时器3为编码器模式 IT1 IT2为上升沿计数
TIM_EncoderInterfaceConfig(TIM5, TIM_EncoderMode_TI12,TIM_ICPolarity_BothEdge,TIM_ICPolarity_BothEdge);
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 6;
TIM_ICInit(TIM5, &TIM_ICInitStructure);
TIM_ClearFlag(TIM5, TIM_FLAG_Update);
TIM_ITConfig(TIM5, TIM_IT_Update, ENABLE);
TIM5->CNT = 0;
TIM_Cmd(TIM5, ENABLE);
}
/////////////////////
void TIM6_Configuration(void)//周期循环事件定时初始化
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
TIM_TimeBaseStructure.TIM_Period = TIMPeriod-1;
TIM_TimeBaseStructure.TIM_Prescaler =72-1;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_RepetitionCounter=0;
TIM_TimeBaseInit(TIM6,&TIM_TimeBaseStructure);
TIM_UpdateRequestConfig(TIM6,TIM_UpdateSource_Regular);
TIM_ITConfig(TIM6,TIM_IT_Update,ENABLE);
TIM_Cmd(TIM6,ENABLE);
}
////////////////////
void TIM7_Configuration(void)//周期循环事件定时初始化
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE);
TIM_TimeBaseStructure.TIM_Period = TIMPeriod-1;
TIM_TimeBaseStructure.TIM_Prescaler =72-1;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_RepetitionCounter=0;
TIM_TimeBaseInit(TIM7,&TIM_TimeBaseStructure);
TIM_UpdateRequestConfig(TIM7,TIM_UpdateSource_Regular);
TIM_ITConfig(TIM7,TIM_IT_Update,ENABLE);
TIM_Cmd(TIM7,ENABLE);
}
//////////////////////////
void TIM_Configuration(void)//TIM初始化
{
TIM1_Configuration();
TIM8_Configuration();
TIM2_Configuration();
TIM3_Configuration();
TIM4_Configuration();
TIM5_Configuration();
TIM6_Configuration();
TIM7_Configuration();
}
///////////////////////电机速度写入接口
void MotorSpeedSetOne(s32 MotorSpeed)//电机1转速/转向设置(TIM1)
{
s32 PwmOne_Set,PwmOne_Mode;
if(MotorSpeed > PWMPeriod-PWMLOSS) MotorSpeed = PWMPeriod-PWMLOSS ;//上限 CCR的值必须小于或等于ARR的值
if(MotorSpeed <-(PWMPeriod-PWMLOSS)) MotorSpeed = -(PWMPeriod-PWMLOSS);//下限
if(MotorSpeed<0) { PwmOne_Set = -MotorSpeed; PwmOne_Mode = MotorOneBack;}
else { PwmOne_Set = MotorSpeed; PwmOne_Mode = MotorOneForward;}
if(PwmOne_Mode) {TIM1->CCR1 = MotorSpdZero; TIM1->CCR2 = PwmOne_Set;} //MotorOneForward
else { TIM1->CCR1 = PwmOne_Set; TIM1->CCR2 = MotorSpdZero;} //MotorOneBack
}
////////////////////////////////
void MotorSpeedSetTwo(s32 MotorSpeed)//电机2转速/转向设置(TIM1)
{
s32 PwmTwo_Set,PwmTwo_Mode;
if(MotorSpeed > PWMPeriod-PWMLOSS) MotorSpeed = PWMPeriod-PWMLOSS ;//上限 CCR的值必须小于或等于ARR的值
if(MotorSpeed <-(PWMPeriod-PWMLOSS)) MotorSpeed = -(PWMPeriod-PWMLOSS);//下限
if(MotorSpeed<0) { PwmTwo_Set = -MotorSpeed; PwmTwo_Mode = MotorTwoBack;}
else { PwmTwo_Set = MotorSpeed; PwmTwo_Mode = MotorTwoForward;}
if(PwmTwo_Mode) {TIM1->CCR3 = MotorSpdZero; TIM1->CCR4 = PwmTwo_Set;} //MotorTwoForward
else { TIM1->CCR3 = PwmTwo_Set; TIM1->CCR4 = MotorSpdZero;} //MotorTwoBack
}
////////////////////////////////
void MotorSpeedSetThr(s32 MotorSpeed)//电机3转速/转向设置(TIM8)
{
s32 PwmOne_Set,PwmOne_Mode;
if(MotorSpeed > PWMPeriod-PWMLOSS) MotorSpeed = PWMPeriod-PWMLOSS ;//上限 CCR的值必须小于或等于ARR的值
if(MotorSpeed <-(PWMPeriod-PWMLOSS)) MotorSpeed = -(PWMPeriod-PWMLOSS);//下限
if(MotorSpeed<0) { PwmOne_Set = -MotorSpeed; PwmOne_Mode = MotorOneBack;}
else { PwmOne_Set = MotorSpeed; PwmOne_Mode = MotorOneForward;}
if(PwmOne_Mode) {TIM8->CCR1 = MotorSpdZero; TIM8->CCR2 = PwmOne_Set;} //MotorOneForward
else { TIM8->CCR1 = PwmOne_Set; TIM8->CCR2 = MotorSpdZero;} //MotorOneBack
}
////////////////////////////////
void MotorSpeedSetFou(s32 MotorSpeed)//电机4转速/转向设置(TIM8)
{
s32 PwmTwo_Set,PwmTwo_Mode;
if(MotorSpeed > PWMPeriod-PWMLOSS) MotorSpeed = PWMPeriod-PWMLOSS ;//上限 CCR的值必须小于或等于ARR的值
if(MotorSpeed <-(PWMPeriod-PWMLOSS)) MotorSpeed = -(PWMPeriod-PWMLOSS);//下限
if(MotorSpeed<0) { PwmTwo_Set = -MotorSpeed; PwmTwo_Mode = MotorTwoBack;}
else { PwmTwo_Set = MotorSpeed; PwmTwo_Mode = MotorTwoForward;}
if(PwmTwo_Mode) {TIM8->CCR3 = MotorSpdZero; TIM8->CCR4 = PwmTwo_Set;} //MotorTwoForward
else { TIM8->CCR3 = PwmTwo_Set; TIM8->CCR4 = MotorSpdZero;} //MotorTwoBack
}
///////////LED 初始化
void Led_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB|RCC_APB2Periph_GPIOE, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15|GPIO_Pin_14|GPIO_Pin_13;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_ResetBits(GPIOB,GPIO_Pin_15);
GPIO_ResetBits(GPIOB,GPIO_Pin_14);
GPIO_ResetBits(GPIOB,GPIO_Pin_13);
}
//////SYSTICK 初始化
void Systick_Configuration(void)
{
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8); //选择外部时钟 HCLK/8 9M
}
//////延时写入接口
void SysDelay_ms(u16 nms)//72M条件下,nms<=1864(2^24/9000)
{
u32 temp;
SysTick->LOAD=(u32)nms*Sys_ms;//时间加载(SysTick->LOAD为24bit)
SysTick->VAL =0x00; //清空计数器
SysTick->CTRL=0x01; //开始倒数
do
{
temp=SysTick->CTRL;
}
while(temp&0x01&&!(temp&(1<<16)));//等待时间到达
SysTick->CTRL=0x00; //关闭计数器
SysTick->VAL =0X00; //清空计数器
}
void SysDelay_us(u32 nus)//72M条件下,nus<=2^24
{
u32 temp;
SysTick->LOAD=nus*Sys_us; //时间加载
SysTick->VAL=0x00; //清空计数器
SysTick->CTRL=0x01; //开始倒数
do
{
temp=SysTick->CTRL;
}
while(temp&0x01&&!(temp&(1<<16)));//等待时间到达
SysTick->CTRL=0x00; //关闭计数器
SysTick->VAL =0X00; //清空计数器
}
///////Board Communication Package
unsigned char sbus_rx_buffer[18];
RC_Ctl_t RC_Ctl;
void USART3_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
/* config USART1 clock */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3 | RCC_APB2Periph_GPIOB, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* USART3 mode config */
USART_InitStructure.USART_BaudRate = 100000;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_Even ;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Rx ;
USART_Init(USART3, &USART_InitStructure);
USART_Cmd(USART3, ENABLE);
}
void DMA_Config(void)
{
DMA_InitTypeDef DMA_InitStructure;
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE); //开启DMA时钟
/*设置DMA源:内存地址&串口数据寄存器地址*/
DMA_InitStructure.DMA_PeripheralBaseAddr =(uint32_t)&(USART3->DR);
/*内存地址(要传输的变量的指针)*/
DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)sbus_rx_buffer;
/*方向:从外设到内存*/
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC ;
/*传输大小DMA_BufferSize=SENDBUFF_SIZE*/
DMA_InitStructure.DMA_BufferSize = 18;
/*外设地址不增*/
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
/*内存地址自增*/
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
/*外设数据单位*/
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
/*内存数据单位 8bit*/
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
/*DMA模式:循环*/
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular ;
/*优先级:非常高*/
DMA_InitStructure.DMA_Priority = DMA_Priority_VeryHigh;
/*禁止内存到内存的传输 */
DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
/*配置DMA1的3通道*/
DMA_Init(DMA1_Channel3, &DMA_InitStructure);
DMA_Cmd (DMA1_Channel3,ENABLE); //使能DMA
DMA_ITConfig(DMA1_Channel3,DMA_IT_TC,ENABLE); //配置DMA发送完成后产生中断
}
//////Board Support Package
void BSP_Configuration(void)
{
NVIC_Configuration();
TIM_Configuration();
Led_Configuration();
Systick_Configuration();
USART3_Config();
DMA_Config();
USART_DMACmd(USART3, USART_DMAReq_Rx, ENABLE);
}
///////////编码器读取
EncoderType GetEncoder;
void Get_Encoder_ONE(void)
{
s32 CNT2_temp,CNT2_last;
GetEncoder.cnt2 = TIM2 -> CNT;
CNT2_last = GetEncoder.CNT2;
CNT2_temp = GetEncoder.rcnt2 * prd + GetEncoder.cnt2;
GetEncoder.V2 = CNT2_temp - CNT2_last;
while ((s32)(GetEncoder.V2)>Vbreak)
{
GetEncoder.rcnt2--;
CNT2_temp = GetEncoder.rcnt2 * prd + GetEncoder.cnt2;
GetEncoder.V2 = CNT2_temp - CNT2_last;
}
while ((s32)(GetEncoder.V2)<-Vbreak)
{
GetEncoder.rcnt2++;
CNT2_temp = GetEncoder.rcnt2 * prd + GetEncoder.cnt2;
GetEncoder.V2 = CNT2_temp - CNT2_last;
}
GetEncoder.CNT2 = CNT2_temp;
}
///////////////////
void Get_Encoder_TWO(void)
{
s32 CNT3_temp,CNT3_last;
GetEncoder.cnt3 = TIM3 -> CNT;
CNT3_last = GetEncoder.CNT3;
CNT3_temp = GetEncoder.rcnt3 * prd + GetEncoder.cnt3;
GetEncoder.V3 = CNT3_temp - CNT3_last;
while ((s32)(GetEncoder.V3)>Vbreak)
{
GetEncoder.rcnt3--;
CNT3_temp = GetEncoder.rcnt3 * prd + GetEncoder.cnt3;
GetEncoder.V3 = CNT3_temp - CNT3_last;
}
while ((s32)(GetEncoder.V3)<-Vbreak)
{
GetEncoder.rcnt3++;
CNT3_temp = GetEncoder.rcnt3 * prd + GetEncoder.cnt3;
GetEncoder.V3 = CNT3_temp - CNT3_last;
}
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