2.tim.c
- #include "tim.h"
- #include "bsp_usart.h"
-
- long current_pos[2] = {0,0};
- int motor_dir2 = 0;
- u8 count[2] = {0,0};
- u32 motor_speed = 0;
- u8 rcr_remainder; //重复计数余数部分
- u8 is_rcr_finish = 1; //重复计数器是否设置完成
- long rcr_integer; //重复计数整数部分
- long target_pos = 0; //有符号方向
- /* 电机转速与方向函数 */
- void Locate_Rle2(u32 frequency,DIR_Type dir)
- {
- motor_dir2 = dir;
-
- DRIVER_DIR = motor_dir2;
- if(motor_dir2 == CW){motor_speed = 3000;}/* motor_dir2高电平时转速3000Hz */
- else if(motor_dir2 == CCW){motor_speed = 10000;}/* motor_dir2低电平时转速10000Hz */
- frequency = motor_speed;
-
- if(TIM2->CR1&0x01)
- {
- printf("\r\nThe last time pulses is not send finished,wait please!\r\n");
- return;
- }
- if((frequency<20)||(frequency>100000))
- {
- printf("\r\nThe frequency is out of range! please reset it!!(range:20Hz~100KHz)\r\n");
- return;
- }
- TIM2_Startup(frequency);
- }
- /* PA8 - DIR+*/
- void Driver_Init(void)
- {
- GPIO_InitTypeDef GPIO_InitStructure;
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
- GPIO_Init(GPIOA, &GPIO_InitStructure);
- GPIO_SetBits(GPIOA,GPIO_Pin_8);
- }
-
- /* PA1- PUL+ TIM2_CH2 */
- void TIM2_Init(u16 arr,u16 psc)
- {
- GPIO_InitTypeDef GPIO_InitStructure;
- TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
- TIM_OCInitTypeDef TIM_OCInitStructure;
- NVIC_InitTypeDef NVIC_InitStructure;
-
- RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA , ENABLE);
-
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
- GPIO_Init(GPIOA, &GPIO_InitStructure);
-
- TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
-
- TIM_TimeBaseStructure.TIM_Period = arr;
- TIM_TimeBaseStructure.TIM_Prescaler =psc;
- TIM_TimeBaseStructure.TIM_ClockDivision = 0;
- TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
- TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
- TIM_ClearITPendingBit(TIM2,TIM_IT_Update);
-
- TIM_UpdateRequestConfig(TIM2,TIM_UpdateSource_Regular);
- TIM_SelectOnePulseMode(TIM2,TIM_OPMode_Single);
- TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
- TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
- TIM_OCInitStructure.TIM_Pulse = arr>>1;
- TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
- TIM_OC2Init(TIM2, &TIM_OCInitStructure);
-
- TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);
- TIM_ARRPreloadConfig(TIM2, ENABLE);
-
- TIM_ITConfig(TIM2, TIM_IT_Update ,ENABLE);
-
- NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
- NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
- NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
- NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
- NVIC_Init(&NVIC_InitStructure);
-
- TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
- TIM_Cmd(TIM2, DISABLE);
- }
-
- void TIM2_Startup(u32 frequency)
- {
- u16 temp_arr=1000000/frequency-1;
- TIM_SetAutoreload(TIM2,temp_arr);
- TIM_SetCompare2(TIM2,temp_arr>>1);
-
- TIM_SetCounter(TIM2,0);
- TIM_Cmd(TIM2, ENABLE);
- }
|