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#include "L9110.h"
#include "usart.h"
#include "led.h"
//通用定時器3中斷初始化
//這里時鐘選擇為APB1的2倍，而APB1為36M
//arr：自動重裝值。
//psc：時鐘預分頻數
//這里使用的是定時器3!
void TIM3_Int_Init(u16 arr,u16 psc)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //時鐘使能
TIM_TimeBaseStructure.TIM_Period = arr; //設置在下一個更新事件裝入活動的自動重裝載寄存器周期的值計數到5000為500ms
TIM_TimeBaseStructure.TIM_Prescaler =psc; //設置用來作為TIMx時鐘頻率除數的預分頻值 10Khz的計數頻率
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //設置時鐘分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上計數模式
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //根據TIM_TimeBaseInitStruct中指定的參數初始化TIMx的時間基數單位
TIM_ITConfig(TIM3,TIM_IT_Update,ENABLE ); //使能指定的TIM3中斷,允許更新中斷
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn; //TIM3中斷
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //先占優先級0級
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3; //從優先級3級
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
NVIC_Init(&NVIC_InitStructure); //根據NVIC_InitStruct中指定的參數初始化外設NVIC寄存器
TIM_Cmd(TIM3, ENABLE); //使能TIMx外設
}
//定時器3中斷服務程序
void TIM3_IRQHandler(void) //TIM3中斷
{
if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET) //檢查指定的TIM中斷發生與否:TIM 中斷源
{
TIM_ClearITPendingBit(TIM3, TIM_IT_Update ); //清除TIMx的中斷待處理位:TIM 中斷源
LED1=!LED1;
}
}
//TIM3 PWM部分初始化
//PWM輸出初始化
//arr：自動重裝值
//psc：時鐘預分頻數
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); //使能定時器3時鐘
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOA, ENABLE); //使能GPIO外設功能模塊時鐘
//設置該引腳為復用輸出功能,輸出TIM3 CH2的PWM脈沖波形 GPIOA.6,7
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7; //TIM_CH2,TIM_CH1
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //復用推挽輸出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化GPIO
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1; //TIM_CH3,TIM_CH4
GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化GPIO
//初始化TIM3
TIM_TimeBaseStructure.TIM_Period = arr; //設置在下一個更新事件裝入活動的自動重裝載寄存器周期的值
TIM_TimeBaseStructure.TIM_Prescaler =psc; //設置用來作為TIMx時鐘頻率除數的預分頻值
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //設置時鐘分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上計數模式
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //根據TIM_TimeBaseInitStruct中指定的參數初始化TIMx的時間基數單位
//初始化TIM3 四路PWM模式
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //選擇定時器模式:TIM脈沖寬度調制模式1
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比較輸出使能
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //輸出極性:TIM輸出比較極性高
TIM_OC1Init(TIM3, &TIM_OCInitStructure); //根據T指定的參數初始化外設TIM3 OC1
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable); //使能TIM3在CCR1上的預裝載寄存器
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //選擇定時器模式:TIM脈沖寬度調制模式1
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比較輸出使能
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //輸出極性:TIM輸出比較極性高
TIM_OC2Init(TIM3, &TIM_OCInitStructure); //根據T指定的參數初始化外設TIM3 OC2
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable); //使能TIM3在CCR2上的預裝載寄存器
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //選擇定時器模式:TIM脈沖寬度調制模式1
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比較輸出使能
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //輸出極性:TIM輸出比較極性高
TIM_OC3Init(TIM3, &TIM_OCInitStructure); //根據T指定的參數初始化外設TIM3 OC3
TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable); //使能TIM3在CCR3上的預裝載寄存器
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //選擇定時器模式:TIM脈沖寬度調制模式1
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比較輸出使能
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //輸出極性:TIM輸出比較極性高
TIM_OC4Init(TIM3, &TIM_OCInitStructure); //根據T指定的參數初始化外設TIM3 OC4
TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable); //使能TIM3在CCR4上的預裝載寄存器
TIM_Cmd(TIM3, ENABLE); //使能TIM3
}
void L9110_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE); //使能PC端口時鐘
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1|GPIO_Pin_4|GPIO_Pin_5; //LED0-->PB.5 端口配置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //推挽輸出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //IO口速度為50MHz
GPIO_Init(GPIOC, &GPIO_InitStructure); //根據設定參數初始化GPIOB.5
GPIO_ResetBits(GPIOC,GPIO_Pin_0|GPIO_Pin_1|GPIO_Pin_4|GPIO_Pin_5); //PB.5 輸出高
// GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; //LED1-->PE.5 端口配置, 推挽輸出
// GPIO_Init(GPIOE, &GPIO_InitStructure); //推挽輸出，IO口速度為50MHz
// GPIO_SetBits(GPIOE,GPIO_Pin_5); //PE.5 輸出高
}
void L9100PWM1(vs16 speed1)
{
if(speed1>=0)
{
MA=0;
TIM_SetCompare1(TIM3,speed1);
}
else
{
MA=1;
speed1=900+speed1;
TIM_SetCompare1(TIM3,speed1);
}
}
void L9100PWM2(vs16 speed2)
{
if(speed2>=0)
{
MB=0;
TIM_SetCompare2(TIM3,speed2);
}
else
{
MB=1;
speed2=900+speed2;
TIM_SetCompare2(TIM3,speed2);
}
}
void L9100PWM3(vs16 speed3)
{
if(speed3>=0)
{
MC=0;
TIM_SetCompare3(TIM3,speed3);
}
else
{
MC=1;
speed3=900+speed3;
TIM_SetCompare3(TIM3,speed3);
}
}
void L9100PWM4(vs16 speed4)
{
if(speed4>=0)
{
MD=0;
TIM_SetCompare4(TIM3,speed4);
}
else
{
MD=1;
speed4=900+speed4;
TIM_SetCompare4(TIM3,speed4);
}
}

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