|
|
- #include "motor.h"
- #include "delay.h"
- int motor_speed;
- int motor_route;
- int motor_time;
- void motor_init(void)
- {
- GPIO_InitTypeDef GPIO_InitStructure;
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC , ENABLE); //使能GPIO外設時鐘使能
-
- //設置該引腳為復用輸出功能,輸出TIM1 CH1的PWM脈沖波形
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10|GPIO_Pin_11; //TIM_CH1
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //復用推挽輸出
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
- GPIO_Init(GPIOC, &GPIO_InitStructure);
- }
- //PWM輸出初始化
- //arr：自動重裝值
- //psc：時鐘預分頻數
- void motor_pwm(u16 arr,u16 psc)
- {
- GPIO_InitTypeDef GPIO_InitStructure;
- TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
- TIM_OCInitTypeDef TIM_OCInitStructure;
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);//
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA , ENABLE); //使能GPIO外設時鐘使能
-
- //設置該引腳為復用輸出功能,輸出TIM1 CH1的PWM脈沖波形
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8; //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);
-
- 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 80K
- TIM_TimeBaseStructure.TIM_Prescaler =psc; //設置用來作為TIMx時鐘頻率除數的預分頻值 不分頻
- 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(TIM1, &TIM_TimeBaseStructure); //根據TIM_TimeBaseInitStruct中指定的參數初始化TIMx的時間基數單位
-
- TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1
-
- ; //選擇定時器模式:TIM脈沖寬度調制模式2
- TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比較輸出使能
- TIM_OCInitStructure.TIM_Pulse = 0; //設置待裝入捕獲比較寄存器的脈沖值
- TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //輸出極性:TIM輸出比較極性高
- TIM_OC1Init(TIM1, &TIM_OCInitStructure); //根據TIM_OCInitStruct中指定的參數初始化外設TIMx
- TIM_CtrlPWMOutputs(TIM1,ENABLE); //MOE 主輸出使能
- TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable); //CH1預裝載使能
-
- TIM_ARRPreloadConfig(TIM1, ENABLE); //使能TIMx在ARR上的預裝載寄存器
-
- TIM_Cmd(TIM1, ENABLE); //使能TIM1
-
-
- }
- int motor_spe(void)
- {
- int i;
- int n;
- n=motor_speed*3/57.6; //電機轉輪是皮帶輪的三分之一，所以*3
- i=72000000/(3200*n);
- return i;
- }
- void motor_set(int sp,int re)
- {
-
- motor_speed=sp;
- motor_route=re;
- motor_time=re*1000/sp;
- delay_ms(10);
-
- }
- void motor_run()
- {
- int i;
- int n;
- n=motor_spe();
- motor_EN=1;
- for(i=19999;i>n;i=i-100)//
- {
-
- TIM1->ARR=i;
- delay_us(500);
- TIM_SetCompare1(TIM1,i/2);
-
- }
- }
- void motor_stop()
- {
- int i;
- int n;
- n=motor_spe();
- for(i=n;i<19999;i=i+100)
- {
-
- TIM1->ARR=i;
- delay_us(100);
- TIM_SetCompare1(TIM1,i/2);
-
- }
- for(i=n;i<15999;i=i+100)
- {
-
- TIM1->ARR=i;
- delay_us(100);
- TIM_SetCompare1(TIM1,i/2);
-
- }
- motor_EN=0;
- }
- void motor_fwd(void)
- {
- motor_EN=0;
- delay_us(100);
- motor_DIR=1;
- delay_us(100);
- }
- void motor_rev(void)
- {
- motor_EN=0;
- delay_us(100);
- motor_DIR=0;
- delay_us(100);
- }
|
-
-
motor.zip
2019-11-2 12:33 上傳
點擊文件名下載附件
下載積分: 黑幣 -5
1.84 KB, 下載次數: 17, 下載積分: 黑幣 -5
c和h文件
|
QQ好友和群
QQ空間
騰訊微博
騰訊朋友
收藏
淘帖
頂
踩
