部分核心代碼
- #define ACCELERATED_SPEED_LENGTH 3000 //定義加速度的點數（其實也是3000個細分步的意思），調這個參數改變加速點
- #define FRE_MIN 3000 //最低的運行頻率，調這個參數調節最低運行速度
- #define FRE_MAX 24000 //最高的運行頻率，調這個參數調節勻速時的最高速度
- int step_to_run; //要運行的步數
- float fre[ACCELERATED_SPEED_LENGTH]; //數組存儲加速過程中每一步的頻率
- unsigned short period[ACCELERATED_SPEED_LENGTH]; //數組儲存加速過程中每一步定時器的自動裝載值
- void CalculateSModelLine(float fre[], unsigned short period[], float len, float fre_max, float fre_min, float flexible)
- {
- int i=0;
- float deno ;
- float melo ;
- float delt = fre_max-fre_min;
- for(; i<len; i++)
- {
- melo = flexible * (i-len/2) / (len/2);
- deno = 1.0 / (1 + expf(-melo)); //expf is a library function of exponential(e)
- fre[i] = delt * deno + fre_min;
- period[i] = (unsigned short)(1000000.0 / fre[i]); // 10000000 is the timer driver frequency
- }
- return ;
- }
- //主函數
- int main(void)
- {
- u8 t;
- delay_init();
- NVIC_Config();
- LED_Init(); //初始化IO口
- TIM1_Int_Init(10,72); //設置定時器的頻率等
- //PB8 9 12 13
- //KEY_Init();
- //SMG_io_init();
- CalculateSModelLine(fre,period,ACCELERATED_SPEED_LENGTH,FRE_MAX,FRE_MIN,4);
- TIM_Cmd(TIM1, ENABLE);
- while(1)
- {
- }
- }
- 定時器初始化
- void TIM1_Int_Init(u16 arr,u16 psc)
- {
- NVIC_InitTypeDef NVIC_InitStructure;
- TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
- TIM_OCInitTypeDef TIM_OCInitStructure;
- TIM_DeInit(TIM1); /*¸′λTIM1¶¨ê±Æ÷*/
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); /*¿aê±Öó*/
- TIM_TimeBaseStructure.TIM_Period = arr; /*ê±ÖóμÎ′eμÄ′Îêy￡¬1»êyÖD¶ÏÕaàïêÇ1msÖD¶Ïò»′Î*/
- TIM_TimeBaseStructure.TIM_Prescaler = psc; /* ·ÖÆμ720*/
- TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
- TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; /*¼Æêy·½ÏòÏòéϼÆêy*/
- TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
- TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
- /* Channel 1, 2,3 and 4 Configuration in PWM mode */
- TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
- TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
- TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable; //2»ê1óÃNμÄêä3ö￡¬ËùòÔòa1Øμô
- TIM_OCInitStructure.TIM_Pulse = 0; //μúò»′ÎûóDêä3öÂö3å
- 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_OC4Init(TIM1, &TIM_OCInitStructure);
- TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable);
- /* Clear TIM1 update pending flag Çå3yTIM1òç3öÖD¶Ï±êÖ¾] */
- TIM_ClearFlag(TIM1, TIM_FLAG_Update);
- NVIC_InitStructure.NVIC_IRQChannel = TIM1_UP_IRQn; /*òç3öÖD¶Ï*/
- NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
- NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
- NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
- NVIC_Init(&NVIC_InitStructure);
- /* TIM1 counter enable */
- TIM_Cmd(TIM1, DISABLE);
- /* TIM1 Main Output Enable */
- TIM_CtrlPWMOutputs(TIM1, ENABLE);
- TIM_ClearFlag(TIM1, TIM_FLAG_Update);
- TIM_ITConfig(TIM1,TIM_IT_Update,ENABLE);
- }
- //初始化定時器IO
- void LED_Init(void)
- {
- GPIO_InitTypeDef GPIO_InitStructure;
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB, ENABLE);
- //設置PA11為復用推挽輸出
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_8 | GPIO_Pin_11 | GPIO_Pin_12;
- GPIO_Init(GPIOA, &GPIO_InitStructure);
- //Âö3å¿ú+·½Ïò
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
- GPIO_Init(GPIOB, &GPIO_InitStructure);
- /* TIM1 Full remapping pins */
- GPIO_PinRemapConfig(GPIO_FullRemap_TIM1, ENABLE); //打開重映射
- }
- 定時器更新中斷
- int i = 0;
- void TIM1_UP_IRQHandler(void)
- {
- TIM_ClearFlag(TIM1, TIM_FLAG_Update);
- if(i < ACCELERATED_SPEED_LENGTH && g_motor_dir_s == 0) //加速，直到步數達到 ACCELERATED_SPEED_LENGTH
- {
- TIM1->ARR= period[i];
- TIM1->CCR4= period[i]/2;
- i++;
- step_to_run = 20000; //這里設置要跑的步數，當然可以寫在main函數中，這里沒有把加減速的步數算上
- }
- else if(step_to_run > 0) //勻速
- {
- step_to_run--;
- }
- else if(i > 0 && g_motor_dir_s == 1) //電機減速
- {
- i--;
- TIM1->ARR= period[i];
- TIM1->CCR4= period[i]/2;
- }
- if(i == ACCELERATED_SPEED_LENGTH || i == 0)
- {
- g_motor_dir_s = (~g_motor_dir_s)&0x01;
- }
- }
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