這是我之前的大學生科創(chuàng)
用了一個月時間
里面由超聲波輸入捕獲、藍牙串口、以及舵機PWM輸出模塊程序
經(jīng)過實測，都可以用- #include "timer.h"
- #include "stm32f10x.h"
- void TIM2_Int_Init(u16 arr,u16 psc)
- {
- TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
- NVIC_InitTypeDef NVIC_InitStructure;
- RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, 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(shù)到5000為500ms
- TIM_TimeBaseStructure.TIM_Prescaler =psc; //設置用來作為TIMx時鐘頻率除數(shù)的預分頻值 10Khz的計數(shù)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(shù)模式
- TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); //根據(jù)TIM_TimeBaseInitStruct中指定的參數(shù)初始化TIMx的時間基數(shù)單位
- TIM_ITConfig(TIM2,TIM_IT_Update,ENABLE);
- NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn; //TIM3中斷
- NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2; //先占優(yōu)先級0級
- NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2; //從優(yōu)先級3級
- NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
- NVIC_Init(&NVIC_InitStructure); //根據(jù)NVIC_InitStruct中指定的參數(shù)初始化外設NVIC寄存器
- TIM_Cmd(TIM2, ENABLE); //使能TIMx外設
-
- }
- void TIM2_IRQHandler(void)
- {
- static uint8_t display;
- if ( TIM_GetITStatus(TIM2 , TIM_IT_Update) != RESET )
- {
- TIM_ClearITPendingBit(TIM2 , TIM_FLAG_Update);
- if( display )
- {
- PCout(13)=1;
- }
- else
- {
- PCout(13)=0;
- }
- display = ~display;
- }
- }
- void TIM2_PWM_Init(u16 arr,u16 psc)
- {
- GPIO_InitTypeDef GPIO_InitStructure;
- TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
- TIM_OCInitTypeDef TIM_OCInitStructure;
-
- RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE); //使能GPIO外設和AFIO復用功能模塊時鐘使能
-
- GPIO_PinRemapConfig(GPIO_PartialRemap2_TIM2, ENABLE); //Timer3部分重映射 TIM3_CH2->PB5 //用于TIM3的CH2輸出的PWM通過該LED顯示
-
- //設置該引腳為復用輸出功能,輸出TIM3 CH2的PWM脈沖波形
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; //TIM_CH2
- 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);
- //GPIO_WriteBit(GPIOA, GPIO_Pin_7,Bit_SET); // PA7上拉
- 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(shù)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(shù)模式
- TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); //根據(jù)TIM_TimeBaseInitStruct中指定的參數(shù)初始化TIMx的時間基數(shù)單位
-
-
- TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //選擇定時器模式:TIM脈沖寬度調(diào)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_Low; //輸出極性:TIM輸出比較極性高
- TIM_OC2Init(TIM2, &TIM_OCInitStructure); //根據(jù)TIM_OCInitStruct中指定的參數(shù)初始化外設TIMx
- TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable); //使能TIMx在CCR2上的預裝載寄存器
-
- TIM_ARRPreloadConfig(TIM2, ENABLE); //使能TIMx在ARR上的預裝載寄存器
-
-
- TIM_Cmd(TIM2, ENABLE); //使能TIMx外設
-
- }
- TIM_ICInitTypeDef TIM3_ICInitStructure;
- void TIM3_Cap_Init(u16 arr,u16 psc)
- {
- GPIO_InitTypeDef GPIO_InitStructure;
- TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
- NVIC_InitTypeDef NVIC_InitStructure;
- RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //使能TIM5時鐘
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); //使能GPIOA時鐘
-
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; //PA6 清除之前設置
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD; //PA6 輸入
- GPIO_Init(GPIOA, &GPIO_InitStructure);
- GPIO_ResetBits(GPIOA,GPIO_Pin_6); //PA6 下拉
-
- //初始化定時器5 TIM5
- TIM_TimeBaseStructure.TIM_Period = arr; //設定計數(shù)器自動重裝值
- TIM_TimeBaseStructure.TIM_Prescaler =psc; //預分頻器
- TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //設置時鐘分割:TDTS = Tck_tim
- TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上計數(shù)模式
- TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //根據(jù)TIM_TimeBaseInitStruct中指定的參數(shù)初始化TIMx的時間基數(shù)單位
-
- //初始化TIM5輸入捕獲參數(shù)
- TIM3_ICInitStructure.TIM_Channel = TIM_Channel_1; //CC1S=01 選擇輸入端 IC1映射到TI1上
- TIM3_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕獲
- TIM3_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
- TIM3_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //配置輸入分頻,不分頻
- TIM3_ICInitStructure.TIM_ICFilter = 0x00;//IC1F=0000 配置輸入濾波器 不濾波
- TIM_ICInit(TIM3, &TIM3_ICInitStructure);
-
- //中斷分組初始化
- NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn; //TIM3中斷
- NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //先占優(yōu)先級2級
- NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //從優(yōu)先級0級
- NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
- NVIC_Init(&NVIC_InitStructure); //根據(jù)NVIC_InitStruct中指定的參數(shù)初始化外設NVIC寄存器
-
- TIM_ITConfig(TIM3,TIM_IT_Update|TIM_IT_CC1,ENABLE);//允許更新中斷 ,允許CC1IE捕獲中斷
-
- TIM_Cmd(TIM3,ENABLE ); //使能定時器5
-
- }
- u8 TIM3CH1_CAPTURE_STA=0; //輸入捕獲狀態(tài)
- u16 TIM3CH1_CAPTURE_VAL; //輸入捕獲值
-
- //定時器3中斷服務程序
- void TIM3_IRQHandler(void)
- {
- if((TIM3CH1_CAPTURE_STA&0X80)==0)//還未成功捕獲
- {
- if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET)
-
- {
- if(TIM3CH1_CAPTURE_STA&0X40)//已經(jīng)捕獲到高電平了
- {
- if((TIM3CH1_CAPTURE_STA&0X3F)==0X3F)//高電平太長了
- {
- TIM3CH1_CAPTURE_STA|=0X80;//標記成功捕獲了一次
- TIM3CH1_CAPTURE_VAL=0XFFFF;
- }else TIM3CH1_CAPTURE_STA++;
- }
- }
- if (TIM_GetITStatus(TIM3, TIM_IT_CC1) != RESET)//捕獲1發(fā)生捕獲事件
- {
- if(TIM3CH1_CAPTURE_STA&0X40) //捕獲到一個下降沿
- {
- TIM3CH1_CAPTURE_STA|=0X80; //標記成功捕獲到一次上升沿
- TIM3CH1_CAPTURE_VAL=TIM_GetCapture1(TIM3);
- TIM_OC1PolarityConfig(TIM3,TIM_ICPolarity_Rising); //CC1P=0 設置為上升沿捕獲
- }else //還未開始,第一次捕獲上升沿
- {
- TIM3CH1_CAPTURE_STA=0; //清空
- TIM3CH1_CAPTURE_VAL=0;
- TIM_SetCounter(TIM3,0);
- TIM3CH1_CAPTURE_STA|=0X40; //標記捕獲到了上升沿
- TIM_OC1PolarityConfig(TIM3,TIM_ICPolarity_Falling); //CC1P=1 設置為下降沿捕獲
- }
- }
- }
-
- TIM_ClearITPendingBit(TIM3, TIM_IT_CC1|TIM_IT_Update); //清除中斷標志位
-
- }
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