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- #include "led.h"
- #include "delay.h"
- #include "key.h"
- #include "sys.h"
- #include "usart.h"
- #include "timer.h"
-
-
- int main(void)
- {
- u16 i=0,j=0;
- delay_init(); //延時(shí)函數(shù)初始化
- LED_Init(); //LED端口初始化
- TIM3_PWM_Init(1999,719);
- TIM1_PWM_Init(1999,719); //不分頻，PWM頻率=72000000/720/2000=50hz
- while(1)
- {
- for(i=1950;i>1749;i--){
- TIM_SetCompare1(TIM1,i); //對(duì)應(yīng)0度 2.5%
- delay_ms(10);
- }
- for(i=1750;i<1951;i++){
- TIM_SetCompare1(TIM1,i); //對(duì)應(yīng)0度 2.5%
- delay_ms(10);
- }
- for(i=1750;j<1951;j++){
- LED0_PWM_VAL=j;
- delay_ms(10);
- }
- for(i=1951;j>1749;j--){
- LED0_PWM_VAL=j;
- delay_ms(10);
- }
- }
- }
- #include "timer.h"
- #include "led.h"
- #include "usart.h"
- void TIM3_PWM_Init(u16 arr,u16 psc)
- {
- //此部分需手動(dòng)修改IO口設(shè)置
- RCC->APB1ENR|=1<<1; //TIM3時(shí)鐘使能
- RCC->APB2ENR|=1<<3; //使能PORTB時(shí)鐘
- GPIOB->CRL&=0XFF0FFFFF; //PB5輸出
- GPIOB->CRL|=0X00B00000; //復(fù)用功能輸出
-
- RCC->APB2ENR|=1<<0; //開啟輔助時(shí)鐘
- AFIO->MAPR&=0XFFFFF3FF; //清除MAPR的[11:10]
- AFIO->MAPR|=1<<11; //部分重映像,TIM3_CH2->PB5
- TIM3->ARR=arr; //設(shè)定計(jì)數(shù)器自動(dòng)重裝值
- TIM3->PSC=psc; //預(yù)分頻器不分頻
-
- TIM3->CCMR1|=7<<12; //CH2 PWM2模式
- TIM3->CCMR1|=1<<11; //CH2預(yù)裝載使能
- TIM3->CCER|=1<<4; //OC2 輸出使能
- TIM3->CR1=0x0080; //ARPE使能
- TIM3->CR1|=0x01; //使能定時(shí)器3
- }
- void TIM1_PWM_Init(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(shè)時(shí)鐘使能
- //設(shè)置該引腳為復(fù)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(fù)用推挽輸出
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
- GPIO_Init(GPIOA, &GPIO_InitStructure);
-
- TIM_TimeBaseStructure.TIM_Period = arr; //設(shè)置在下一個(gè)更新事件裝入活動(dòng)的自動(dòng)重裝載寄存器周期的值 80K
- TIM_TimeBaseStructure.TIM_Prescaler =psc; //設(shè)置用來(lái)作為TIMx時(shí)鐘頻率除數(shù)的預(yù)分頻值 不分頻
- TIM_TimeBaseStructure.TIM_ClockDivision = 0; //設(shè)置時(shí)鐘分割:TDTS = Tck_tim
- TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上計(jì)數(shù)模式
- TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure); //根據(jù) TIM_TimeBaseInitStruct中指定的參數(shù)初始化TIMx的時(shí)間基數(shù)單位
-
- TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //選擇定時(shí)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(shè)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(jù)TIM_OCInitStruct中指定的參數(shù)初始化外設(shè)TIMx
-
- TIM_CtrlPWMOutputs(TIM1,ENABLE); //MOE 主輸出使能
- TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable); //CH1預(yù)裝載使能
- TIM_ARRPreloadConfig(TIM1, ENABLE); //使能TIMx在ARR上的預(yù)裝載寄存器
- TIM_Cmd(TIM1, ENABLE); //使能TIM1
- }
Keil代碼工程放51hei附件里面了:
兩臺(tái)舵機(jī).7z
(185.19 KB, 下載次數(shù): 25)
2021-7-25 16:48 上傳
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