这是我之前的大学生科创
用了一个月时间
里面由超声波输入捕获、蓝牙串口、以及舵机PWM输出模块程序
经过实测,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); //时钟使能
- TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值 计数到5000为500ms
- TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值 10Khz的计数频率
- TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
- TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
- TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
- TIM_ITConfig(TIM2,TIM_IT_Update,ENABLE);
- NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn; //TIM3中断
- NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2; //先占优先级0级
- NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2; //从优先级3级
- NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
- NVIC_Init(&NVIC_InitStructure); //根据NVIC_InitStruct中指定的参数初始化外设NVIC寄存器
- TIM_Cmd(TIM2, ENABLE); //使能TIMx外设
-
- }
- 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外设和AFIO复用功能模块时钟使能
-
- GPIO_PinRemapConfig(GPIO_PartialRemap2_TIM2, ENABLE); //Timer3部分重映射 TIM3_CH2->PB5 //用于TIM3的CH2输出的PWM通过该LED显示
-
- //设置该引脚为复用输出功能,输出TIM3 CH2的PWM脉冲波形
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; //TIM_CH2
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出
- 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; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值 80K
- TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值 不分频
- TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
- TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
- TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
-
-
- TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2
- TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
- TIM_OCInitStructure.TIM_Pulse = 0; //设置待装入捕获比较寄存器的脉冲值
- TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //输出极性:TIM输出比较极性高
- TIM_OC2Init(TIM2, &TIM_OCInitStructure); //根据TIM_OCInitStruct中指定的参数初始化外设TIMx
- TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable); //使能TIMx在CCR2上的预装载寄存器
-
- TIM_ARRPreloadConfig(TIM2, ENABLE); //使能TIMx在ARR上的预装载寄存器
-
-
- TIM_Cmd(TIM2, ENABLE); //使能TIMx外设
-
- }
- 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时钟
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); //使能GPIOA时钟
-
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; //PA6 清除之前设置
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD; //PA6 输入
- GPIO_Init(GPIOA, &GPIO_InitStructure);
- GPIO_ResetBits(GPIOA,GPIO_Pin_6); //PA6 下拉
-
- //初始化定时器5 TIM5
- TIM_TimeBaseStructure.TIM_Period = arr; //设定计数器自动重装值
- TIM_TimeBaseStructure.TIM_Prescaler =psc; //预分频器
- TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置时钟分割:TDTS = Tck_tim
- TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
- TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
-
- //初始化TIM5输入捕获参数
- TIM3_ICInitStructure.TIM_Channel = TIM_Channel_1; //CC1S=01 选择输入端 IC1映射到TI1上
- TIM3_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕获
- TIM3_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
- TIM3_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //配置输入分频,不分频
- TIM3_ICInitStructure.TIM_ICFilter = 0x00;//IC1F=0000 配置输入滤波器 不滤波
- TIM_ICInit(TIM3, &TIM3_ICInitStructure);
-
- //中断分组初始化
- NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn; //TIM3中断
- NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //先占优先级2级
- NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //从优先级0级
- NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
- NVIC_Init(&NVIC_InitStructure); //根据NVIC_InitStruct中指定的参数初始化外设NVIC寄存器
-
- TIM_ITConfig(TIM3,TIM_IT_Update|TIM_IT_CC1,ENABLE);//允许更新中断 ,允许CC1IE捕获中断
-
- TIM_Cmd(TIM3,ENABLE ); //使能定时器5
-
- }
- u8 TIM3CH1_CAPTURE_STA=0; //输入捕获状态
- u16 TIM3CH1_CAPTURE_VAL; //输入捕获值
-
- //定时器3中断服务程序
- void TIM3_IRQHandler(void)
- {
- if((TIM3CH1_CAPTURE_STA&0X80)==0)//还未成功捕获
- {
- if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET)
-
- {
- if(TIM3CH1_CAPTURE_STA&0X40)//已经捕获到高电平了
- {
- if((TIM3CH1_CAPTURE_STA&0X3F)==0X3F)//高电平太长了
- {
- TIM3CH1_CAPTURE_STA|=0X80;//标记成功捕获了一次
- TIM3CH1_CAPTURE_VAL=0XFFFF;
- }else TIM3CH1_CAPTURE_STA++;
- }
- }
- if (TIM_GetITStatus(TIM3, TIM_IT_CC1) != RESET)//捕获1发生捕获事件
- {
- if(TIM3CH1_CAPTURE_STA&0X40) //捕获到一个下降沿
- {
- TIM3CH1_CAPTURE_STA|=0X80; //标记成功捕获到一次上升沿
- TIM3CH1_CAPTURE_VAL=TIM_GetCapture1(TIM3);
- TIM_OC1PolarityConfig(TIM3,TIM_ICPolarity_Rising); //CC1P=0 设置为上升沿捕获
- }else //还未开始,第一次捕获上升沿
- {
- TIM3CH1_CAPTURE_STA=0; //清空
- TIM3CH1_CAPTURE_VAL=0;
- TIM_SetCounter(TIM3,0);
- TIM3CH1_CAPTURE_STA|=0X40; //标记捕获到了上升沿
- TIM_OC1PolarityConfig(TIM3,TIM_ICPolarity_Falling); //CC1P=1 设置为下降沿捕获
- }
- }
- }
-
- TIM_ClearITPendingBit(TIM3, TIM_IT_CC1|TIM_IT_Update); //清除中断标志位
-
- }
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