RobotHardware-UESTC/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/BSPLIB/pwm_out.c

#ifdef __cplusplus
extern "C" {
#endif 

#include "pwm_out.h"

void PB_PWMChannel_Init(TIM_TypeDef* TIMx, uint8_t Channel, uint16_t Prescaler,uint16_t Period, uint8_t GPIO_AF)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
    TIM_OCInitTypeDef  TIM_OCInitStructure;

    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE); //使能GPIO外设和AFIO复用功能模块时钟

    if (TIMx == TIM1) {      
        RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
        if (GPIO_AF == 0) {
            RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
            /******************************TIM1 Multiplexing Push-pull output*********************************************/
            if (Channel == 1)
                GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
            else if(Channel == 2)
                GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
            else if(Channel == 3)
                GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
            else if(Channel == 4)
                GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
            else return;
            GPIO_Init(GPIOA, &GPIO_InitStructure);
        } else if (GPIO_AF == 1 ) {
        }
    } else if (TIMx == TIM2) {
        RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
        if (GPIO_AF == 0 ) {
            RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
            /******************************TIM1 Multiplexing Push-pull output*********************************************/
            if (Channel == 1)
                GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
            else if (Channel == 2)
                GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
            else if (Channel == 3)
                GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
            else if (Channel == 4)
                GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
            else return;
            GPIO_Init(GPIOA, &GPIO_InitStructure);
        } else if (GPIO_AF == 1) {
        }
    } else if (TIMx == TIM3) {
        RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);
        if (GPIO_AF == 0) {
            /******************************TIM1 Multiplexing Push-pull output*********************************************/
            if (Channel == 1) {
                RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
                GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
                GPIO_Init(GPIOA, &GPIO_InitStructure);
            } else if (Channel == 2) {
                RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
                GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
                GPIO_Init(GPIOA, &GPIO_InitStructure);
            } else if (Channel == 3) {
                RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
                GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
                GPIO_Init(GPIOB, &GPIO_InitStructure);
            } else if (Channel == 4) {
                RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
                GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
                GPIO_Init(GPIOB, &GPIO_InitStructure);
            } else
                return;
        } else if (GPIO_AF == 1) {
            GPIO_Init(GPIOC, &GPIO_InitStructure);
        }
    } else if (TIMx == TIM4) {
        RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4,ENABLE);
        if (GPIO_AF == 0) {
            RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
            /******************************TIM1 Multiplexing Push-pull output*********************************************/
            if (Channel == 1)
                GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
            else if (Channel == 2)
                GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
            else if (Channel == 3)
                GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
            else if (Channel == 4)
                GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
            else
                return;
            GPIO_Init(GPIOB, &GPIO_InitStructure);
        } else if (GPIO_AF == 1) {
        }
    }

    TIM_TimeBaseStructure.TIM_Prescaler = Prescaler;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseStructure.TIM_Period = Period;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;

    TIM_TimeBaseInit(TIMx, &TIM_TimeBaseStructure);

    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
    TIM_OCInitStructure.TIM_Pulse =0;
    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_OCInitStructure.TIM_Pulse = 0;

    if (Channel == 1) {
        TIM_OC1Init(TIMx, &TIM_OCInitStructure);
    } else if (Channel == 2) {
        TIM_OC2Init(TIMx, &TIM_OCInitStructure);
    } else if (Channel == 3) {
        TIM_OC3Init(TIMx, &TIM_OCInitStructure);
    } else if (Channel == 4) {
        TIM_OC4Init(TIMx, &TIM_OCInitStructure);
    } else
        return;

    TIM_Cmd(TIMx, ENABLE);
    TIM_CtrlPWMOutputs(TIMx, ENABLE);
}

//Set Pulse Width
void PB_Set_PWM(TIM_TypeDef* TIMx, uint8_t Channel, uint16_t Pwm_Value)
{
    uint16_t TIM_PWM_Period;
    TIM_PWM_Period = TIMx->ARR;
    if (Pwm_Value <= 0) Pwm_Value = 0;
    if (Pwm_Value >= TIM_PWM_Period)
        Pwm_Value = TIM_PWM_Period;
    if (Channel == 1) {
        TIM_SetCompare1(TIMx, Pwm_Value);
    } else if (Channel == 2){
        TIM_SetCompare2(TIMx, Pwm_Value);
    } else if (Channel == 3) {
        TIM_SetCompare3(TIMx, Pwm_Value);
    } else if (Channel ==4 ) {
        TIM_SetCompare4(TIMx, Pwm_Value);
    } else
        return;
}

#ifdef __cplusplus
}
#endif