85 lines
3.7 KiB
C
85 lines
3.7 KiB
C
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/***********************************************
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公司：轮趣科技（东莞）有限公司
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品牌：WHEELTEC
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官网：wheeltec.net
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淘宝店铺：shop114407458.taobao.com
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速卖通: https://minibalance.aliexpress.com/store/4455017
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版本：5.7
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修改时间：2021-04-29
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Brand: WHEELTEC
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Website: wheeltec.net
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Taobao shop: shop114407458.taobao.com
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Aliexpress: https://minibalance.aliexpress.com/store/4455017
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Version:5.7
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Update：2021-04-29
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All rights reserved
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***********************************************/
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#include "motor.h"
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/**************************************************************************
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Function: Initialize Motor Interface
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Input : none
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Output : none
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函数功能：初始化电机接口
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入口参数：无
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返回 值：无
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**************************************************************************/
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void Motor_Init(void)
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); //使能PB端口时钟
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12|GPIO_Pin_13|GPIO_Pin_14|GPIO_Pin_15; //端口配置
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //推挽输出
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //50M
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GPIO_Init(GPIOB, &GPIO_InitStructure); //根据设定参数初始化GPIOB
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}
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/**************************************************************************
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Function: Initialize PWM to drive motor
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Input : arr：Auto reload value；psc：Prescaler coefficient
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Output : none
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函数功能：初始化PWM，用于驱动电机
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入口参数：arr：自动重装值；psc：预分频系数
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返回 值：无
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**************************************************************************/
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void MiniBalance_PWM_Init(u16 arr,u16 psc)
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
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TIM_OCInitTypeDef TIM_OCInitStructure;
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Motor_Init();
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);//
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA , ENABLE); //使能GPIO外设时钟使能
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//设置该引脚为复用输出功能,输出TIM1 CH1 CH4的PWM脉冲波形
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8|GPIO_Pin_11; //TIM_CH1 //TIM_CH4
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_Init(GPIOA, &GPIO_InitStructure);
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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
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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
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TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
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TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
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TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
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TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //选择定时器模式:TIM脉冲宽度调制模式1
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TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
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TIM_OCInitStructure.TIM_Pulse = 0; //设置待装入捕获比较寄存器的脉冲值
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TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高
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TIM_OC1Init(TIM1, &TIM_OCInitStructure); //根据TIM_OCInitStruct中指定的参数初始化外设TIMx
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TIM_OC4Init(TIM1, &TIM_OCInitStructure); //根据TIM_OCInitStruct中指定的参数初始化外设TIMx
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TIM_CtrlPWMOutputs(TIM1,ENABLE); //MOE 主输出使能
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TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable); //CH1预装载使能
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TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable); //CH4预装载使能
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TIM_ARRPreloadConfig(TIM1, ENABLE); //使能TIMx在ARR上的预装载寄存器
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TIM_Cmd(TIM1, ENABLE); //使能TIM1
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}
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