/******************** (C) COPYRIGHT 2024 GeekRebot ***************************** * File Name : bsp_timer.c * Current Version : V1.0 & ST 3.5.0 * Author : zhanli 719901725@qq.com * Date of Issued : 2024.01.09 * Comments : oled的iic方式驱动 SCL -> PA10，SDA -> PA11 timer3 电机控制pwm,用到了timer3的ch3和ch4，即 PB0-PB1连接电机驱动 的使能端PWMA（左电机）和 PWMB（右电机） timer1 用于系统100ms定时功能 timer2 用于左电机编码器计数 timer4 用于右电机编码器计数 ********************************************************************************/ #include "bsp_timer.h" //***************************定时器3初始化 给电机提供PWM***************************// // TIM_Period / Auto Reload Register(ARR) = 1000 TIM_Prescaler--71 //arr：自动重装寄存器，psc分频系数 //PWM的频率 = 72MHz/ARR/PCS 例如 20K = 72M/3600/1 = 20K //=====初始化PWM 20KHZ 高频可以防止电机低频时的尖叫声 // ARR= 3599 时频率为20Khz //PB0控制PWMA--right moto，PB1控制PWMB--left moto。STBY直接拉高 //arr：自动重装寄存器，psc分频系数 //PWM的频率 = 72MHz/ARR/PCS 例如 20K = 72M/3600/1 = 20K void MOTO_PWM_Init(u32 arr, int psc) { TIM_OCInitTypeDef TIM_OCInitSructure; GPIO_InitTypeDef GPIO_InitStructure; TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); TIM_TimeBaseStructure.TIM_Period = arr-1; //自动重新装载寄存器周期的值澹ㄥ计数值澹) TIM_TimeBaseStructure.TIM_Prescaler = psc; //时钟分频系数 TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //对外部时钟进行采样的时钟分频 TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数 TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStructure); //参数初始化 TIM_ClearFlag(TIM3, TIM_FLAG_Update); TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE); //配置pwm输出端口 RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0| GPIO_Pin_1; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; // 复用推挽输出 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOB, &GPIO_InitStructure); //设置通道3 pwm参数 TIM_OCInitSructure.TIM_OCMode = TIM_OCMode_PWM1; TIM_OCInitSructure.TIM_OutputState= TIM_OutputState_Enable; TIM_OCInitSructure.TIM_Pulse = 0;//占空比= 50/100 TIM_OCInitSructure.TIM_OCPolarity = TIM_OCPolarity_High;//当定时器计数值小于CCR1_Val时为高电平 TIM_OC3Init(TIM3, &TIM_OCInitSructure);//参数初始化 TIM_OC3PolarityConfig(TIM3, TIM_OCPreload_Enable);//开始输出pwm //设置通道4 pwm参数 TIM_OCInitSructure.TIM_OCMode = TIM_OCMode_PWM1; TIM_OCInitSructure.TIM_OutputState= TIM_OutputState_Enable; TIM_OCInitSructure.TIM_Pulse = 0;//占空比= 50/100 TIM_OCInitSructure.TIM_OCPolarity = TIM_OCPolarity_High;//当定时器计数值小于CCR1_Val时为高电平 TIM_OC4Init(TIM3, &TIM_OCInitSructure);//参数初始化 TIM_OC4PolarityConfig(TIM3, TIM_OCPreload_Enable);//开始输出pwm TIM_ARRPreloadConfig(TIM3, ENABLE);//启动自动重装 TIM_Cmd(TIM3, ENABLE);//启动定时 } //占空比 = TIMx_CCRx / TIMx_ARR //moto_r：右轮电机，moto_l：左轮电机. 数值 0-100 void Motor_PWMOut(u16 moto_l, u16 moto_r) { TIM_OCInitTypeDef TIM_OCInitSructure; TIM_OCInitSructure.TIM_OCMode = TIM_OCMode_PWM1; TIM_OCInitSructure.TIM_OutputState= TIM_OutputState_Enable; //CH3 右电机 TIM_OCInitSructure.TIM_Pulse = moto_l; // 占空比= ccr/100 TIM_OC3Init(TIM3, &TIM_OCInitSructure); // 参数初始化 TIM_OC3PolarityConfig(TIM3, TIM_OCPreload_Enable); // 开始输出pwm //CH4 左电机 TIM_OCInitSructure.TIM_Pulse = moto_r; // 占空比= ccr /100 TIM_OC4Init(TIM3, &TIM_OCInitSructure); // 参数初始化 TIM_OC4PolarityConfig(TIM3, TIM_OCPreload_Enable); // 开始输出pwm TIM_ARRPreloadConfig(TIM3, ENABLE); // 启动自动重装 } //***************************定时器1初始化 系统每10ms处理一次中断，更新数据，更新pwm等***************************// void Timer6_Init(void) { TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; NVIC_InitTypeDef NVIC_InitStructure; RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE); // 计数是从0开始，所以9999即是0~9999计数10000个 TIM_TimeBaseStructure.TIM_Period = 2999; //自动重新装载寄存器周期) // STM32晶振是72Mhz，每计算一个count的时间 = 72Mhz / (Prescaler + 1) // 所以1us计算时间就是72Mhz/(71+1)=1Mhz, 1Khz = 1ms 1Mhz = 1us // Tim6的周期实际是72Mhz/(TIM_Prescaler + 1) * (1 + TIM_Period) // 100ms配置, 72Mhz / (719 + 1) * (9999 + 1) = 10us * 10000 = 100ms // 5ms配置，72Mhz / (71 + 1) * (4999 + 1) = 1us * 5000 = 5ms TIM_TimeBaseStructure.TIM_Prescaler = 71; // 时钟分频系数 TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; // 对外部时钟进行采样的时钟分频 TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数 TIM_TimeBaseStructure.TIM_RepetitionCounter=0; //高级定时器1是用定时器功能配置这个才可以是正常的计数频率一开始的72mhz 值得注意的地方 TIM_TimeBaseInit(TIM6,&TIM_TimeBaseStructure); // 参数初始化 TIM_ClearFlag(TIM6, TIM_FLAG_Update); TIM_ITConfig(TIM6, TIM_IT_Update, ENABLE); NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4); NVIC_InitStructure.NVIC_IRQChannel=TIM6_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=5; NVIC_InitStructure.NVIC_IRQChannelSubPriority=0; NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE; NVIC_Init(&NVIC_InitStructure); TIM_Cmd(TIM6, ENABLE);//启动定时器 } //***************************定时器2初始化 ，使用编码器功能***************************// //左电机编码器计数 //PA0----接 编码器A相 或者电机驱动的B2B标识 //PA1----接 编码器B相 或者电机驱动的B2A标识 void Encoder_Init_TIM2(void) { TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_ICInitTypeDef TIM_ICInitStructure; GPIO_InitTypeDef GPIO_InitStructure; RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);//使能定时器4的时钟 RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//使能PB端口时钟 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1; //端口配置 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空输入 GPIO_Init(GPIOA, &GPIO_InitStructure); //根据设定参数初始化GPIOB TIM_TimeBaseStructInit(&TIM_TimeBaseStructure); TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // 预分频器 TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //设定计数器自动重装值 TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//选择时钟分频：不分频 TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;////TIM向上计数 TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//使用编码器模式3 TIM_ICStructInit(&TIM_ICInitStructure); TIM_ICInitStructure.TIM_ICFilter = 10; TIM_ICInit(TIM2, &TIM_ICInitStructure); TIM_ClearFlag(TIM2, TIM_FLAG_Update);//清除TIM的更新标志位 TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE); //Reset counter TIM_SetCounter(TIM2,0); TIM_Cmd(TIM2, ENABLE); } //***************************定时器4初始化 ，使用编码器功能***************************// //右电机编码器计数 //PB6----接 编码器B相 或者电机驱动的B1A标识 //PB7----接 编码器A相 或者电机驱动的B1B标识 void Encoder_Init_TIM4(void) { TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_ICInitTypeDef TIM_ICInitStructure; GPIO_InitTypeDef GPIO_InitStructure; RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);//使能定时器4的时钟 RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);//使能PB端口时钟 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7; //端口配置 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空输入 GPIO_Init(GPIOB, &GPIO_InitStructure); //根据设定参数初始化GPIOB TIM_TimeBaseStructInit(&TIM_TimeBaseStructure); TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // 预分频器 TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //设定计数器自动重装值 TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//选择时钟分频：不分频 TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;////TIM向上计数 TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//使用编码器模式3 TIM_ICStructInit(&TIM_ICInitStructure); TIM_ICInitStructure.TIM_ICFilter = 10; TIM_ICInit(TIM4, &TIM_ICInitStructure); TIM_ClearFlag(TIM4, TIM_FLAG_Update);//清除TIM的更新标志位 TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE); //Reset counter TIM_SetCounter(TIM4,0); TIM_Cmd(TIM4, ENABLE); } /************************************************************************** 函数功能：单位时间读取编码器计数 入口参数：定时器 返回 值：速度值 **************************************************************************/ int Read_Encoder(u8 TIMX) { int Encoder_TIM; switch(TIMX) { case 2: Encoder_TIM = (short)TIM2 -> CNT; TIM2 -> CNT = 30000; break; case 3: Encoder_TIM = (short)TIM3 -> CNT; TIM3 -> CNT = 30000; break; case 4: Encoder_TIM = (short)TIM4 -> CNT; TIM4 -> CNT = 30000; break; default: Encoder_TIM = 0; } return Encoder_TIM; } /************************************************************************** 函数功能：TIM4中断服务函数 入口参数：无 返回 值：无 **************************************************************************/ void TIM4_IRQHandler(void) { if(TIM4->SR&0X0001)//溢出中断 { } TIM4->SR&=~(1<<0);//清除中断标志位 } /************************************************************************** 函数功能：TIM2中断服务函数 入口参数：无 返回 值：无 **************************************************************************/ void TIM2_IRQHandler(void) { if(TIM2->SR&0X0001)//溢出中断 { } TIM2->SR&=~(1<<0);//清除中断标志位 }