stm32多路pwm输出控制程序
- 芯片解密#include "stm32f10x.h"
- 芯片解密#include "TIM.h"
- 芯片解密#include "DELAY.h"
- 芯片解密#include "GPIO.h"
- 芯片解密#include "math.h"
- 芯片解密#include "DATA.h"
- int main()
- {
- NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);//选择中断分组4
- GPIO_Configuration();
- TIM3_Init(71,9);//每10us进一次中断
- NVIC3_Configurature();
- TIM2_Init(35999,19);//100Hz
- NVIC2_Configurature();
-
- slaver_SetAngle(0,220,60);//零号舵机,A1
- slaver_SetAngle(1,20,60);//A2
- slaver_SetAngle(2,40,60);//A3
- slaver_SetAngle(3,60,60);
- slaver_SetAngle(4,80,60);
- slaver_SetAngle(5,100,60);
- slaver_SetAngle(6,120,60);
- slaver_SetAngle(8,140,60);
- slaver_SetAngle(9,160,60);
- slaver_SetAngle(10,170,60);
- slaver_SetAngle(11,100,60);
- slaver_SetAngle(12,40,60);
- slaver_SetAngle(13,60,60);
- slaver_SetAngle(14,70,60);
- slaver_SetAngle(15,80,60);
- slaver_SetAngle(16,90,60);
- slaver_SetAngle(17,100,60);
- while(1)
- {
- }
- }
-
- volatile unsigned short pulse_width = 2000;
- volatile unsigned int tim3_cnt = 0;//设置的奇数位
-
- void TIM3_IRQHandler(void)//TIM3做PWM输出
- {
- unsigned char j;
- TIM3->SR = 0;//清楚中断
-
- tim3_cnt++;
- if(tim3_cnt == pulse_width)
- {
- tim3_cnt = 0;
- GPIOA->ODR |= 0XFFFF;//对其他的端口不会影响
- GPIOB->ODR |= 0XFFFF;
- }
- for(j = 0;j < slave_Number;j ++)
- {
- if(tim3_cnt == slaver_data[j].Data_Converted)//等于角度转换值得到的数值
- {
- (slaver_data[j].GPIOx)->ODR&=~slaver_data[j].GPIO_Pin;//选择端口，进行赋值
- }
- }
- }
- void TIM2_IRQHandler(void)//定时器2做控速
- {
- unsigned char i;
- TIM2->SR = 0;
-
- for(i=0; i<slave_Number; i++)
- {
- if(fabs(slaver_data[i].Data_Desire - slaver_data[i].Data_Real) < slaver_data[i].Data_Speed*CYCLE_TIM2_UPDATE)//判断实际角度与输入角度的差值
- {
- slaver_data[i].Data_Real = slaver_data[i].Data_Desire;//差值小就直接赋值
- }
- else
- {
- if(slaver_data[i].Data_Desire > slaver_data[i].Data_Real)//输入值大于实际值
- {
- slaver_data[i].Data_Real += slaver_data[i].Data_Speed*CYCLE_TIM2_UPDATE;//加等于输入值
- }
- else
- {
- slaver_data[i].Data_Real -= slaver_data[i].Data_Speed*CYCLE_TIM2_UPDATE;//减等于输入值
- }
- }
- slaver_data[i].Data_Converted = (unsigned short)(50.0f + slaver_data[i].Data_Real*SLAVER_CHANGE);//加上偏移量，转换数值
- }
- }
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