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MobKBK
2026-06-20 21:22:34 +08:00
commit 460e0e9e73
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#include "motor.h"
/**************************************************************************
Function: Enable switch pin initialization
Input : none
Output : none
函数功能：使能开关引脚初始化
入口参数：无
返回 值：无
**************************************************************************/
void Enable_Pin(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);//使能GPIOB时钟
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; //KEY对应引脚
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;//普通输入模式
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100M
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
GPIO_Init(GPIOD, &GPIO_InitStructure);//初始化GPIOB14
}
void TIM1_PWM_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1,ENABLE); //TIM8时钟使能
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE); //使能PORTC时钟
GPIO_PinAFConfig(GPIOE,GPIO_PinSource9,GPIO_AF_TIM1);
GPIO_PinAFConfig(GPIOE,GPIO_PinSource11,GPIO_AF_TIM1);
GPIO_PinAFConfig(GPIOE,GPIO_PinSource13,GPIO_AF_TIM1);
GPIO_PinAFConfig(GPIOE,GPIO_PinSource14,GPIO_AF_TIM1);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9|GPIO_Pin_11|GPIO_Pin_13|GPIO_Pin_14; //GPIO
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; //复用功能
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; //速度100MHz
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽复用输出
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //上拉
GPIO_Init(GPIOE,&GPIO_InitStructure); //初始化PC口
//Sets the value of the auto-reload register cycle for the next update event load activity
//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
TIM_TimeBaseStructure.TIM_Period = arr;
//Sets the pre-divider value used as the TIMX clock frequency divisor
//设置用来作为TIMx时钟频率除数的预分频值
TIM_TimeBaseStructure.TIM_Prescaler =psc;
//Set the clock split :TDTS = Tck_tim
//设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_ClockDivision = 1;
//Up counting mode
//向上计数模式
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
//Initializes the timebase unit for TIMX based on the parameter specified in TIM_TIMEBASEINITSTRUCT
//根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
//Select Timer mode :TIM Pulse Width Modulation mode 1
//选择定时器模式:TIM脉冲宽度调制模式1
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
//Compare output enablement
//比较输出使能
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
//Output polarity :TIM output polarity is higher
//输出极性:TIM输出比较极性高
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
//Initialize the peripheral TIMX based on the parameter specified in TIM_OCINITSTRUCT
//根据TIM_OCInitStruct中指定的参数初始化外设TIMx
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
TIM_OC2Init(TIM1, &TIM_OCInitStructure);
TIM_OC3Init(TIM1, &TIM_OCInitStructure);
TIM_OC4Init(TIM1, &TIM_OCInitStructure);
// Advanced timer output must be enabled
//高级定时器输出必须使能这句
TIM_CtrlPWMOutputs(TIM1,ENABLE);
//CH1 is pre-loaded and enabled
//CH1预装载使能
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable);
// Enable the TIMX preloaded register on the ARR
//使能TIMx在ARR上的预装载寄存器
TIM_ARRPreloadConfig(TIM1, ENABLE);
//Enable TIM8
//使能TIM8
TIM_Cmd(TIM1, ENABLE);
}
void TIM9_PWM_Init(u16 arr,u16 psc)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM9,ENABLE);/*使能定时器11时钟*/
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE,ENABLE);/*使能GPIOF时钟*/
GPIO_PinAFConfig(GPIOE,GPIO_PinSource5,GPIO_AF_TIM9);/*复用*/
GPIO_PinAFConfig(GPIOE,GPIO_PinSource6,GPIO_AF_TIM9);/*复用*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5|GPIO_Pin_6; //GPIOF9
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; //复用功能
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; //速度100MHz
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽复用输出
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //上拉
GPIO_Init(GPIOE,&GPIO_InitStructure); //初始化PF9
TIM_TimeBaseInitStructure.TIM_Period = arr;/*自动重装载*/
TIM_TimeBaseInitStructure.TIM_Prescaler = psc;/*预分频*/
TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;/*时钟分频*/
TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;/*向上计数*/
TIM_TimeBaseInit(TIM9,&TIM_TimeBaseInitStructure);/*初始化*/
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;/*PWM模式*/
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;/*输出*/
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;/*比较极性高*/
TIM_OC1Init(TIM9,&TIM_OCInitStructure);
TIM_OC2Init(TIM9,&TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM9,TIM_OCPreload_Enable);/*输出比较预装载使能*/
TIM_OC2PreloadConfig(TIM9,TIM_OCPreload_Enable);/*输出比较预装载使能*/
TIM_ARRPreloadConfig(TIM9,ENABLE);/*自动重载预装载使能*/
TIM_Cmd(TIM9,ENABLE);/*计数使能*/
}
void TIM10_PWM_Init(u16 arr,u16 psc)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB,ENABLE);/*使能GPIOF时钟*/
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM10,ENABLE);/*使能定时器11时钟*/
GPIO_PinAFConfig(GPIOB,GPIO_PinSource8,GPIO_AF_TIM10);/*复用*/
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;/*复用*/
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;/*推挽输出*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;/*PF7*/
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;/*上拉*/
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;/**/
GPIO_Init(GPIOB,&GPIO_InitStructure);/*初始化IO*/
TIM_TimeBaseInitStructure.TIM_Period = arr;/*自动重装载*/
TIM_TimeBaseInitStructure.TIM_Prescaler = psc;/*预分频*/
TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;/*时钟分频*/
TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;/*向上计数*/
TIM_TimeBaseInit(TIM10,&TIM_TimeBaseInitStructure);/*初始化*/
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;/*PWM模式*/
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;/*输出*/
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;/*比较极性高*/
TIM_OC1Init(TIM10,&TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM10,TIM_OCPreload_Enable);/*输出比较预装载使能*/
//TIM_CtrlPWMOutputs(TIM10,ENABLE);
TIM_ARRPreloadConfig(TIM10,ENABLE);/*自动重载预装载使能*/
TIM_Cmd(TIM10,ENABLE);/*计数使能*/
}
void TIM11_PWM_Init(u16 arr,u16 psc)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB,ENABLE);/*使能GPIOF时钟*/
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM11,ENABLE);/*使能定时器11时钟*/
GPIO_PinAFConfig(GPIOB,GPIO_PinSource9,GPIO_AF_TIM11);/*复用*/
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;/*复用*/
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;/*推挽输出*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;/*PF7*/
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;/*上拉*/
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;/**/
GPIO_Init(GPIOB,&GPIO_InitStructure);/*初始化IO*/
TIM_TimeBaseInitStructure.TIM_Period = arr;/*自动重装载*/
TIM_TimeBaseInitStructure.TIM_Prescaler = psc;/*预分频*/
TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;/*时钟分频*/
TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;/*向上计数*/
TIM_TimeBaseInit(TIM11,&TIM_TimeBaseInitStructure);/*初始化*/
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;/*PWM模式*/
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;/*输出*/
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;/*比较极性高*/
TIM_OC1Init(TIM11,&TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM11,TIM_OCPreload_Enable);/*输出比较预装载使能*/
TIM_CtrlPWMOutputs(TIM11,ENABLE);
TIM_ARRPreloadConfig(TIM11,ENABLE);/*自动重载预装载使能*/
TIM_Cmd(TIM11,ENABLE);/*计数使能*/
}