init

HARDWARE/motor.h

@@ -0,0 +1,63 @@
+
+#ifndef __MOTOR_H
+#define __MOTOR_H
+
+#include "system.h"
+
+/*--------Motor_A control pins--------*/
+#define PWM_PORTA1 GPIOB			 //PWMA
+#define PWM_PIN_A1 GPIO_Pin_8 //PWMA
+#define PWMA1 	  TIM10->CCR1	 //PWMA
+
+#define PWM_PORTA2 GPIOB			 //PWMA
+#define PWM_PIN_A2 GPIO_Pin_9 //PWMA
+#define PWMA2 	  TIM11->CCR1	 //PWMA
+/*------------------------------------*/
+
+/*--------Motor_B control pins--------*/
+#define PWM_PORTB1 GPIOE			 //PWMB
+#define PWM_PIN_B1 GPIO_Pin_5 //PWMB
+#define PWMB1 	  TIM9->CCR1	 //PWMB
+
+#define PWM_PORTB2 GPIOE			 //PWMB
+#define PWM_PIN_B2 GPIO_Pin_6 //PWMB
+#define PWMB2 	  TIM9->CCR2	 //PWMB
+
+/*------------------------------------*/
+
+/*--------Motor_C control pins--------*/
+#define PWM_PORTC1 GPIOE			 //PWMC
+#define PWM_PIN_C1 GPIO_Pin_11 //PWMC
+#define PWMC1 	  TIM1->CCR2	 //PWMC
+
+#define PWM_PORTC2 GPIOE			 //PWMC
+#define PWM_PIN_C2 GPIO_Pin_9 //PWMC
+#define PWMC2 	  TIM1->CCR1	 //PWMC
+
+/*------------------------------------*/
+
+/*--------Motor_D control pins--------*/
+#define PWM_PORTD1 GPIOE			 //PWMD
+#define PWM_PIN_D1 GPIO_Pin_14 //PWMD
+#define PWMD1 	  TIM1->CCR4	 //PWMD
+
+#define PWM_PORTD2 GPIOE			 //PWMD
+#define PWM_PIN_D2 GPIO_Pin_13 //PWMD
+#define PWMD2 	  TIM1->CCR3	 //PWMD
+
+/*------------------------------------*/
+#define EN     PDin(3)  
+
+#define Servo_PWM  TIM12->CCR2
+#define SERVO_INIT 1600  //Servo zero point //¶æ»úÁãµã
+
+void Enable_Pin(void);
+void Servo_PWM_Init(u16 arr,u16 psc);
+void TIM1_PWM_Init(u16 arr,u16 psc);
+void TIM9_PWM_Init(u16 arr,u16 psc);
+void TIM10_PWM_Init(u16 arr,u16 psc);
+void TIM11_PWM_Init(u16 arr,u16 psc);			
+	
+
+
+#endif