#include "timer.h" //Input the capture flag for channel 1, //the capture flag for the higher bits, and the overflow flag for the lower 6 bits //通道1输入捕获标志，高两位做捕获标志，低6位做溢出标志 u8 TIM8CH1_CAPTURE_STA = 0; u16 TIM8CH1_CAPTURE_UPVAL; u16 TIM8CH1_CAPTURE_DOWNVAL; //Input the capture flag for channel 2, //the capture flag for the higher bits, and the overflow flag for the lower 6 bits //通道2输入捕获标志，高两位做捕获标志，低6位做溢出标志 u8 TIM8CH2_CAPTURE_STA = 0; u16 TIM8CH2_CAPTURE_UPVAL; u16 TIM8CH2_CAPTURE_DOWNVAL; //Input the capture flag for channel 3, //the capture flag for the higher bits, and the overflow flag for the lower 6 bits //通道3输入捕获标志，高两位做捕获标志，低6位做溢出标志 u8 TIM8CH3_CAPTURE_STA = 0; u16 TIM8CH3_CAPTURE_UPVAL; u16 TIM8CH3_CAPTURE_DOWNVAL; //Input the capture flag for channel 4, //the capture flag for the higher bits, and the overflow flag for the lower 6 bits //通道4输入捕获标志，高两位做捕获标志，低6位做溢出标志 u8 TIM8CH4_CAPTURE_STA = 0; u16 TIM8CH4_CAPTURE_UPVAL; u16 TIM8CH4_CAPTURE_DOWNVAL; u32 TIM8_T1; u32 TIM8_T2; u32 TIM8_T3; u32 TIM8_T4; //Variables related to remote control acquisition of model aircraft //航模遥控采集相关变量 int Remoter_Ch1=1500,Remoter_Ch2=1500,Remoter_Ch3=1500,Remoter_Ch4=1500; //Model aircraft remote control receiver variable //航模遥控接收变量 int L_Remoter_Ch1=1500,L_Remoter_Ch2=1500,L_Remoter_Ch3=1500,L_Remoter_Ch4=1500; /************************************************************************** Function: Model aircraft remote control initialization function, timer 1 input capture initialization Input : arr: Automatic reload value, psc: clock preset frequency Output : none 函数功能：航模遥控初始化函数，定时器1输入捕获初始化 入口参数：arr：自动重装值，psc：时钟预分频数 返 回 值：无 **************************************************************************/ void TIM8_Cap_Init(u16 arr, u16 psc) { GPIO_InitTypeDef GPIO_InitStructure; TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; NVIC_InitTypeDef NVIC_InitStructure; TIM_ICInitTypeDef TIM_ICInitStructure; RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8,ENABLE); //TIM1时钟使能 RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE); //使能PORTE时钟 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9; //GPIOC 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_DOWN; //下拉 GPIO_Init(GPIOC,&GPIO_InitStructure); GPIO_PinAFConfig(GPIOC,GPIO_PinSource6,GPIO_AF_TIM8); GPIO_PinAFConfig(GPIOC,GPIO_PinSource7,GPIO_AF_TIM8); GPIO_PinAFConfig(GPIOC,GPIO_PinSource8,GPIO_AF_TIM8); GPIO_PinAFConfig(GPIOC,GPIO_PinSource9,GPIO_AF_TIM8); /*** Initialize timer 1 || 初始化定时器1 ***/ //Set the counter to automatically reload //设定计数器自动重装值 TIM_TimeBaseStructure.TIM_Period = arr; //Pre-divider //预分频器 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 = TIM_CKD_DIV1; //TIM up count mode //TIM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(TIM8, &TIM_TimeBaseStructure); /*** 初始化TIM1输入捕获参数，通道1 || Initialize TIM1 for the capture parameter, channel 1 ***/ //Select input //选择输入端 TIM_ICInitStructure.TIM_Channel = TIM_Channel_1; //Rising edge capture //上升沿捕获 TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //Configure input frequency division, regardless of frequency //配置输入分频,不分频 TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //IC1F=0000 Configure input filter //配置输入滤波器 TIM_ICInitStructure.TIM_ICFilter = 0x0F; TIM_ICInit(TIM8, &TIM_ICInitStructure); /*** 初始化TIM1输入捕获参数，通道2 || Initialize TIM1 for the capture parameter, channel 2 ***/ //CC1S=01 Select input //选择输入端 TIM_ICInitStructure.TIM_Channel = TIM_Channel_2; //Rising edge capture //上升沿捕获 TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //Configure input frequency division, regardless of frequency //配置输入分频,不分频 TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; TIM_ICInitStructure.TIM_ICFilter = 0x00; //IC1F=0000 配置输入滤波器 TIM_ICInit(TIM8, &TIM_ICInitStructure); /*** 初始化TIM1输入捕获参数，通道3 || Initialize TIM1 for the capture parameter, channel 3 ***/ //Select input //选择输入端 TIM_ICInitStructure.TIM_Channel = TIM_Channel_3; //Rising edge capture //上升沿捕获 TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //Configure input frequency division, regardless of frequency //配置输入分频,不分频 TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //IC1F=0000 Configure input filter //配置输入滤波器，不滤波 TIM_ICInitStructure.TIM_ICFilter = 0x00; TIM_ICInit(TIM8, &TIM_ICInitStructure); /*** 初始化TIM1输入捕获参数，通道4 || Initialize TIM1 for the capture parameter, channel 4 ***/ //Select input //选择输入端 TIM_ICInitStructure.TIM_Channel = TIM_Channel_4; //Rising edge capture //上升沿捕获 TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //Configure input frequency division, regardless of frequency //配置输入分频,不分频 TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //IC1F=0000 Configure input filter //配置输入滤波器，不滤波 TIM_ICInitStructure.TIM_ICFilter = 0x00; TIM_ICInit(TIM8, &TIM_ICInitStructure); /*** interrupt packet initialization || 中断分组初始化 ***/ //TIM1 interrupts //TIM1中断 NVIC_InitStructure.NVIC_IRQChannel = TIM8_CC_IRQn; //Preempt priority 0 //先占优先级0级 NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2; //Level 0 from priority //从优先级0级 NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2; //IRQ channels are enabled //IRQ通道被使能 NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //Initializes the peripheral NVIC register according to the parameters specified in NVIC_InitStruct //根据NVIC_InitStruct中指定的参数初始化外设NVIC寄存器 NVIC_Init(&NVIC_InitStructure); //Allow CC1IE,CC2IE,CC3IE,CC4IE to catch interrupts, not allowed update_interrupts //不允许更新中断，允许CC1IE,CC2IE,CC3IE,CC4IE捕获中断 TIM_ITConfig(TIM8, TIM_IT_CC1|TIM_IT_CC2|TIM_IT_CC3|TIM_IT_CC4, ENABLE); //Advanced timer output must be enabled //高级定时器输出必须使能这句 TIM_CtrlPWMOutputs(TIM8,ENABLE); //Enable timer //使能定时器 TIM_Cmd(TIM8, ENABLE); } /************************************************************************** Function: Model aircraft remote control receiving interrupt, namely timer 8 input capture interrupt Input : none Output : none 函数功能：航模遥控接收中断，即定时器8输入捕获中断 入口参数：无 返 回 值：无 **************************************************************************/ void TIM8_CC_IRQHandler(void) { //连接航模遥遥控器后，需要推下前进杆，才可以正式航模控制小车 //After connecting the remote controller of the model aircraft, //you need to push down the forward lever to officially control the car of the model aircraft if(Remoter_Ch2>1600&&Remote_ON_Flag==0&&Deviation_Count>=CONTROL_DELAY) { //Model aircraft remote control mark position 1, other marks position 0 //航模遥控标志位置1，其它标志位置0 Remote_ON_Flag=1; APP_ON_Flag=0; PS2_ON_Flag=0; CAN_ON_Flag=0; //Usart_ON_Flag=0; Usart1_ON_Flag=0; Usart5_ON_Flag=0; } // //Channel 1 //通道一 if ((TIM8CH1_CAPTURE_STA & 0X80) == 0) { if (TIM_GetITStatus(TIM8, TIM_IT_CC1) != RESET) //A capture event occurred on channel 1 //通道1发生捕获事件 { TIM_ClearITPendingBit(TIM8, TIM_IT_CC1); //Clear the interrupt flag bit //清除中断标志位 if (TIM8CH1_CAPTURE_STA & 0X40) //A falling edge is caught //捕获到一个下降沿 { TIM8CH1_CAPTURE_DOWNVAL = TIM_GetCapture1(TIM8); //Record the timer value at this point //记录下此时的定时器计数值 if (TIM8CH1_CAPTURE_DOWNVAL < TIM8CH1_CAPTURE_UPVAL) { TIM8_T1 = 9999; } else TIM8_T1 = 0; Remoter_Ch1 = TIM8CH1_CAPTURE_DOWNVAL - TIM8CH1_CAPTURE_UPVAL + TIM8_T1; //Time to get the total high level //得到总的高电平的时间 if(abs(Remoter_Ch1-L_Remoter_Ch1)>500) Remoter_Ch1=L_Remoter_Ch1; //Filter //滤波 L_Remoter_Ch1=Remoter_Ch1; TIM8CH1_CAPTURE_STA = 0; //Capture flag bit to zero //捕获标志位清零 TIM_OC1PolarityConfig(TIM8, TIM_ICPolarity_Rising); //Set to rising edge capture //设置为上升沿捕获 } else { //When the capture time occurs but not the falling edge, the first time the rising edge is captured, record the timer value at this time //发生捕获时间但不是下降沿，第一次捕获到上升沿，记录此时的定时器计数值 TIM8CH1_CAPTURE_UPVAL = TIM_GetCapture1(TIM8); //Obtain rising edge data //获取上升沿数据 TIM8CH1_CAPTURE_STA |= 0X40; //The flag has been caught on the rising edge //标记已捕获到上升沿 TIM_OC1PolarityConfig(TIM8, TIM_ICPolarity_Falling); //Set to Falling Edge Capture //设置为下降沿捕获 } } } //Channel 2 //通道二 if ((TIM8CH2_CAPTURE_STA & 0X80) == 0) { if (TIM_GetITStatus(TIM8, TIM_IT_CC2) != RESET) //A capture event occurred on channel 2 //通道2发生捕获事件 { TIM_ClearITPendingBit(TIM8, TIM_IT_CC2); //Clear the interrupt flag bit //清除中断标志位 if (TIM8CH2_CAPTURE_STA & 0X40) //A falling edge is caught //捕获到一个下降沿 { TIM8CH2_CAPTURE_DOWNVAL = TIM_GetCapture2(TIM8); //Record the timer value at this point //记录下此时的定时器计数值 if (TIM8CH2_CAPTURE_DOWNVAL < TIM8CH2_CAPTURE_UPVAL) { TIM8_T2 = 9999; } else TIM8_T2 = 0; Remoter_Ch2 = TIM8CH2_CAPTURE_DOWNVAL - TIM8CH2_CAPTURE_UPVAL + TIM8_T2; //Time to get the total high level //得到总的高电平的时间 if(abs(Remoter_Ch2-L_Remoter_Ch2)>500)Remoter_Ch2=L_Remoter_Ch2; //Filter //滤波 L_Remoter_Ch2=Remoter_Ch2; TIM8CH2_CAPTURE_STA = 0; //Capture flag bit to zero //捕获标志位清零 TIM_OC2PolarityConfig(TIM8, TIM_ICPolarity_Rising); //Set to rising edge capture //设置为上升沿捕获 } else { //When the capture time occurs but not the falling edge, the first time the rising edge is captured, record the timer value at this time //发生捕获时间但不是下降沿，第一次捕获到上升沿，记录此时的定时器计数值 TIM8CH2_CAPTURE_UPVAL = TIM_GetCapture2(TIM8); //Obtain rising edge data //获取上升沿数据 TIM8CH2_CAPTURE_STA |= 0X40; //The flag has been caught on the rising edge //标记已捕获到上升沿 TIM_OC2PolarityConfig(TIM8, TIM_ICPolarity_Falling); //Set to Falling Edge Capture //设置为下降沿捕获 } } } //Channel 3 //通道三 if ((TIM8CH3_CAPTURE_STA & 0X80) == 0) { if (TIM_GetITStatus(TIM8, TIM_IT_CC3) != RESET) //A capture event occurred on channel 3 //通道3发生捕获事件 { TIM_ClearITPendingBit(TIM8, TIM_IT_CC3); //Clear the interrupt flag bit //清除中断标志位 if (TIM8CH3_CAPTURE_STA & 0X40) //A falling edge is caught //捕获到一个下降沿 { TIM8CH3_CAPTURE_DOWNVAL = TIM_GetCapture3(TIM8); //Record the timer value at this point //记录下此时的定时器计数值 if (TIM8CH3_CAPTURE_DOWNVAL < TIM8CH3_CAPTURE_UPVAL) { TIM8_T3 = 9999; } else TIM8_T3 = 0; Remoter_Ch3 = TIM8CH3_CAPTURE_DOWNVAL - TIM8CH3_CAPTURE_UPVAL + TIM8_T3; //Time to get the total high level //得到总的高电平的时间 if(abs(Remoter_Ch3-L_Remoter_Ch3)>500)Remoter_Ch3=L_Remoter_Ch3; //Filter //滤波 L_Remoter_Ch3=Remoter_Ch3; TIM8CH3_CAPTURE_STA = 0; //Capture flag bit to zero //捕获标志位清零 TIM_OC3PolarityConfig(TIM8, TIM_ICPolarity_Rising); //Set to rising edge capture //设置为上升沿捕获 } else { //When the capture time occurs but not the falling edge, the first time the rising edge is captured, record the timer value at this time //发生捕获时间但不是下降沿，第一次捕获到上升沿，记录此时的定时器计数值 TIM8CH3_CAPTURE_UPVAL = TIM_GetCapture3(TIM8); //Obtain rising edge data //获取上升沿数据 TIM8CH3_CAPTURE_STA |= 0X40; //The flag has been caught on the rising edge //标记已捕获到上升沿 TIM_OC3PolarityConfig(TIM8, TIM_ICPolarity_Falling); //Set to Falling Edge Capture //设置为下降沿捕获 } } } // //Channel 4 //通道四 if ((TIM8CH4_CAPTURE_STA & 0X80) == 0) { if (TIM_GetITStatus(TIM8, TIM_IT_CC4) != RESET) //A capture event occurred on channel 4 //通道4发生捕获事件 { TIM_ClearITPendingBit(TIM8, TIM_IT_CC4); //Clear the interrupt flag bit //清除中断标志位 if (TIM8CH4_CAPTURE_STA & 0X40) //A falling edge is caught //捕获到一个下降沿 { TIM8CH4_CAPTURE_DOWNVAL = TIM_GetCapture4(TIM8); //Record the timer value at this point //记录下此时的定时器计数值 if (TIM8CH4_CAPTURE_DOWNVAL < TIM8CH4_CAPTURE_UPVAL) { TIM8_T4 = 9999; } else TIM8_T4 = 0; Remoter_Ch4 = TIM8CH4_CAPTURE_DOWNVAL - TIM8CH4_CAPTURE_UPVAL + TIM8_T4; //Time to get the total high level //得到总的高电平的时间 if(abs(Remoter_Ch4-L_Remoter_Ch4)>500)Remoter_Ch4=L_Remoter_Ch4; //Filter //滤波 L_Remoter_Ch4=Remoter_Ch4; TIM8CH4_CAPTURE_STA = 0; //Capture flag bit to zero //捕获标志位清零 TIM_OC4PolarityConfig(TIM8, TIM_ICPolarity_Rising); //Set to rising edge capture //设置为上升沿捕获 } else { //When the capture time occurs but not the falling edge, the first time the rising edge is captured, record the timer value at this time //发生捕获时间但不是下降沿，第一次捕获到上升沿，记录此时的定时器计数值 TIM8CH4_CAPTURE_UPVAL = TIM_GetCapture4(TIM8); //Obtain rising edge data //获取上升沿数据 TIM8CH4_CAPTURE_STA |= 0X40; //The flag has been caught on the rising edge //标记已捕获到上升沿 TIM_OC4PolarityConfig(TIM8, TIM_ICPolarity_Falling); //Set to Falling Edge Capture //设置为下降沿捕获 } } } } /************************************************************************** Function: TIM1 Update Interrupt Input : none Output : none 函数功能：定时器8更新中断 入口参数：无 返回 值：无 **************************************************************************/ void TIM8_UP_TIM13_IRQHandler(void) { //Clear the interrupt flag bit //清除中断标志位 TIM8->SR&=~(1<<0); } void TIM8_SERVO_Init(u16 arr,u16 psc) { GPIO_InitTypeDef GPIO_InitStructure; //IO TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; //定时器 TIM_OCInitTypeDef TIM_OCInitStructure; //PWM输出 RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8,ENABLE); //TIM1时钟使能 RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE); //使能PORTE时钟 GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF; GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_8|GPIO_Pin_9; GPIO_InitStructure.GPIO_Speed=GPIO_Speed_100MHz; GPIO_InitStructure.GPIO_OType=GPIO_OType_PP; GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP; GPIO_Init(GPIOC, &GPIO_InitStructure); GPIO_PinAFConfig(GPIOC,GPIO_PinSource6,GPIO_AF_TIM8); GPIO_PinAFConfig(GPIOC,GPIO_PinSource7,GPIO_AF_TIM8); GPIO_PinAFConfig(GPIOC,GPIO_PinSource8,GPIO_AF_TIM8); GPIO_PinAFConfig(GPIOC,GPIO_PinSource9,GPIO_AF_TIM8); /*** Initialize timer 1 || 初始化定时器1 ***/ //Set the counter to automatically reload //设定计数器自动重装值 TIM_TimeBaseStructure.TIM_Period = arr; //Pre-divider //预分频器 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 = TIM_CKD_DIV1; //TIM up count mode //TIM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(TIM8, &TIM_TimeBaseStructure); //-----------舵机初始化-----------// //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; //Set the pulse value of the capture comparison register to be loaded //设置待装入捕获比较寄存器的脉冲值 TIM_OCInitStructure.TIM_Pulse = 0; //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; TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset; //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(TIM8, &TIM_OCInitStructure); TIM_OC2Init(TIM8, &TIM_OCInitStructure); TIM_OC3Init(TIM8, &TIM_OCInitStructure); TIM_OC4Init(TIM8, &TIM_OCInitStructure); //Channel preload enable //通道预装载使能 TIM_OC1PreloadConfig(TIM8, TIM_OCPreload_Enable); TIM_OC2PreloadConfig(TIM8, TIM_OCPreload_Enable); TIM_OC3PreloadConfig(TIM8, TIM_OCPreload_Enable); TIM_OC4PreloadConfig(TIM8, TIM_OCPreload_Enable); //-----------舵机初始化-----------// TIM_CtrlPWMOutputs(TIM8,ENABLE); //Enable timer //使能定时器 TIM_Cmd(TIM8, ENABLE); //The channel value is initialized to 1500, corresponding to the steering gear zero //通道值初始化为1500，舵机零点对应值 // TIM8->CCR1=1500; // TIM8->CCR2=1500; // TIM8->CCR3=1500; // TIM8->CCR4=1500; } void TIM12_SERVO_Init(u16 arr,u16 psc) { GPIO_InitTypeDef GPIO_InitStructure; //IO TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; //定时器 TIM_OCInitTypeDef TIM_OCInitStructure; //PWM输出 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM12,ENABLE); //TIM1时钟使能 RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); //使能PORTE时钟 GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF; GPIO_InitStructure.GPIO_Pin = GPIO_Pin_14|GPIO_Pin_15; GPIO_InitStructure.GPIO_Speed=GPIO_Speed_100MHz; GPIO_InitStructure.GPIO_OType=GPIO_OType_PP; GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP; GPIO_Init(GPIOB, &GPIO_InitStructure); GPIO_PinAFConfig(GPIOB,GPIO_PinSource14,GPIO_AF_TIM12); GPIO_PinAFConfig(GPIOB,GPIO_PinSource15,GPIO_AF_TIM12); /*** Initialize timer 1 || 初始化定时器1 ***/ //Set the counter to automatically reload //设定计数器自动重装值 TIM_TimeBaseStructure.TIM_Period = arr; //Pre-divider //预分频器 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 = TIM_CKD_DIV1; //TIM up count mode //TIM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(TIM12, &TIM_TimeBaseStructure); //-----------舵机初始化-----------// //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; //Set the pulse value of the capture comparison register to be loaded //设置待装入捕获比较寄存器的脉冲值 TIM_OCInitStructure.TIM_Pulse = 0; //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; TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset; //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(TIM12, &TIM_OCInitStructure); TIM_OC2Init(TIM12, &TIM_OCInitStructure); //Channel preload enable //通道预装载使能 TIM_OC1PreloadConfig(TIM12, TIM_OCPreload_Enable); TIM_OC2PreloadConfig(TIM12, TIM_OCPreload_Enable); //-----------舵机初始化-----------// TIM_CtrlPWMOutputs(TIM12,ENABLE); //Enable timer //使能定时器 TIM_Cmd(TIM12, ENABLE); //The channel value is initialized to 1500, corresponding to the steering gear zero //通道值初始化为1500，舵机零点对应值 TIM12->CCR2=1500; TIM12->CCR1=1500; }