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timer.c
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timer.c
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#include "timer.h"
#include "base.h"
#include "stm32f4xx.h"
#include "chassis.h"
u8 TIM2CH3_CAPTURE_STA=0,ppm_rx_sta=0,ppm_rx_num=0; //输入捕获状态
u32 TIM2CH3_CAPTURE_VAL; //输入捕获值
u16 ppm_rx[10];//ppm_rx[0] 1 接收到ppm数据
extern s16 current_M3508[4];
extern chassis_t chassis;
extern moto_measure_t moto_chassis[3];
extern pid_t pid_spd[3];
//extern odom_t odom;
float l1_1,l1_2,l2_1,l2_2,r1_1,r1_2,r2_1,r2_2;
uint16_t count;
u16 get1,get2,get3,get4,get5,get6,get7,get8;
void TIM3_Int_Init(u16 arr,u16 psc)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);
TIM_TimeBaseInitStructure.TIM_Period = arr;
TIM_TimeBaseInitStructure.TIM_Prescaler=psc;
TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up;
TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseInit(TIM3,&TIM_TimeBaseInitStructure);
TIM_ITConfig(TIM3,TIM_IT_Update,ENABLE);
NVIC_InitStructure.NVIC_IRQChannel=TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0x01;
NVIC_InitStructure.NVIC_IRQChannelSubPriority=0x03;
NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_Cmd(TIM3,ENABLE);
}
void TIM9_Int_Init(u16 arr,u16 psc)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM9,ENABLE);
TIM_TimeBaseInitStructure.TIM_Period = arr;
TIM_TimeBaseInitStructure.TIM_Prescaler=psc;
TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up;
TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseInit(TIM9,&TIM_TimeBaseInitStructure);
TIM_ITConfig(TIM9,TIM_IT_Update,ENABLE);
NVIC_InitStructure.NVIC_IRQChannel=TIM1_BRK_TIM9_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0x01;
NVIC_InitStructure.NVIC_IRQChannelSubPriority=0x00;
NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_Cmd(TIM9,ENABLE);
}
TIM_ICInitTypeDef TIM2_ICInitStructure;
void TIM2_CH3_Cap_Init(u32 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE); //TIM5 ????
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); //?? PORTA ??
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10; //GPIOA0
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//????
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; //?? 100MHz
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //??????
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //??
GPIO_Init(GPIOB,&GPIO_InitStructure); //??? PA0
GPIO_SetBits(GPIOB,GPIO_Pin_10);
GPIO_PinAFConfig(GPIOB,GPIO_PinSource10,GPIO_AF_TIM2);
TIM_TimeBaseStructure.TIM_Prescaler=psc; //?????
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up; //??????
TIM_TimeBaseStructure.TIM_Period=arr; //??????
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseInit(TIM2,&TIM_TimeBaseStructure);
TIM2_ICInitStructure.TIM_Channel = TIM_Channel_3; //????? IC1 ??? TI1 ?
TIM2_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling; //?????
TIM2_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //??? TI1 ?
TIM2_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //??????,???
TIM2_ICInitStructure.TIM_ICFilter = 0x00;//IC1F=0000 ??????? ???
TIM_ICInit(TIM2, &TIM2_ICInitStructure); //??? TIM5 ??????
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0;//????? 2
NVIC_InitStructure.NVIC_IRQChannelSubPriority =0;//????? 0
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ ????
NVIC_Init(&NVIC_InitStructure); //?????????? VIC ????
TIM_ITConfig(TIM2,TIM_IT_Update|TIM_IT_CC3,ENABLE);//?????????
TIM_Cmd(TIM2,ENABLE );
}
void TIM2_IRQHandler(void)
{
if((TIM2CH3_CAPTURE_STA&0X80)==0)//还未成功捕获
{
if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET)
{
if(TIM2CH3_CAPTURE_STA&0X40)//已经捕获到高电平了
{
if((TIM2CH3_CAPTURE_STA&0X3F)==0X3F)//高电平太长了
{
TIM2CH3_CAPTURE_STA|=0X80;//标记成功捕获了一次
TIM2CH3_CAPTURE_VAL=0XFFFFFFFF;
}else TIM2CH3_CAPTURE_STA++;
}
}
if (TIM_GetITStatus(TIM2, TIM_IT_CC3) != RESET)//捕获3发生捕获事件
{
if(TIM2CH3_CAPTURE_STA&0X40) //捕获到一个下降沿
{
TIM2CH3_CAPTURE_STA|=0X80; //标记成功捕获到一次高电平脉宽
TIM2CH3_CAPTURE_VAL=TIM_GetCapture3(TIM2);
// printf("Rising is %d\n",TIM2CH3_CAPTURE_VAL);
TIM_OC3PolarityConfig(TIM2,TIM_ICPolarity_Falling); //CC1P=0 设置为上升沿捕获
}else //还未开始,第一次捕获上升沿
{
TIM2CH3_CAPTURE_STA=0; //清空
TIM2CH3_CAPTURE_VAL=0;
TIM_SetCounter(TIM2,0);
TIM2CH3_CAPTURE_STA|=0X40; //标记捕获到了上升沿
TIM_OC3PolarityConfig(TIM3,TIM_ICPolarity_Rising); //CC1P=1 设置为下降沿捕获
TIM_Cmd(TIM2,ENABLE);
}
}
}
//处理帧数据
if(TIM2CH3_CAPTURE_STA&0X80)//成功捕获到了一次上升沿
{
// temp=TIM5CH1_CAPTURE_STA&0X3F;
// temp*=65536;//溢出时间总和
// temp+=TIM5CH1_CAPTURE_VAL;//得到总的高电平时间
if(ppm_rx_sta==1) {ppm_rx[ppm_rx_num+1]=TIM2CH3_CAPTURE_VAL;ppm_rx_num++;}//printf("TIM5CH1_CAPTURE_VAL:%d\r\n",TIM5CH1_CAPTURE_VAL);
if(4>TIM2CH3_CAPTURE_STA&0X3F>0||TIM2CH3_CAPTURE_VAL>3000) ppm_rx_sta++;//低电平时间大于3000us为起始帧
if(ppm_rx_sta==2) {ppm_rx_sta=0;ppm_rx[0]=1;ppm_rx_num=0;}//printf("receive\r\n");//ppm_rx_sta 1 表示接收到同步帧/ 2接收到到下一起始帧 ppm数据接收完毕
TIM2CH3_CAPTURE_STA=0;//开启下一次捕获
}
TIM_ClearITPendingBit(TIM2, TIM_IT_CC3|TIM_IT_Update); //清除中断标志位
}
volatile u16 temp = 0;
void TIM3_IRQHandler(void)
{
static u16 led_cnt;
// static int j;
// static int pulse=5000;
if(TIM_GetITStatus(TIM3,TIM_IT_Update)==SET)
{
// if((get3>0)&&(get3<150))
// {
// count++;
// }
count++;
TIM_SetCompare1(TIM2,l1_1*10000-1);
TIM_SetCompare2(TIM2,l1_2*10000-1);
TIM_SetCompare1(TIM4,r1_1*10000-1);
TIM_SetCompare2(TIM4,r1_2*10000-1);
TIM_SetCompare1(TIM5,r2_1*10000-1);
TIM_SetCompare2(TIM5,r2_2*10000-1);
TIM_SetCompare3(TIM2,l2_2*10000-1);
TIM_SetCompare4(TIM4,l2_1*10000-1);
LED0=!LED0;
temp++;
if(temp>50000) temp = 0;
if(temp % 10 == 0) //50ms 2Hz
{
if(led_cnt++ >27)led_cnt = 0;
if(led_cnt<2) GREEN_ON;
else if(led_cnt<5) GREEN_OFF;
else if(led_cnt<7) GREEN_ON;
else GREEN_OFF;
}
// mecanum_calc(chassis.vx, chassis.vy, chassis.vw, MAX_WHEEL_SPEED,chassis.wheel_w_speed);
// for(j=0;j<4;j++)
// current_M3508[j] = pid_calc(&pid_spd[j],moto_chassis[j].speed_rpm * PI/30,chassis.wheel_w_speed[j] * 5);
// Set_Motor_Speed_Can(current_M3508[0],current_M3508[1],current_M3508[2],current_M3508[3]);
}
TIM_ClearITPendingBit(TIM3,TIM_IT_Update);
}
//volatile u16 temp9 = 0;
//void TIM1_BRK_TIM9_IRQHandler(void)
//{
//
//
//// static u16 led_cnt;
// if (TIM_GetITStatus(TIM9, TIM_IT_Update) != RESET)
// {
////
//// temp9++; if(temp9>50000) temp9 = 0;
////
////
//// if(temp9 % 10 == 0) //50ms 2Hz
//// {
//// if(led_cnt++ >27)led_cnt = 0;
//// if(led_cnt<2) RED_ON;
//// else if(led_cnt<5) RED_OFF;
//// else if(led_cnt<7) RED_ON;
//// else RED_OFF;
//// }
//
//
//
// TIM_ClearITPendingBit(TIM9, TIM_IT_Update);
// }
//}
void TIM5_PWM_Init(u32 arr,u32 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5,ENABLE);//TIM14 时钟使能
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOH, ENABLE); //使能 PORTF 时钟
GPIO_PinAFConfig(GPIOH,GPIO_PinSource10,GPIO_AF_TIM5); //GF9 复用为 TIM14
GPIO_PinAFConfig(GPIOH,GPIO_PinSource11,GPIO_AF_TIM5); //GF9 复用为 TIM14
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10|GPIO_Pin_11; //GPIOF9
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; //复用功能
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; //速度 50MHz
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽复用输出
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //上拉
GPIO_Init(GPIOH,&GPIO_InitStructure); //初始化 PF9
TIM_TimeBaseStructure.TIM_Prescaler=psc; //定时器分频
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up; //向上计数模式
TIM_TimeBaseStructure.TIM_Period=arr; //自动重装载值
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;//STM32F4 开发指南(库函数版)
TIM_TimeBaseInit(TIM5,&TIM_TimeBaseStructure);//初始化定时器 14
//初始化 TIM14 Channel1 PWM 模式
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //PWM 调制模式 1
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性低
TIM_OC1Init(TIM5, &TIM_OCInitStructure); //初始化外设 TIM1 4OC1
TIM_OC1PreloadConfig(TIM5, TIM_OCPreload_Enable); //使能预装载寄存器
TIM_OC2Init(TIM5, &TIM_OCInitStructure); //初始化外设 TIM1 4OC1
TIM_OC2PreloadConfig(TIM5, TIM_OCPreload_Enable); //使能预装载寄存器
TIM_ARRPreloadConfig(TIM5,ENABLE);//ARPE 使能
TIM_Cmd(TIM5, ENABLE); //使能 TIM14
}
void TIM2_PWM_Init(u32 arr,u32 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);//TIM14 时钟使能
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); //使能 PORTF 时钟
GPIO_PinAFConfig(GPIOA,GPIO_PinSource0,GPIO_AF_TIM2); //GF9 复用为 TIM14
GPIO_PinAFConfig(GPIOA,GPIO_PinSource1,GPIO_AF_TIM2); //GF9 复用为 TIM14
GPIO_PinAFConfig(GPIOA,GPIO_PinSource2,GPIO_AF_TIM2); //GF9 复用为 TIM14
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1|GPIO_Pin_2; //GPIOF9
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; //复用功能
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; //速度 50MHz
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽复用输出
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //上拉
GPIO_Init(GPIOA,&GPIO_InitStructure); //初始化 PF9
TIM_TimeBaseStructure.TIM_Prescaler=psc; //定时器分频
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up; //向上计数模式
TIM_TimeBaseStructure.TIM_Period=arr; //自动重装载值
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;//STM32F4 开发指南(库函数版)
TIM_TimeBaseInit(TIM2,&TIM_TimeBaseStructure);//初始化定时器 14
//初始化 TIM14 Channel1 PWM 模式
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //PWM 调制模式 1
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性低
TIM_OC1Init(TIM2, &TIM_OCInitStructure); //初始化外设 TIM1 4OC1
TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable); //使能预装载寄存器
TIM_OC3Init(TIM2, &TIM_OCInitStructure); //初始化外设 TIM1 4OC1
TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable); //使能预装载寄存器
TIM_OC2Init(TIM2, &TIM_OCInitStructure); //初始化外设 TIM1 4OC1
TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable); //使能预装载寄存器
TIM_ARRPreloadConfig(TIM2,ENABLE);//ARPE 使能
TIM_Cmd(TIM2, ENABLE); //使能 TIM14
}
void TIM4_PWM_Init(u32 arr,u32 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4,ENABLE);//TIM14 时钟使能
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE); //使能 PORTF 时钟
GPIO_PinAFConfig(GPIOD,GPIO_PinSource12,GPIO_AF_TIM4); //GF9 复用为 TIM14
GPIO_PinAFConfig(GPIOD,GPIO_PinSource13,GPIO_AF_TIM4); //GF9 复用为 TIM14
GPIO_PinAFConfig(GPIOD,GPIO_PinSource14,GPIO_AF_TIM4); //GF9 复用为 TIM14
GPIO_PinAFConfig(GPIOD,GPIO_PinSource15,GPIO_AF_TIM4); //GF9 复用为 TIM14
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12|GPIO_Pin_13|GPIO_Pin_14|GPIO_Pin_15; //GPIOF9
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; //复用功能
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; //速度 50MHz
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽复用输出
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //上拉
GPIO_Init(GPIOD,&GPIO_InitStructure); //初始化 PF9
TIM_TimeBaseStructure.TIM_Prescaler=psc; //定时器分频
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up; //向上计数模式
TIM_TimeBaseStructure.TIM_Period=arr; //自动重装载值
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;//STM32F4 开发指南(库函数版)
TIM_TimeBaseInit(TIM4,&TIM_TimeBaseStructure);//初始化定时器 14
//初始化 TIM14 Channel1 PWM 模式
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //PWM 调制模式 1
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性低
TIM_OC1Init(TIM4, &TIM_OCInitStructure); //初始化外设 TIM1 4OC1
TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable); //使能预装载寄存器
TIM_OC2Init(TIM4, &TIM_OCInitStructure); //初始化外设 TIM1 4OC1
TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable); //使能预装载寄存器
TIM_OC4Init(TIM4, &TIM_OCInitStructure); //初始化外设 TIM1 4OC1
TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable); //使能预装载寄存器
TIM_ARRPreloadConfig(TIM4,ENABLE);//ARPE 使能
TIM_Cmd(TIM4, ENABLE); //使能 TIM14
}
void TIM8_PWM_Init(u32 arr,u32 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8,ENABLE);//TIM14 时钟使能
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOI, ENABLE); //使能 PORTF 时钟
GPIO_PinAFConfig(GPIOI,GPIO_PinSource5,GPIO_AF_TIM8); //GF9 复用为 TIM14
GPIO_PinAFConfig(GPIOI,GPIO_PinSource6,GPIO_AF_TIM8); //GF9 复用为 TIM14
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 50MHz
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽复用输出
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //上拉
GPIO_Init(GPIOI,&GPIO_InitStructure); //初始化 PF9
TIM_TimeBaseStructure.TIM_Prescaler=psc; //定时器分频
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up; //向上计数模式
TIM_TimeBaseStructure.TIM_Period=arr; //自动重装载值
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;//STM32F4 开发指南(库函数版)
TIM_TimeBaseInit(TIM8,&TIM_TimeBaseStructure);//初始化定时器 14
//初始化 TIM14 Channel1 PWM 模式
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //PWM 调制模式 1
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性低
TIM_OC1Init(TIM8, &TIM_OCInitStructure); //初始化外设 TIM1 4OC1
TIM_OC1PreloadConfig(TIM8, TIM_OCPreload_Enable); //使能预装载寄存器
TIM_OC2Init(TIM8, &TIM_OCInitStructure); //初始化外设 TIM1 4OC1
TIM_OC2PreloadConfig(TIM8, TIM_OCPreload_Enable); //使能预装载寄存器
TIM_ARRPreloadConfig(TIM8,ENABLE);//ARPE 使能
TIM_Cmd(TIM8, ENABLE); //使能 TIM14
}