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#include "stm32f10x.h"
#include "usart.h"
#include "timer.h"
#include "duoji.h"
#include "delay.h"
#include "math.h"
#include "sys.h"
void delay(u8 count)
{
for(; count!=0 ; count--);
}
int main(void)
{
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2)
usart_Init()
TIM3_PWM_Init(199,7199)
// TIM2_PWM_Init(199,719
while(1)
{
}
}
void USART1_IRQHandler(void
{
u8 res;
res=USART_ReceiveData(USART1)
switch(res)/
{
case'6':duoji1();
TIM_SetCompare3(TIM3,180);
break;
case'7':duoji2();
TIM_SetCompare3(TIM3,175);
break;
}
}
舵機(jī)
#include "duoji.h"
#include "stm32f10x.h"
#include "delay.h"
void TIM3_PWM_Init(u16 arr, u16 psc)
{
GPIO_InitTypeDef GPIO_InitTypeSture;
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitTypeSture;
TIM_OCInitTypeDef TIM_OCInitTypeStrue;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);
GPIO_InitTypeSture.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitTypeSture.GPIO_Pin = GPIO_Pin_0;
GPIO_InitTypeSture.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitTypeSture);
TIM_TimeBaseInitTypeSture.TIM_Period = arr;
TIM_TimeBaseInitTypeSture.TIM_Prescaler = psc;
TIM_TimeBaseInitTypeSture.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInitTypeSture.TIM_ClockDivision = 0;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseInitTypeSture);
GPIO_PinRemapConfig(GPIO_FullRemap_TIM3,ENABLE);
TIM_OCInitTypeStrue.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitTypeStrue.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitTypeStrue.TIM_Pulse = 0;
TIM_OCInitTypeStrue.TIM_OutputState = TIM_OutputState_Enable;
TIM_OC1Init(TIM3, &TIM_OCInitTypeStrue);
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_Cmd(TIM3, ENABLE);
}
void TIM2_PWM_Init(u16 arr, u16 psc)
{
GPIO_InitTypeDef GPIO_InitTypeSture;
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitTypeSture;
TIM_OCInitTypeDef TIM_OCInitTypeStrue;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);
GPIO_InitTypeSture.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitTypeSture.GPIO_Pin = GPIO_Pin_3;
GPIO_InitTypeSture.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitTypeSture);
TIM_TimeBaseInitTypeSture.TIM_Period = arr;
TIM_TimeBaseInitTypeSture.TIM_Prescaler = psc;
TIM_TimeBaseInitTypeSture.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInitTypeSture.TIM_ClockDivision = 0;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseInitTypeSture);
GPIO_PinRemapConfig(GPIO_FullRemap_TIM2,ENABLE);
TIM_OCInitTypeStrue.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitTypeStrue.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitTypeStrue.TIM_Pulse = 0;
TIM_OCInitTypeStrue.TIM_OutputState = TIM_OutputState_Enable;
TIM_OC1Init(TIM2, &TIM_OCInitTypeStrue);
TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_Cmd(TIM2, ENABLE);
}
void duoji1(void)
{
// TIM_SetCompare1(TIM3,195);
// delay_ms(1000
// TIM_SetCompare1(TIM3,190);
// delay_ms(1000
// TIM_SetCompare1(TIM3,185);
delay_ms(1000);
TIM_SetCompare3(TIM3,180);
// delay_ms(1000
// TIM_SetCompare1(TIM3,175);
// delay_ms(1000
}
//void duoji12(void
/
// TIM_SetCompare1(TIM3,175);
// delay_ms(1000
// TIM_SetCompare1(TIM3,180);
// delay_ms(1000
// TIM_SetCompare1(TIM3,185);
// delay_ms(1000
// TIM_SetCompare1(TIM3,190);
// delay_ms(1000
// TIM_SetCompare1(TIM3,195);
// delay_ms(1000
/
void duoji2(void)
{
// TIM_SetCompare1(TIM2,195);
// delay_ms(1000
// TIM_SetCompare1(TIM2,190);
// delay_ms(1000
// TIM_SetCompare1(TIM2,185);
// delay_ms(1000
// TIM_SetCompare1(TIM2,180);
// delay_ms(1000
TIM_SetCompare3(TIM3,175);
delay_ms(1000);
}
//void duoji22
/
// TIM_SetCompare1(TIM3,175);
// delay_ms(1000
// TIM_SetCompare1(TIM3,180);
// delay_ms(1000
// TIM_SetCompare1(TIM3,185);
// delay_ms(1000
// TIM_SetCompare1(TIM3,190);
// delay_ms(1000
// TIM_SetCompare1(TIM3,195);
// delay_ms(1000
/
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