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#include "L298N_GPIO.h"
#include "systick.h"
void LED_Config(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC,ENABLE);
//LED指示燈
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_13;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOC, &GPIO_InitStruct);
}
void Front_Motor_enzble_control(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
GPIO_InitStructure.GPIO_Pin = Motor1_cw_Pin|Motor1_ccw_Pin|Motor2_cw_Pin|Motor2_ccw_Pin;
GPIO_InitStructure.GPIO_Mode =GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA,&GPIO_InitStructure);
}
void Back_Motor_enzble_control(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
GPIO_InitStructure.GPIO_Pin = Motor3_cw_Pin|Motor3_ccw_Pin|Motor4_cw_Pin|Motor4_ccw_Pin;
GPIO_InitStructure.GPIO_Mode =GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB,&GPIO_InitStructure);
}
void Motor_enable_Init(void)
{
Front_Motor_enzble_control();
Back_Motor_enzble_control();
}
void Motor_PWM_control_GPIO_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
//RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);
//GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE);
GPIO_InitStructure.GPIO_Pin = Speed_control_Pin;
GPIO_InitStructure.GPIO_Mode =GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(Speed_control_Port,&GPIO_InitStructure);
}
void Tim3_mode_Config(uint16_t period,uint16_t Prescaler,uint16_t Pulse)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
//開(kāi)啟定時(shí)器3的時(shí)鐘
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);
//TIM3重映射
GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE);
// 自動(dòng)重裝載寄存器的值，累計(jì)TIM_Period+1個(gè)頻率后產(chǎn)生一個(gè)更新或者中斷
TIM_TimeBaseStructure.TIM_Period = period;
// 驅(qū)動(dòng)CNT計(jì)數(shù)器的時(shí)鐘 = Fck_int/(psc+1)
TIM_TimeBaseStructure.TIM_Prescaler = Prescaler;
//時(shí)鐘分割
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
// // 時(shí)鐘分頻因子，配置死區(qū)時(shí)間時(shí)需要用到
// TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;
// 計(jì)數(shù)器計(jì)數(shù)模式，設(shè)置為向上計(jì)數(shù)
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up;
// 重復(fù)計(jì)數(shù)器的值，沒(méi)用到不用管
//TIM_TimeBaseStructure.TIM_RepetitionCounter=0;
// 初始化定時(shí)器
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
// 配置為PWM模式1
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
// 輸出使能
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
// 互補(bǔ)輸出使能
//TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
// 設(shè)置脈沖寬度 CRR的值，0-65535
TIM_OCInitStructure.TIM_Pulse = Pulse;
// 輸出通道電平極性配置
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
// 互補(bǔ)輸出通道電平極性配置
//TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
// 輸出通道空閑電平極性配置
//TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
// 互補(bǔ)輸出通道空閑電平極性配置
//TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
// TIM_OC1Init(TIM3, &TIM_OCInitStructure);
// TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_OC1Init(TIM3, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
// TIM_OC3Init(TIM2, &TIM_OCInitStructure);
// TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable);
// TIM_OC4Init(TIM2, &TIM_OCInitStructure);
// TIM_OC4PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_Cmd(TIM3, ENABLE);
// 主輸出使能，當(dāng)使用的是通用定時(shí)器時(shí)，這句不需要
//TIM_CtrlPWMOutputs(ADVANCE_TIM, ENABLE);
}
//電機(jī)1
void Motor1_CW(void)
{
GPIO_ResetBits(GPIOA,Motor1_ccw_Pin);
GPIO_SetBits(GPIOA,Motor1_cw_Pin);
}
void Motor1_CCW(void)
{
GPIO_ResetBits(GPIOA,Motor1_cw_Pin);
GPIO_SetBits(GPIOA,Motor1_ccw_Pin);
}
//電機(jī)2
void Motor2_CW(void)
{
GPIO_ResetBits(GPIOA,Motor2_ccw_Pin);
GPIO_SetBits(GPIOA,Motor2_cw_Pin);
}
void Motor2_CCW(void)
{
GPIO_ResetBits(GPIOA,Motor2_cw_Pin);
GPIO_SetBits(GPIOA,Motor2_ccw_Pin);
}
//電機(jī)3
void Motor3_CW(void)
{
GPIO_ResetBits(GPIOB,Motor3_ccw_Pin);
GPIO_SetBits(GPIOB,Motor3_cw_Pin);
}
void Motor3_CCW(void)
{
GPIO_ResetBits(GPIOB,Motor3_cw_Pin);
GPIO_SetBits(GPIOB,Motor3_ccw_Pin);
}
//電機(jī)4
void Motor4_CW(void)
{
GPIO_ResetBits(GPIOB,Motor4_ccw_Pin);
GPIO_SetBits(GPIOB,Motor4_cw_Pin);
}
void Motor4_CCW(void)
{
GPIO_ResetBits(GPIOB,Motor4_cw_Pin);
GPIO_SetBits(GPIOB,Motor4_ccw_Pin);
}
void straight(void)
{
Motor1_CW();
Motor2_CW();
Motor3_CW();
Motor4_CW();
}
void Turn_left(void)
{
Motor1_CCW();
Motor2_CW();
Motor3_CCW();
Motor4_CW();
}
void Turn_left_move(void)
{
Motor1_CCW();
Motor2_CW();
Motor3_CW();
Motor4_CCW();
}
void Turn_right(void)
{
Motor1_CW();
Motor2_CCW();
Motor3_CW();
Motor4_CCW();
}
void Turn_right_move(void)
{
Motor1_CW();
Motor2_CCW();
Motor3_CCW();
Motor4_CW();
}
void Back(void)
{
Motor1_CCW();
Motor2_CCW();
Motor3_CCW();
Motor4_CCW();
}
void Stop_motor1(void)
{
GPIO_ResetBits(GPIOA,Motor1_cw_Pin);
GPIO_ResetBits(GPIOA,Motor1_ccw_Pin);
}
void Stop_motor2(void)
{
GPIO_ResetBits(GPIOA,Motor2_cw_Pin);
GPIO_ResetBits(GPIOA,Motor2_ccw_Pin);
}
void Stop_motor3(void)
{
GPIO_ResetBits(GPIOB,Motor3_cw_Pin);
GPIO_ResetBits(GPIOB,Motor3_ccw_Pin);
Systick_Delay_ms(300);
}
void Stop_motor4(void)
{
GPIO_ResetBits(GPIOB,Motor4_cw_Pin);
GPIO_ResetBits(GPIOB,Motor4_ccw_Pin);
}

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