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servo_init

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This commit is contained in:
regg qu 2024-07-16 17:51:41 +08:00
parent 675a666148
commit 21f94dfd10
4 changed files with 146 additions and 23 deletions
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50
CAR.ioc
View File

@ -41,16 +41,17 @@ Mcu.CPN=STM32F103C8T6
Mcu.Family=STM32F1
Mcu.IP0=ADC1
Mcu.IP1=DMA
Mcu.IP10=USART2
Mcu.IP10=USART1
Mcu.IP11=USART2
Mcu.IP2=I2C2
Mcu.IP3=NVIC
Mcu.IP4=RCC
Mcu.IP5=SYS
Mcu.IP6=TIM2
Mcu.IP7=TIM3
Mcu.IP8=TIM4
Mcu.IP9=USART1
Mcu.IPNb=11
Mcu.IP6=TIM1
Mcu.IP7=TIM2
Mcu.IP8=TIM3
Mcu.IP9=TIM4
Mcu.IPNb=12
Mcu.Name=STM32F103C(8-B)Tx
Mcu.Package=LQFP48
Mcu.Pin0=PD0-OSC_IN
@ -60,21 +61,22 @@ Mcu.Pin11=PB10
Mcu.Pin12=PB11
Mcu.Pin13=PA9
Mcu.Pin14=PA10
Mcu.Pin15=PA12
Mcu.Pin16=PA13
Mcu.Pin17=PA14
Mcu.Pin18=PA15
Mcu.Pin19=PB4
Mcu.Pin15=PA11
Mcu.Pin16=PA12
Mcu.Pin17=PA13
Mcu.Pin18=PA14
Mcu.Pin19=PA15
Mcu.Pin2=PA0-WKUP
Mcu.Pin20=PB5
Mcu.Pin21=PB6
Mcu.Pin22=PB7
Mcu.Pin23=PB8
Mcu.Pin24=PB9
Mcu.Pin25=VP_SYS_VS_Systick
Mcu.Pin26=VP_TIM2_VS_ClockSourceINT
Mcu.Pin27=VP_TIM3_VS_ClockSourceINT
Mcu.Pin28=VP_TIM4_VS_ClockSourceINT
Mcu.Pin20=PB4
Mcu.Pin21=PB5
Mcu.Pin22=PB6
Mcu.Pin23=PB7
Mcu.Pin24=PB8
Mcu.Pin25=PB9
Mcu.Pin26=VP_SYS_VS_Systick
Mcu.Pin27=VP_TIM2_VS_ClockSourceINT
Mcu.Pin28=VP_TIM3_VS_ClockSourceINT
Mcu.Pin29=VP_TIM4_VS_ClockSourceINT
Mcu.Pin3=PA1
Mcu.Pin4=PA2
Mcu.Pin5=PA3
@ -82,7 +84,7 @@ Mcu.Pin6=PA5
Mcu.Pin7=PA6
Mcu.Pin8=PA7
Mcu.Pin9=PB0
Mcu.PinsNb=29
Mcu.PinsNb=30
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F103C8Tx
@ -116,6 +118,8 @@ PA1.PinState=GPIO_PIN_SET
PA1.Signal=GPIO_Output
PA10.Mode=Asynchronous
PA10.Signal=USART1_RX
PA11.Locked=true
PA11.Signal=S_TIM1_CH4
PA12.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
PA12.GPIO_Label=Echo
PA12.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_RISING_FALLING
@ -250,6 +254,8 @@ SH.ADCx_IN6.0=ADC1_IN6,IN6
SH.ADCx_IN6.ConfNb=1
SH.GPXTI12.0=GPIO_EXTI12
SH.GPXTI12.ConfNb=1
SH.S_TIM1_CH4.0=TIM1_CH4,PWM Generation4 CH4
SH.S_TIM1_CH4.ConfNb=1
SH.S_TIM3_CH2.0=TIM3_CH2,PWM Generation2 CH2
SH.S_TIM3_CH2.ConfNb=1
SH.S_TIM3_CH3.0=TIM3_CH3,PWM Generation3 CH3
@ -260,6 +266,8 @@ SH.S_TIM4_CH1.0=TIM4_CH1,PWM Generation1 CH1
SH.S_TIM4_CH1.ConfNb=1
SH.S_TIM4_CH2.0=TIM4_CH2,PWM Generation2 CH2
SH.S_TIM4_CH2.ConfNb=1
TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
TIM1.IPParameters=Channel-PWM Generation4 CH4
TIM2.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_DISABLE
TIM2.IPParameters=Prescaler,Period,AutoReloadPreload
TIM2.Period=72 - 1

3
Core/Inc/tim.h
View File

@ -32,6 +32,8 @@ extern "C" {
/* USER CODE END Includes */
extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim3;
@ -42,6 +44,7 @@ extern TIM_HandleTypeDef htim4;
/* USER CODE END Private defines */
void MX_TIM1_Init(void);
void MX_TIM2_Init(void);
void MX_TIM3_Init(void);
void MX_TIM4_Init(void);

3
Core/Src/main.c
View File

@ -106,6 +106,7 @@ int main(void)
MX_USART2_UART_Init();
MX_USART1_UART_Init();
MX_ADC1_Init();
MX_TIM1_Init();
/* USER CODE BEGIN 2 */
HC_SR04_Init();
HAL_ADC_Start_DMA(&hadc1,(uint32_t*)adc_value,2);
@ -120,7 +121,7 @@ int main(void)
//printf("%s","test\n");
// HAL_ADC_Start(&hadc1);//启动ADC1转换//======================================
//HAL_ADC_PollForConversion(&hadc1,50);//等待ADC转换完成（句柄，超时时间<EFBFBD>?
//HAL_ADC_PollForConversion(&hadc1,50);//等待ADC转æ<EFBFBD>¢å®Œæˆ<EFBFBD>（å<EFBFBD>¥æŸ„，超时时间ï¿??
//adc_value = HAL_ADC_GetValue(&hadc1); //读取ADC转换数据
printf("PA5_value = %f\r\n", 1.0 *adc_value[0]);//输出转换后的烟雾传感器的值的数据
printf("PA6_value = %f\r\n", 1.0 *adc_value[1]);//输出转换后的烟雾传感器的值的数据

113
Core/Src/tim.c
View File

@ -24,10 +24,70 @@
/* USER CODE END 0 */
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;
/* TIM1 init function */
void MX_TIM1_Init(void)
{
/* USER CODE BEGIN TIM1_Init 0 */
/* USER CODE END TIM1_Init 0 */
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
/* USER CODE BEGIN TIM1_Init 1 */
/* USER CODE END TIM1_Init 1 */
htim1.Instance = TIM1;
htim1.Init.Prescaler = 0;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 65535;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0;
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
sBreakDeadTimeConfig.DeadTime = 0;
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM1_Init 2 */
/* USER CODE END TIM1_Init 2 */
HAL_TIM_MspPostInit(&htim1);
}
/* TIM2 init function */
void MX_TIM2_Init(void)
{
@ -189,6 +249,22 @@ void MX_TIM4_Init(void)
}
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
{
if(tim_pwmHandle->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspInit 0 */
/* USER CODE END TIM1_MspInit 0 */
/* TIM1 clock enable */
__HAL_RCC_TIM1_CLK_ENABLE();
/* USER CODE BEGIN TIM1_MspInit 1 */
/* USER CODE END TIM1_MspInit 1 */
}
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
{
@ -234,11 +310,30 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(timHandle->Instance==TIM3)
if(timHandle->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspPostInit 0 */
/* USER CODE END TIM1_MspPostInit 0 */
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM1 GPIO Configuration
PA11 ------> TIM1_CH4
*/
GPIO_InitStruct.Pin = GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN TIM1_MspPostInit 1 */
/* USER CODE END TIM1_MspPostInit 1 */
}
else if(timHandle->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspPostInit 0 */
/* USER CODE END TIM3_MspPostInit 0 */
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/**TIM3 GPIO Configuration
@ -283,6 +378,22 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
}
void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle)
{
if(tim_pwmHandle->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspDeInit 0 */
/* USER CODE END TIM1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM1_CLK_DISABLE();
/* USER CODE BEGIN TIM1_MspDeInit 1 */
/* USER CODE END TIM1_MspDeInit 1 */
}
}
void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
{