STM32F207下的实验（4）

末蓝、 2022-05-28 08:24 181阅读 0赞

这里的主要实验是motor电机实验  
  
motor中用到的pwm引脚是pb8，时钟是TIM10的通道1，这些基于  
F:\\BaiduNetdiskDownload\\探索者F4资料盘（A盘）《STM32F4xx中文参考手册》

F:\\BaiduNetdiskDownload\\探索者F4资料盘（A盘）《【英文】STM32F207数据手册(Rev9)》

1. led.h

#include"stm32f2xx.h"
    #ifndef __LED_H
    
    #define __LED_H
    
    
    void LED_Init(void);
    
    //void Delay(vu32 nCount);
    
    void CTL_LED(u8 LED_NUM, u8 OFF_ON);
    
    	
    #endif

led.c

#include"led.h"
    #include"stm32f2xx.h"
    
    void LED_Init(void)
    {
    	GPIO_InitTypeDef GPIO_InitStructure;
    	
        RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
    	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11|GPIO_Pin_12;
    	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
    	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //GPIO_OType_PP表示推挽方式输出，GPIO_OType_OD表示开漏
    	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
    	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    
    	GPIO_Init(GPIOD, &GPIO_InitStructure);
    	GPIO_SetBits(GPIOD, GPIO_Pin_11|GPIO_Pin_12);
    }
    
    /*
    void Delay(vu32 nCount)
    {
      for(; nCount != 0; nCount--);
    }
    */
    
    #if 1
    void CTL_LED(u8 LED_NUM, u8 OFF_ON)
    {
      switch(LED_NUM)
    	{
    	    case 0:
    			if(OFF_ON == 1)
    			{
    
    				GPIO_ResetBits(GPIOD, GPIO_Pin_11);
    			}
    			else
    			{
    				GPIO_SetBits(GPIOD, GPIO_Pin_11);
    			}
    		    break;
    		    
    		case 1:
    			if(OFF_ON == 1)
    			{
    
    				GPIO_ResetBits(GPIOD, GPIO_Pin_12);
    			}
    			else
    			{
    				GPIO_SetBits(GPIOD, GPIO_Pin_12);
    			}
    		    break;
    		default:
    			//GPIO_ResetBits(GPIOF,GPIO_Pin_7|GPIO_Pin_8|GPIO_Pin_9|GPIO_Pin_10);
    			GPIO_ResetBits(GPIOD,GPIO_Pin_11|GPIO_Pin_12);
    		    break;
    	}
    }
    #endif

usart.h

#include"stm32f2xx.h"	
    #include "stm32f2xx_conf.h"
    
    #ifndef __USART_H
    
    #define __USART_H
    
    void uart_init(u32 bound);
    void USART_Configuration(void);
    void USART_NVIC_Config(void);
    
    
    
    
    #endif

usart.c

#include"stm32f2xx.h"
    #include"usart.h"
    
    void USART_Configuration(void)        //串口配置
    { 												
      GPIO_InitTypeDef GPIO_InitStructure;   //声明一个结构体
      USART_InitTypeDef USART_InitStructure;   //声明一个串口类型的结构体
    
      RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB,ENABLE);   //时钟使能配置
      RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3,ENABLE);  //串口使能配置
      
      GPIO_PinAFConfig(GPIOB, GPIO_PinSource10, GPIO_AF_USART3);    //将PB10和PB11复用为串口3的输入输出
      GPIO_PinAFConfig(GPIOB, GPIO_PinSource11, GPIO_AF_USART3);
      
      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;     //端口配置，取决于我们用哪个IO口
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;    //表明IO口的功能是什么
      GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;    //模式
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;   //速度
      GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
      GPIO_Init(GPIOB, &GPIO_InitStructure);   //组，组下面具体的
    
      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
      GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
      GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
      GPIO_Init(GPIOB, &GPIO_InitStructure);
    
      USART_InitStructure.USART_BaudRate = 115200;        //串口的一些相关配置
      USART_InitStructure.USART_WordLength = USART_WordLength_8b;   
      USART_InitStructure.USART_StopBits = USART_StopBits_1;
      USART_InitStructure.USART_Parity = USART_Parity_No;
      USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
      USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
      USART_Init(USART3, &USART_InitStructure);
      
      USART_ITConfig(USART3, USART_IT_RXNE, ENABLE);    //串口中断使能
    
      USART_Cmd(USART3, ENABLE);             //串口使能
    
    }
    
    void USART_NVIC_Config(void)
    {
      NVIC_InitTypeDef NVIC_InitStructure;
    
      /* Enable the USARTx Interrupt */
      NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn;
      NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
      NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
      NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
      NVIC_Init(&NVIC_InitStructure);
    
    }

pwm.h

#include"stm32f2xx.h"
    #ifndef __PWM_H_
    #define __PWM_H_
    
    void TIM10_PWM_Init(u32 arr);
    
    #endif

pwm.c

#include"stm32f2xx.h"
    #include"pwm.h"
    
    void TIM10_PWM_Init(u32 arr)
    {
    	GPIO_InitTypeDef GPIO_InitStructure;
    	TIM_OCInitTypeDef TIM_OCInitStructure;
    	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
    	
    	RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM10, ENABLE);   //使能定时器10时钟，这里采用定时器10，且定时器10挂载在APB2上?
    	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);   //使能gpio时钟
    
    	GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_TIM10);  //将GPIOB8复用为TIM10
    	
    	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
    	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //GPIO_OType_PP表示推挽方式输出，GPIO_OType_OD表示开漏
    	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
    	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    	GPIO_Init(GPIOB, &GPIO_InitStructure);
    	
    
    	//初始化TIM4  输出通道  初始化输出比较参数
    	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;    //模式1决定，当cnt<ccr1时，通道1为有效电平
    	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;  //输出使能
    	TIM_OCInitStructure.TIM_Pulse = 250;   //决定占空比的参数
    	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;  //极性，有效电平是高电平还是低电平
    	TIM_OC1Init(TIM10, &TIM_OCInitStructure);
    
    	//初始化TIM4初始化 pwm模式
    	TIM_TimeBaseInitStructure.TIM_Period = arr - 1;    //自动装载值
    	TIM_TimeBaseInitStructure.TIM_Prescaler = 29;  //预分频系数
    	TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up; //计数器模式
    	TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;  //分频器系数
    	TIM_TimeBaseInit(TIM10, &TIM_TimeBaseInitStructure);
        TIM_Cmd(TIM10, ENABLE);  //使能TIM10	
    }

gpio.h

#include"stm32f2xx.h"
    #ifndef __GPIO_H
    
    #define __GPIO_H
    
    void GPIO9_Set_Init(void);
    
    void GPIO12_Set_Init(void);
    	
    #endif

gpio.c

#include"gpio.h"
    #include"stm32f2xx.h"
    
    void GPIO9_Set_Init(void)
    {
    	GPIO_InitTypeDef GPIO_InitStructure;
    	
        RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
    	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
    	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;   //这里要选择为输出
    	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //GPIO_OType_PP表示推挽方式输出，GPIO_OType_OD表示开漏
    	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
    	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    
    	GPIO_Init(GPIOB, &GPIO_InitStructure);
    	//GPIO_SetBits(GPIOB, GPIO_Pin_9);   //PB9控制电机转动方向
    }
    
    void GPIO12_Set_Init(void)     
    {
    	GPIO_InitTypeDef GPIO_InitStructure;
    	
    	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
    	
    	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
    	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
    	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //GPIO_OType_PP表示推挽方式输出，GPIO_OType_OD表示开漏
    	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
    	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    
    	GPIO_Init(GPIOB, &GPIO_InitStructure);
    	//GPIO_SetBits(GPIOB, GPIO_Pin_12);     //PB12使能开关
    }

motor.h

#include"stm32f2xx.h"	
    #include "stm32f2xx_conf.h"
    
    #ifndef __MOTOR_H_
    #define __MOTOR_H_
    
    void Start_Pwm(void);
    void Pause_Pwm(void);
    void USART3_IRQHandler(void);
    void CTL_DIR(u8 DIR);
    
    #endif

motor.c

#include"stm32f2xx.h"
    #include"usart.h"
    #include"gpio.h"
    #include"pwm.h"
    #include"motor.h"
    #include"led.h"
    
    #define MOTOR_START 0x01
    #define MOTOR_PAUSE 02
    #define MOTOR_FORWARD 03
    #define MOTOR_INVERT 04
    
    //中断服务函数，在启动文件startup_stm32。。。无返回值，无参数
    void USART3_IRQHandler(void)                    //串口3中断服务
    {
    	u16 Res = 0;
    	
    	if(USART_GetITStatus(USART3, USART_IT_RXNE) != RESET)  //接收中断
    	{
    		USART_ClearITPendingBit(USART3, USART_IT_RXNE);
    	    Res = USART_ReceiveData(USART3);//读取接收到的数	    
    			if(Res == MOTOR_START)
    	    {
    			Start_Pwm();
    	    }
    	    else if(Res == MOTOR_PAUSE)
    	    {
    			Pause_Pwm();
    	    }
    	    else if(Res == MOTOR_FORWARD)
    	    {
    			CTL_DIR(0);
    	    }
    	    else if(Res == MOTOR_INVERT)
    	    {
    			CTL_DIR(1);
    	    }
    	    else
    	    {
    			CTL_LED(0, 1);  //右边的灯
    	    }
        } 
        
        else
        {
    			CTL_LED(1, 1);  //左边的灯
        }  
    }
    
    void CTL_DIR(u8 DIR)
    {
    	switch(DIR)
    	{
    		case 0:    //0时设置为正向
    			GPIO_ResetBits(GPIOB, GPIO_Pin_9);      //置低
    			TIM10_PWM_Init(500);
    			break;
    		case 1:    //1时设置为反向
    			GPIO_SetBits(GPIOB, GPIO_Pin_9);  //置高
    			TIM10_PWM_Init(500);
    			break;
    		default:
    			break;
    		
    	}
    }
    
    //电机开始转动函数
    void Start_Pwm(void)
    {
    	GPIO_SetBits(GPIOB, GPIO_Pin_9);
    	TIM10_PWM_Init(500);
    }
    
    //电机停止转动函数
    void Pause_Pwm(void)
    {
    	TIM_Cmd(TIM10, DISABLE);
    }

main.c

#include"stm32f2xx.h"
    #include"gpio.h"
    #include"usart.h"
    #include"pwm.h"
    #include"motor.h"
    #include"led.h"
    
    void Delay(__IO uint32_t nCount);         //延时函数
    
    int main(void)
    {
    	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);    //中断优先级分组
    	USART_Configuration();
    	USART_NVIC_Config();
    	
    	
    	LED_Init();
    	//TIM10_PWM_Init(500);    //29是预分频系数，则定时器计数频率是30/29+1=1um，周期由arr决定，重转载值是500，则由1和500，可知整个周期是500
    	GPIO9_Set_Init();
    	GPIO12_Set_Init();
    	//GPIO_SetBits(GPIOB, GPIO_Pin_9);   //PB9控制电机转动方向，高电平下pb9与pb12使能
    	GPIO_SetBits(GPIOB, GPIO_Pin_12);     //PB12使能开关
    	//Start_Pwm();  //往外转
    	//CTL_DIR(0);   //朝里转
    	//CTL_DIR(1);   //往外转
    	
    	while(1)
    	{	
    	
    	}
    	
        //return 0;
    }
    
    
    void Delay(__IO uint32_t nCount)
    {
      while(nCount--)
      {
    
      }
    }
    
    
    #ifdef  USE_FULL_ASSERT
    
    /**
      * @brief  Reports the name of the source file and the source line number
      *         where the assert_param error has occurred.
      * @param  file: pointer to the source file name
      * @param  line: assert_param error line source number
      * @retval None
      */
    void assert_failed(uint8_t* file, uint32_t line)
    { 
      /* User can add his own implementation to report the file name and line number,
         ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
    
      /* Infinite loop */
      while (1)
      {
    
      }
    }
    #endif