PS2接线:
买家会给你程序和说明:
接线:
GND接STM32 GND
VCC接STM32 VCC
DAT接 STM32 PB12
CMD接STM32 PB13
CS接 STM32 PB14
CLK接 STM32 PB15
库函数程序:
接口定义,其他的就不粘贴了。
//手柄接口初始化 输入 DI->PB12
// 输出 DO->PB13 CS->PB14 CLK->PB15
void PS2_Init(void)
{
//输入 DI->PB12
RCC->APB2ENR|=1<<3; //使能PORTB时钟
GPIOB->CRH&=0XFFF0FFFF;//PB12设置成输入 默认下拉
GPIOB->CRH|=0X00080000;
// DO->PB13 CS->PB14 CLK->PB15
RCC->APB2ENR|=1<<3; //使能PORTB时钟
GPIOB->CRH&=0X000FFFFF;
GPIOB->CRH|=0X33300000;//PB13、PB14、PB15 推挽输出
}
使用前初始化:
PS2_Init();
PS2_SetInit(); //配配置初始化,配置“红绿灯模式”,并选择是否可以修改
// //开启震动模式
航模接收器,有个BIND,通电,按一下对频,连续闪烁,打开遥控器电压,对频完成。
T,+,—
表示接收到的信号,+输入电源正(5v),-输入负极
接收信号的形式1000us-2000us高电压,周期14ms。
精英版STM32F103,实验10 输入捕获实验,PA0接通道2,用串口软件连接STM32,显示高电平时间
主要是通过定时器的 1 2通道,一个捕获,一个计数,能够计算周期和占空比,缺点需要串口多,比较浪费定时器。结果精确。
void TIM3_Int_Init(u16 arr,u16 psc)
{
RCC->APB1ENR|=1<<1; //TIM3时钟使能
RCC->APB2ENR|=1<<2; //使能PORTD时钟
GPIOD->CRL&=0XF0FFFFFF; //PA6 清除之前设置
GPIOD->CRL|=0X08000000; //PA6 输入
GPIOD->ODR|=0<<6; //PA6 下拉
TIM3->ARR=arr; //设定计数器自动重装值
TIM3->PSC=psc; //预分频器
TIM3->CCMR1|=1<<0; //CC1S=01 选择输入端 IC1映射到TI1上
TIM3->CCMR1|=0<<4; //IC1F=0000 配置输入滤波器 不滤波
TIM3->CCMR1|=0<<10; //IC2PS=00 配置输入分频,不分频
TIM3->CCER|=0<<1; //CC1P=0 上升沿捕获
TIM3->CCER|=1<<0; //CC1E=1 允许捕获计数器的值到捕获寄存器中
TIM3->DIER|=1<<1; //允许捕获中断
TIM3->DIER|=1<<0; //允许更新中断
TIM3->CR1|=0x01; //使能定时器2
MY_NVIC_Init(1,3,TIM3_IRQn,2);//抢占1,子优先级3,组2
}
u8 TIM3CH1_CAPTURE_STA=0; //输入捕获状态
u16 TIM3CH1_CAPTURE_VAL; //输入捕获值
//定时器3中断服务程序
void TIM3_IRQHandler(void)
{
u16 tsr3;
tsr3=TIM3->SR;
if((TIM3CH1_CAPTURE_STA&0X80)==0)//还未成功捕获
{
if(tsr3&0X01)//溢出
{
if(TIM3CH1_CAPTURE_STA&0X40)//已经捕获到高电平了
{
if((TIM3CH1_CAPTURE_STA&0X3F)==0X3F)//高电平太长了
{
TIM3CH1_CAPTURE_STA|=0X80;//标记成功捕获了一次
TIM3CH1_CAPTURE_VAL=0XFFFF;
}else TIM3CH1_CAPTURE_STA++;
}
}
if(tsr3&0x02)//捕获1发生捕获事件
{
if(TIM3CH1_CAPTURE_STA&0X40) //捕获到一个下降沿
{
TIM3CH1_CAPTURE_STA|=0X80; //标记成功捕获到一次高电平脉宽
TIM3CH1_CAPTURE_VAL=TIM3->CCR1; //获取当前的捕获值.
TIM3->CCER&=~(1<<1); //CC1P=0 设置为上升沿捕获
}else //还未开始,第一次捕获上升沿
{
TIM3CH1_CAPTURE_STA=0; //清空
TIM3CH1_CAPTURE_VAL=0;
TIM3CH1_CAPTURE_STA|=0X40; //标记捕获到了上升沿
TIM3->CNT=0; //计数器清空
TIM3->CCER|=1<<1; //CC1P=1 设置为下降沿捕获
}
}
}
TIM3->SR=0;//清除中断标志位
}
//定时器4通道1输入捕获配置
//arr:自动重装值
//psc:时钟预分频数
void TIM4_Cap_Init(u16 arr,u16 psc)
{
RCC->APB1ENR|=1<<2; //TIM4 时钟使能
RCC->APB2ENR|=1<<5; //使能PORTD时钟
RCC->APB2ENR|=1<<0; //开启辅助时钟
AFIO->MAPR&=0XFFFFEFFF; //清除MAPR的[12]
AFIO->MAPR|=1<<12; //WANQUAN重映像,TIM4_CH1->PD12,TIM4_CH2->PD13
GPIOD->CRH&=0XFFF0FFFF; //PD12 清除之前设置
GPIOD->CRH|=0X00080000; //PD12 输入
GPIOD->ODR|=0<<12; //PD12 下拉
TIM4->ARR=arr; //设定计数器自动重装值
TIM4->PSC=psc; //预分频器
TIM4->CCMR1|=1<<0; //CC1S=01 选择输入端 IC1映射到TI1上
TIM4->CCMR1|=0<<4; //IC1F=0000 配置输入滤波器 不滤波
TIM4->CCMR1|=0<<10; //IC2PS=00 配置输入分频,不分频
TIM4->CCER|=0<<1; //CC1P=0 上升沿捕获
TIM4->CCER|=1<<0; //CC1E=1 允许捕获计数器的值到捕获寄存器中
TIM4->DIER|=1<<1; //允许捕获中断
TIM4->DIER|=1<<0; //允许更新中断
TIM4->CR1|=0x01; //使能定时器2
MY_NVIC_Init(2,0,TIM4_IRQn,2);//抢占2,子优先级0,组2
}
//捕获状态
//[7]:0,没有成功的捕获;1,成功捕获到一次.
//[6]:0,还没捕获到高电平;1,已经捕获到高电平了.
//[5:0]:捕获高电平后溢出的次数
u8 TIM4CH1_CAPTURE_STA=0; //输入捕获状态
u16 TIM4CH1_CAPTURE_VAL; //输入捕获值
//定时器5中断服务程序
void TIM4_IRQHandler(void)
{
u16 tsr;
tsr=TIM4->SR;
if((TIM4CH1_CAPTURE_STA&0X80)==0)//还未成功捕获
{
if(tsr&0X01)//溢出
{
if(TIM4CH1_CAPTURE_STA&0X40)//已经捕获到高电平了
{
if((TIM4CH1_CAPTURE_STA&0X3F)==0X3F)//高电平太长了
{
TIM4CH1_CAPTURE_STA|=0X80;//标记成功捕获了一次
TIM4CH1_CAPTURE_VAL=0XFFFF;
}else TIM4CH1_CAPTURE_STA++;
}
}
if(tsr&0x02)//捕获1发生捕获事件
{
if(TIM4CH1_CAPTURE_STA&0X40) //捕获到一个下降沿
{
TIM4CH1_CAPTURE_STA|=0X80; //标记成功捕获到一次高电平脉宽
TIM4CH1_CAPTURE_VAL=TIM4->CCR1; //获取当前的捕获值.
TIM4->CCER&=~(1<<1); //CC1P=0 设置为上升沿捕获
}else //还未开始,第一次捕获上升沿
{
TIM4CH1_CAPTURE_STA=0; //清空
TIM4CH1_CAPTURE_VAL=0;
TIM4CH1_CAPTURE_STA|=0X40; //标记捕获到了上升沿
TIM4->CNT=0; //计数器清空
TIM4->CCER|=1<<1; //CC1P=1 设置为下降沿捕获
}
}
}
TIM4->SR=0;//清除中断标志位
}
STM32F103ZET6核心板
定时器3、4捕获四通道航模接收机(8路PWM捕获)
TIM4 :PB6/7/8/9 TIM3 :PC6/7/8/9(重映射) ,板子没有PB6和PB7所以可实现,6路PWM捕获。
参考:http://www.openedv.com/posts/list/38704.htm
u8 TIM4CH1_CAPTURE_STA = 0; //通道1输入捕获标志,高两位做捕获标志,低6位做溢出标志
u16 TIM4CH1_CAPTURE_UPVAL;
u16 TIM4CH1_CAPTURE_DOWNVAL;
u8 TIM4CH2_CAPTURE_STA = 0; //通道2输入捕获标志,高两位做捕获标志,低6位做溢出标志
u16 TIM4CH2_CAPTURE_UPVAL;
u16 TIM4CH2_CAPTURE_DOWNVAL;
u8 TIM4CH3_CAPTURE_STA = 0; //通道3输入捕获标志,高两位做捕获标志,低6位做溢出标志
u16 TIM4CH3_CAPTURE_UPVAL;
u16 TIM4CH3_CAPTURE_DOWNVAL;
u8 TIM4CH4_CAPTURE_STA = 0; //通道1输入捕获标志,高两位做捕获标志,低6位做溢出标志
u16 TIM4CH4_CAPTURE_UPVAL;
u16 TIM4CH4_CAPTURE_DOWNVAL;
u32 tempup1 = 0; //捕获总高电平的时间
u32 tempup2 = 0; //捕获总高电平的时间
u32 tempup3 = 0; //捕获总高电平的时间
u32 tempup4 = 0; //捕获总高电平的时间
u32 tim4_T1;
u32 tim4_T2;
u32 tim4_T3;
u32 tim4_T4;
int pwmout1, pwmout2, pwmout3, pwmout4; //输出占空比
//定时器4通道1输入捕获配置
TIM_ICInitTypeDef TIM4_ICInitStructure;
void TIM4_Cap_Init(u16 arr, u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); //使能TIM4时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); //使能GPIOB时钟
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8
| GPIO_Pin_9; //PB6,7,8,9 清除之前设置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD; //PB6,7,8,9 输入
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_ResetBits(GPIOB, GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9);//PB6,7,8,9 下拉
//初始化定时器4 TIM4
TIM_TimeBaseStructure.TIM_Period = arr; //设定计数器自动重装值
TIM_TimeBaseStructure.TIM_Prescaler = psc; //预分频器
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
//初始化TIM4输入捕获参数 通道1
TIM4_ICInitStructure.TIM_Channel = TIM_Channel_1; //CC1S=01 选择输入端 IC1映射到TI1上
TIM4_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕获
TIM4_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
TIM4_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //配置输入分频,不分频
TIM4_ICInitStructure.TIM_ICFilter = 0x00; //IC1F=0000 配置输入滤波器 不滤波
TIM_ICInit(TIM4, &TIM4_ICInitStructure);
//初始化TIM4输入捕获参数 通道2
TIM4_ICInitStructure.TIM_Channel = TIM_Channel_2; //CC1S=01 选择输入端 IC1映射到TI1上
TIM4_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕获
TIM4_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
TIM4_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //配置输入分频,不分频
TIM4_ICInitStructure.TIM_ICFilter = 0x00; //IC1F=0000 配置输入滤波器 不滤波
TIM_ICInit(TIM4, &TIM4_ICInitStructure);
//初始化TIM4输入捕获参数 通道3
TIM4_ICInitStructure.TIM_Channel = TIM_Channel_3; //CC1S=01 选择输入端 IC1映射到TI1上
TIM4_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕获
TIM4_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
TIM4_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //配置输入分频,不分频
TIM4_ICInitStructure.TIM_ICFilter = 0x00; //IC1F=0000 配置输入滤波器 不滤波
TIM_ICInit(TIM4, &TIM4_ICInitStructure);
//初始化TIM4输入捕获参数 通道4
TIM4_ICInitStructure.TIM_Channel = TIM_Channel_4; //CC1S=01 选择输入端 IC1映射到TI1上
TIM4_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕获
TIM4_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
TIM4_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //配置输入分频,不分频
TIM4_ICInitStructure.TIM_ICFilter = 0x00; //IC1F=0000 配置输入滤波器 不滤波
TIM_ICInit(TIM4, &TIM4_ICInitStructure);
//中断分组初始化
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn; //TIM4中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //先占优先级1级
//NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //从优先级0级
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
NVIC_Init(&NVIC_InitStructure); //根据NVIC_InitStruct中指定的参数初始化外设NVIC寄存器
TIM_ITConfig(TIM4, TIM_IT_CC1 | TIM_IT_CC2 | TIM_IT_CC3 | TIM_IT_CC4,
ENABLE); //不允许更新中断,允许CC1IE,CC2IE,CC3IE,CC4IE捕获中断
TIM_Cmd(TIM4, ENABLE); //使能定时器4
}
//定时器4中断服务程序
void TIM4_IRQHandler(void)
{
if ((TIM4CH1_CAPTURE_STA & 0X80) == 0) //还未成功捕获
{
if (TIM_GetITStatus(TIM4, TIM_IT_CC1) != RESET) //捕获1发生捕获事件
{
TIM_ClearITPendingBit(TIM4, TIM_IT_CC1); //清除中断标志位
if (TIM4CH1_CAPTURE_STA & 0X40) //捕获到一个下降沿
{
TIM4CH1_CAPTURE_DOWNVAL = TIM_GetCapture1(TIM4);//记录下此时的定时器计数值
if (TIM4CH1_CAPTURE_DOWNVAL < TIM4CH1_CAPTURE_UPVAL)
{
tim4_T1 = 65535;
}
else
tim4_T1 = 0;
tempup1 = TIM4CH1_CAPTURE_DOWNVAL - TIM4CH1_CAPTURE_UPVAL
+ tim4_T1; //得到总的高电平的时间
pwmout1 = tempup1; //总的高电平的时间
TIM4CH1_CAPTURE_STA = 0; //捕获标志位清零
TIM_OC1PolarityConfig(TIM4, TIM_ICPolarity_Rising); //设置为上升沿捕获
}
else //发生捕获时间但不是下降沿,第一次捕获到上升沿,记录此时的定时器计数值
{
TIM4CH1_CAPTURE_UPVAL = TIM_GetCapture1(TIM4); //获取上升沿数据
TIM4CH1_CAPTURE_STA |= 0X40; //标记已捕获到上升沿
TIM_OC1PolarityConfig(TIM4, TIM_ICPolarity_Falling);//设置为下降沿捕获
}
}
}
if ((TIM4CH2_CAPTURE_STA & 0X80) == 0) //还未成功捕获
{
if (TIM_GetITStatus(TIM4, TIM_IT_CC2) != RESET) //捕获2发生捕获事件
{
TIM_ClearITPendingBit(TIM4, TIM_IT_CC2); //清除中断标志位
if (TIM4CH2_CAPTURE_STA & 0X40) //捕获到一个下降沿
{
TIM4CH2_CAPTURE_DOWNVAL = TIM_GetCapture2(TIM4);//记录下此时的定时器计数值
if (TIM4CH2_CAPTURE_DOWNVAL < TIM4CH2_CAPTURE_UPVAL)
{
tim4_T2 = 65535;
}
else
tim4_T2 = 0;
tempup2 = TIM4CH2_CAPTURE_DOWNVAL - TIM4CH2_CAPTURE_UPVAL
+ tim4_T2; //得到总的高电平的时间
pwmout2 = tempup2; //总的高电平的时间
TIM4CH2_CAPTURE_STA = 0; //捕获标志位清零
TIM_OC2PolarityConfig(TIM4, TIM_ICPolarity_Rising); //设置为上升沿捕获
}
else //发生捕获时间但不是下降沿,第一次捕获到上升沿,记录此时的定时器计数值
{
TIM4CH2_CAPTURE_UPVAL = TIM_GetCapture2(TIM4); //获取上升沿数据
TIM4CH2_CAPTURE_STA |= 0X40; //标记已捕获到上升沿
TIM_OC2PolarityConfig(TIM4, TIM_ICPolarity_Falling);//设置为下降沿捕获
}
}
}
if ((TIM4CH3_CAPTURE_STA & 0X80) == 0) //还未成功捕获
{
if (TIM_GetITStatus(TIM4, TIM_IT_CC3) != RESET) //捕获3发生捕获事件
{
TIM_ClearITPendingBit(TIM4, TIM_IT_CC3); //清除中断标志位
if (TIM4CH3_CAPTURE_STA & 0X40) //捕获到一个下降沿
{
TIM4CH3_CAPTURE_DOWNVAL = TIM_GetCapture3(TIM4);//记录下此时的定时器计数值
if (TIM4CH3_CAPTURE_DOWNVAL < TIM4CH3_CAPTURE_UPVAL)
{
tim4_T3 = 65535;
}
else
tim4_T3 = 0;
tempup3 = TIM4CH3_CAPTURE_DOWNVAL - TIM4CH3_CAPTURE_UPVAL
+ tim4_T3; //得到总的高电平的时间
pwmout3 = tempup3; //总的高电平的时间
TIM4CH3_CAPTURE_STA = 0; //捕获标志位清零
TIM_OC3PolarityConfig(TIM4, TIM_ICPolarity_Rising); //设置为上升沿捕获
}
else //发生捕获时间但不是下降沿,第一次捕获到上升沿,记录此时的定时器计数值
{
TIM4CH3_CAPTURE_UPVAL = TIM_GetCapture3(TIM4); //获取上升沿数据
TIM4CH3_CAPTURE_STA |= 0X40; //标记已捕获到上升沿
TIM_OC3PolarityConfig(TIM4, TIM_ICPolarity_Falling);//设置为下降沿捕获
}
}
}
if ((TIM4CH4_CAPTURE_STA & 0X80) == 0) //还未成功捕获
{
if (TIM_GetITStatus(TIM4, TIM_IT_CC4) != RESET) //捕获4发生捕获事件
{
TIM_ClearITPendingBit(TIM4, TIM_IT_CC4); //清除中断标志位
if (TIM4CH4_CAPTURE_STA & 0X40) //捕获到一个下降沿
{
TIM4CH4_CAPTURE_DOWNVAL = TIM_GetCapture4(TIM4);//记录下此时的定时器计数值
if (TIM4CH4_CAPTURE_DOWNVAL < TIM4CH4_CAPTURE_UPVAL)
{
tim4_T4 = 65535;
}
else
tim4_T4 = 0;
tempup4 = TIM4CH4_CAPTURE_DOWNVAL - TIM4CH4_CAPTURE_UPVAL
+ tim4_T4; //得到总的高电平的时间
pwmout4 = tempup4; //总的高电平的时间
TIM4CH4_CAPTURE_STA = 0; //捕获标志位清零
TIM_OC4PolarityConfig(TIM4, TIM_ICPolarity_Rising); //设置为上升沿捕获
}
else //发生捕获时间但不是下降沿,第一次捕获到上升沿,记录此时的定时器计数值
{
TIM4CH4_CAPTURE_UPVAL = TIM_GetCapture4(TIM4); //获取上升沿数据
TIM4CH4_CAPTURE_STA |= 0X40; //标记已捕获到上升沿
TIM_OC4PolarityConfig(TIM4, TIM_ICPolarity_Falling);//设置为下降沿捕获
}
}
}
}
u8 TIM3CH1_CAPTURE_STA = 0; //通道1输入捕获标志,高两位做捕获标志,低6位做溢出标志
u16 TIM3CH1_CAPTURE_UPVAL;
u16 TIM3CH1_CAPTURE_DOWNVAL;
u8 TIM3CH2_CAPTURE_STA = 0; //通道2输入捕获标志,高两位做捕获标志,低6位做溢出标志
u16 TIM3CH2_CAPTURE_UPVAL;
u16 TIM3CH2_CAPTURE_DOWNVAL;
u8 TIM3CH3_CAPTURE_STA = 0; //通道3输入捕获标志,高两位做捕获标志,低6位做溢出标志
u16 TIM3CH3_CAPTURE_UPVAL;
u16 TIM3CH3_CAPTURE_DOWNVAL;
u8 TIM3CH4_CAPTURE_STA = 0; //通道1输入捕获标志,高两位做捕获标志,低6位做溢出标志
u16 TIM3CH4_CAPTURE_UPVAL;
u16 TIM3CH4_CAPTURE_DOWNVAL;
u32 tempup31 = 0; //捕获总高电平的时间
u32 tempup32 = 0; //捕获总高电平的时间
u32 tempup33 = 0; //捕获总高电平的时间
u32 tempup34 = 0; //捕获总高电平的时间
u32 tim3_T1;
u32 tim3_T2;
u32 tim3_T3;
u32 tim3_T4;
int pwmout31, pwmout32, pwmout33, pwmout34; //输出占空比
//定时器4通道1输入捕获配置
TIM_ICInitTypeDef TIM3_ICInitStructure;
void TIM3_Cap_Init(u16 arr, u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //使能TIM3时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC|RCC_APB2Periph_AFIO, ENABLE); //使能GPIOC时钟
GPIO_PinRemapConfig(GPIO_FullRemap_TIM3, ENABLE); //Timer3完全映射
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8
| GPIO_Pin_9; //PC6,7,8,9 清除之前设置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD; //PC6,7,8,9 输入
GPIO_Init(GPIOC, &GPIO_InitStructure);
GPIO_ResetBits(GPIOC, GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9);//PC6,7,8,9 下拉
//初始化定时器3 TIM3
TIM_TimeBaseStructure.TIM_Period = arr; //设定计数器自动重装值
TIM_TimeBaseStructure.TIM_Prescaler = psc; //预分频器
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
//初始化TIM3输入捕获参数 通道1
TIM3_ICInitStructure.TIM_Channel = TIM_Channel_1; //CC1S=01 选择输入端 IC1映射到TI1上
TIM3_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕获
TIM3_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
TIM3_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //配置输入分频,不分频
TIM3_ICInitStructure.TIM_ICFilter = 0x00; //IC1F=0000 配置输入滤波器 不滤波
TIM_ICInit(TIM3, &TIM3_ICInitStructure);
//初始化TIM3输入捕获参数 通道2
TIM3_ICInitStructure.TIM_Channel = TIM_Channel_2; //CC1S=01 选择输入端 IC1映射到TI1上
TIM3_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕获
TIM3_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
TIM3_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //配置输入分频,不分频
TIM3_ICInitStructure.TIM_ICFilter = 0x00; //IC1F=0000 配置输入滤波器 不滤波
TIM_ICInit(TIM3, &TIM3_ICInitStructure);
//初始化TIM3输入捕获参数 通道3
TIM3_ICInitStructure.TIM_Channel = TIM_Channel_3; //CC1S=01 选择输入端 IC1映射到TI1上
TIM3_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕获
TIM3_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
TIM3_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //配置输入分频,不分频
TIM3_ICInitStructure.TIM_ICFilter = 0x00; //IC1F=0000 配置输入滤波器 不滤波
TIM_ICInit(TIM3, &TIM3_ICInitStructure);
//初始化TIM4输入捕获参数 通道4
TIM3_ICInitStructure.TIM_Channel = TIM_Channel_4; //CC1S=01 选择输入端 IC1映射到TI1上
TIM3_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕获
TIM3_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
TIM3_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //配置输入分频,不分频
TIM3_ICInitStructure.TIM_ICFilter = 0x00; //IC1F=0000 配置输入滤波器 不滤波
TIM_ICInit(TIM3, &TIM3_ICInitStructure);
//中断分组初始化
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn; //TIM4中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //先占优先级1级
//NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //从优先级0级
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
NVIC_Init(&NVIC_InitStructure); //根据NVIC_InitStruct中指定的参数初始化外设NVIC寄存器
TIM_ITConfig(TIM3, TIM_IT_CC1 | TIM_IT_CC2 | TIM_IT_CC3 | TIM_IT_CC4,
ENABLE); //不允许更新中断,允许CC1IE,CC2IE,CC3IE,CC4IE捕获中断
TIM_Cmd(TIM3, ENABLE); //使能定时器3
}
//定时器3中断服务程序
void TIM3_IRQHandler(void)
{
if ((TIM3CH1_CAPTURE_STA & 0X80) == 0) //还未成功捕获
{
if (TIM_GetITStatus(TIM3, TIM_IT_CC1) != RESET) //捕获1发生捕获事件
{
TIM_ClearITPendingBit(TIM3, TIM_IT_CC1); //清除中断标志位
if (TIM3CH1_CAPTURE_STA & 0X40) //捕获到一个下降沿
{
TIM3CH1_CAPTURE_DOWNVAL = TIM_GetCapture1(TIM3);//记录下此时的定时器计数值
if (TIM3CH1_CAPTURE_DOWNVAL < TIM3CH1_CAPTURE_UPVAL)
{
tim3_T1 = 65535;
}
else
tim3_T1 = 0;
tempup31 = TIM3CH1_CAPTURE_DOWNVAL - TIM3CH1_CAPTURE_UPVAL
+ tim3_T1; //得到总的高电平的时间
pwmout31 = tempup31; //总的高电平的时间
TIM3CH1_CAPTURE_STA = 0; //捕获标志位清零
TIM_OC1PolarityConfig(TIM3, TIM_ICPolarity_Rising); //设置为上升沿捕获
}
else //发生捕获时间但不是下降沿,第一次捕获到上升沿,记录此时的定时器计数值
{
TIM3CH1_CAPTURE_UPVAL = TIM_GetCapture1(TIM3); //获取上升沿数据
TIM3CH1_CAPTURE_STA |= 0X40; //标记已捕获到上升沿
TIM_OC1PolarityConfig(TIM3, TIM_ICPolarity_Falling);//设置为下降沿捕获
}
}
}
if ((TIM3CH2_CAPTURE_STA & 0X80) == 0) //还未成功捕获
{
if (TIM_GetITStatus(TIM3, TIM_IT_CC2) != RESET) //捕获2发生捕获事件
{
TIM_ClearITPendingBit(TIM3, TIM_IT_CC2); //清除中断标志位
if (TIM3CH2_CAPTURE_STA & 0X40) //捕获到一个下降沿
{
TIM3CH2_CAPTURE_DOWNVAL = TIM_GetCapture2(TIM3);//记录下此时的定时器计数值
if (TIM3CH2_CAPTURE_DOWNVAL < TIM3CH2_CAPTURE_UPVAL)
{
tim3_T2 = 65535;
}
else
tim3_T2 = 0;
tempup32 = TIM3CH2_CAPTURE_DOWNVAL - TIM3CH2_CAPTURE_UPVAL
+ tim3_T2; //得到总的高电平的时间
pwmout32 = tempup32; //总的高电平的时间
TIM3CH2_CAPTURE_STA = 0; //捕获标志位清零
TIM_OC2PolarityConfig(TIM3, TIM_ICPolarity_Rising); //设置为上升沿捕获
}
else //发生捕获时间但不是下降沿,第一次捕获到上升沿,记录此时的定时器计数值
{
TIM3CH2_CAPTURE_UPVAL = TIM_GetCapture2(TIM3); //获取上升沿数据
TIM3CH2_CAPTURE_STA |= 0X40; //标记已捕获到上升沿
TIM_OC2PolarityConfig(TIM3, TIM_ICPolarity_Falling);//设置为下降沿捕获
}
}
}
if ((TIM3CH3_CAPTURE_STA & 0X80) == 0) //还未成功捕获
{
if (TIM_GetITStatus(TIM3, TIM_IT_CC3) != RESET) //捕获3发生捕获事件
{
TIM_ClearITPendingBit(TIM3, TIM_IT_CC3); //清除中断标志位
if (TIM3CH3_CAPTURE_STA & 0X40) //捕获到一个下降沿
{
TIM3CH3_CAPTURE_DOWNVAL = TIM_GetCapture3(TIM3);//记录下此时的定时器计数值
if (TIM3CH3_CAPTURE_DOWNVAL < TIM3CH3_CAPTURE_UPVAL)
{
tim3_T3 = 65535;
}
else
tim3_T3 = 0;
tempup33 = TIM3CH3_CAPTURE_DOWNVAL - TIM3CH3_CAPTURE_UPVAL
+ tim3_T3; //得到总的高电平的时间
pwmout33 = tempup33; //总的高电平的时间
TIM3CH3_CAPTURE_STA = 0; //捕获标志位清零
TIM_OC3PolarityConfig(TIM3, TIM_ICPolarity_Rising); //设置为上升沿捕获
}
else //发生捕获时间但不是下降沿,第一次捕获到上升沿,记录此时的定时器计数值
{
TIM3CH3_CAPTURE_UPVAL = TIM_GetCapture3(TIM3); //获取上升沿数据
TIM3CH3_CAPTURE_STA |= 0X40; //标记已捕获到上升沿
TIM_OC3PolarityConfig(TIM3, TIM_ICPolarity_Falling);//设置为下降沿捕获
}
}
}
if ((TIM3CH4_CAPTURE_STA & 0X80) == 0) //还未成功捕获
{
if (TIM_GetITStatus(TIM3, TIM_IT_CC4) != RESET) //捕获4发生捕获事件
{
TIM_ClearITPendingBit(TIM3, TIM_IT_CC4); //清除中断标志位
if (TIM3CH4_CAPTURE_STA & 0X40) //捕获到一个下降沿
{
TIM3CH4_CAPTURE_DOWNVAL = TIM_GetCapture4(TIM3);//记录下此时的定时器计数值
if (TIM3CH4_CAPTURE_DOWNVAL < TIM3CH4_CAPTURE_UPVAL)
{
tim3_T4 = 65535;
}
else
tim3_T4 = 0;
tempup34 = TIM3CH4_CAPTURE_DOWNVAL - TIM3CH4_CAPTURE_UPVAL
+ tim3_T4; //得到总的高电平的时间
pwmout34 = tempup34; //总的高电平的时间
TIM3CH4_CAPTURE_STA = 0; //捕获标志位清零
TIM_OC4PolarityConfig(TIM3, TIM_ICPolarity_Rising); //设置为上升沿捕获
}
else //发生捕获时间但不是下降沿,第一次捕获到上升沿,记录此时的定时器计数值
{
TIM3CH4_CAPTURE_UPVAL = TIM_GetCapture4(TIM3); //获取上升沿数据
TIM3CH4_CAPTURE_STA |= 0X40; //标记已捕获到上升沿
TIM_OC4PolarityConfig(TIM3, TIM_ICPolarity_Falling);//设置为下降沿捕获
}
}
}
}
1/2路板子上没有也没删,其他路都有值。
即可解析遥控器。
2路PWM捕获:https://download.csdn.net/download/JanKin_BY/12485429
8路PWM捕获:https://download.csdn.net/download/JanKin_BY/12485440