TIM1_ETR PA12 PE7
TIM1_CH1 PA8 PE9
TIM1_CH2 PA9 PE11
TIM1_CH3 PA10 PE13
TIM1_CH4 PA11 PE14
TIM1_BKIN PB12 PA6 PE15
TIM1_CH1N PB13 PA7 PE8
TIM1_CH2N PB14 PB0 PE10
TIM1_CH3N PB15 PB1 PE12
TIM2_CH1_ETR PA0 PA15 PA0 PA15
TIM2_CH2 PA1 PB3 PA1 PB3
TIM2_CH3 PA2 PB10
TIM2_CH4 PA3 PB11
TIM3_CH1 PA6 PB4 PC6
TIM3_CH2 PA7 PB5 PC7
TIM3_CH3 PB0 PC8
TIM3_CH4 PB1 PC9
TIM4_CH1 PB6 PD12
TIM4_CH2 PB7 PD13
TIM4_CH3 PB8 PD14
TIM4_CH4 PB9 PD15
这个是通道对应引脚,第一个是没有重映射引脚,第二个是部分重映射引脚,第三个是完全重映射引脚
我使用战舰板所佩带的pwm源码更改后就可以使用tim3的四个通道输出pwm波了
主要的是TIM3_PWM_Init()其他的可以不看
GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE); //启用Timer3部分重映射
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6| GPIO_Pin_7; //TIM_CH1 TIM_CH2
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1; //TIM_CH3 TIM_CH4
通道引脚设置
TIM_OC1Init(TIM3, &TIM_OCInitStructure); //根据T指定的参数初始化外设TIM3 OC1
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable); //使能TIM3在CCR1上的预装载寄存器
前面的1可以换成2,3,4用于2,3,4通道设置
#include "timer.h"
#include "led.h"
#include "usart.h"
//通用定时器3中断初始化
//这里时钟选择为APB1的2倍,而APB1为36M
//arr:自动重装值。
//psc:时钟预分频数
//这里使用的是定时器3!
void TIM3_Int_Init(u16 arr,u16 psc)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //时钟使能
TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值 计数到5000为500ms
TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值 10Khz的计数频率
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //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
TIM_ITConfig(TIM3,TIM_IT_Update,ENABLE ); //使能指定的TIM3中断,允许更新中断
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn; //TIM3中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //先占优先级0级
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3; //从优先级3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_Cmd(TIM3, ENABLE); //使能TIMx外设
}
//定时器3中断服务程序
void TIM3_IRQHandler(void) //TIM3中断
{
if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET) //检查指定的TIM中断发生与否:TIM 中断源
{
TIM_ClearITPendingBit(TIM3, TIM_IT_Update ); //清除TIMx的中断待处理位:TIM 中断源
LED1=!LED1;
}
}
//TIM3 PWM部分初始化
//PWM输出初始化
//arr:自动重装值
//psc:时钟预分频数
void TIM3_PWM_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //使能定时器3时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); //使能GPIO外设和AFIO复用功能模块时钟
// GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE); //Timer3部分重映射 TIM3_CH2->PB5
//设置该引脚为复用输出功能,输出TIM3 CH2的PWM脉冲波形 GPIOB.5
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6| GPIO_Pin_7; //TIM_CH1 TIM_CH2
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化GPIO
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1; //TIM_CH3 TIM_CH4
GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化GPIO
//初始化TIM3
TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值
TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //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 Channel2 PWM模式
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高
TIM_OC1Init(TIM3, &TIM_OCInitStructure); //根据T指定的参数初始化外设TIM3 OC1
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable); //使能TIM3在CCR1上的预装载寄存器
TIM_OC2Init(TIM3, &TIM_OCInitStructure); //根据T指定的参数初始化外设TIM3 OC2
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable); //使能TIM3在CCR2上的预装载寄存器
TIM_OC3Init(TIM3, &TIM_OCInitStructure); //根据T指定的参数初始化外设TIM3 OC3
TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable); //使能TIM3在CCR3上的预装载寄存器
TIM_OC4Init(TIM3, &TIM_OCInitStructure); //根据T指定的参数初始化外设TIM3 OC2
TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable); //使能TIM3在CCR2上的预装载寄存器
TIM_Cmd(TIM3, ENABLE); //使能TIM3
}
主程序四个通道输出pwm波,改变舵机的角度
int main(void)
{
u16 led0pwmval=0;
u8 dir=1;
delay_init(); //延时函数初始化
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); //设置NVIC中断分组2:2位抢占优先级,2位响应优先级
uart_init(115200); //串口初始化为115200
LED_Init(); //LED端口初始化
TIM3_PWM_Init(1999,719); //PWM频率=72000000/(719+1)/(1999+1)=50hz=20mS
while(1)
{
delay_ms(1000);
TIM_SetCompare1(TIM3,1750);//占空比 (2000-1750)/2000 * 20mS=2.5mS
TIM_SetCompare2(TIM3,1750);//占空比 (2000-1750)/2000 * 20mS=2.5mS
TIM_SetCompare3(TIM3,1750);//占空比 (2000-1750)/2000 * 20mS=2.5mS
TIM_SetCompare4(TIM3,1750);//占空比 (2000-1750)/2000 * 20mS=2.5mS
delay_ms(1000);
TIM_SetCompare1(TIM3,1800);//占空比 (2000-1800)/2000 * 20mS=2mS
TIM_SetCompare2(TIM3,1800);//占空比 (2000-1800)/2000 * 20mS=2mS
TIM_SetCompare3(TIM3,1800);//占空比 (2000-1800)/2000 * 20mS=2mS
TIM_SetCompare4(TIM3,1800);//占空比 (2000-1800)/2000 * 20mS=2mS
delay_ms(1000);
TIM_SetCompare1(TIM3,1850);//占空比 (2000-1850)/2000 * 20mS=1.5mS
TIM_SetCompare2(TIM3,1850);//占空比 (2000-1850)/2000 * 20mS=1.5mS
TIM_SetCompare3(TIM3,1850);//占空比 (2000-1850)/2000 * 20mS=1.5mS
TIM_SetCompare4(TIM3,1850);//占空比 (2000-1850)/2000 * 20mS=1.5mS
delay_ms(1000);
TIM_SetCompare1(TIM3,1900);//占空比 (2000-1900)/2000 * 20mS=1mS
TIM_SetCompare2(TIM3,1900);//占空比 (2000-1900)/2000 * 20mS=1mS
TIM_SetCompare3(TIM3,1900);//占空比 (2000-1900)/2000 * 20mS=1mS
TIM_SetCompare4(TIM3,1900);//占空比 (2000-1900)/2000 * 20mS=1mS
delay_ms(1000);
TIM_SetCompare1(TIM3,1945); //占空比 (2000-1950)/2000 * 20mS=0.5mS
TIM_SetCompare2(TIM3,1945); //占空比 (2000-1950)/2000 * 20mS=0.5mS
TIM_SetCompare3(TIM3,1945); //占空比 (2000-1950)/2000 * 20mS=0.5mS
TIM_SetCompare4(TIM3,1945); //占空比 (2000-1950)/2000 * 20mS=0.5mS
//1950时会有抖动,说明舵机没有到制定点,但是却卡主了,减小此值可解决此问题
}
}