STM32F103之实验4 红外遥控2个电机正转反转usart输出编码器测速实验

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//* The Hands Free is licensed generally under a permissive 3-clause BSD license. 
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//头文件自己根据提示定义即可

//头文件自己根据提示定义即可///

#include "pwm.h"
#include "led.h"


//TIM1_CH1 PWM输出初始化
//arr：自动重装值
//psc：时钟预分频数


void TIM1_PWM_Init(u16 arr,u16 psc)
{  
	 GPIO_InitTypeDef GPIO_InitStructure;
	 
	TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
	
	TIM_OCInitTypeDef  TIM_OCInitStructure;

//	由于此处用到了JATG引脚作为普通IO口，因此需要*使能SWD 禁用JTAG*/同时，还需要在初始化之前打开AFIO时钟：

      RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);//1、打开复用时钟：
       GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable,ENABLE);//    *使能SWD 禁用JTAG*/同时，还需要在初始化之前打开AFIO时钟： 2、调用重映射函数：
	
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);// 使能timer1的时钟	
	
 	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA , ENABLE);  //使能GPIO外设时钟使能	
	    	
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);	//使能port of driver1，pb01
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);	//使能port of driver2，pB45
    
	
	 //电机1的两个方向的引脚，一个高电平一个低电平PB01	                                                                     	
	 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;				 //>PB0 1端口配置
	 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; 		 //通用推挽输出GPIO_Mode_Out_PP 
	 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;		 //IO口速度为50MHz，setbits输出高
	 GPIO_Init(GPIOB, &GPIO_InitStructure);	
	 GPIO_SetBits(GPIOB,GPIO_Pin_0);//setbits输出高
	 
	 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;				 // 
	 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; 		 //推 PB1
	 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;		 //I 
	 GPIO_Init(GPIOB, &GPIO_InitStructure);					 // 输出低
	 GPIO_ResetBits(GPIOB,GPIO_Pin_1);//RESETBITS 输出低

 //电机2的两个方向的引脚，一个高电平一个低电平pB45	                                                                     	
	 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;				 //>PC45 端口配置
	 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; 		 //通用推挽输出GPIO_Mode_Out_PP 
	 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;		 //IO口速度为50MHz，setbits输出高
	 GPIO_Init(GPIOB, &GPIO_InitStructure);	
	 GPIO_SetBits(GPIOB,GPIO_Pin_4);//setbits输出高
	 
	 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;				 // 
	 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; 		 //推 PC
	 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;		 //I 
	 GPIO_Init(GPIOB, &GPIO_InitStructure);					 // 输出低
	 GPIO_ResetBits(GPIOB,GPIO_Pin_5);//RESETBITS 输出低
	 
	 
   //设置该引脚为复用输出功能,输出TIM1 CH1的PWM脉冲波形 PA8
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8; //TIM_CH1
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  //推挽复用输出
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	//设置该引脚为复用输出功能,输出TIM1 CH4的PWM脉冲波形 PA11
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11; //TIM_CH4
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  //推挽复用输出
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	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	 80K
	TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值  不分频
	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(TIM1, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位

 
	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_Pulse = 0; //设置待装入捕获比较寄存器的脉冲值
	TIM_OCInitStructure.TIM_OCPolarity =TIM_OCPolarity_Low; //输出极性:TIM输出比较极性高
	TIM_OC1Init(TIM1, &TIM_OCInitStructure);  //根据TIM_OCInitStruct中指定的参数初始化外设TIMx
	
	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_OCInitStruc