#include "global.h" // Device heade sbit PWMB_PIN = P0^4; //¶¨ÒåPWMÊä³öÒý½Å¡£ sbit PWMA_PIN = P0^5; //¶¨ÒåPWMÊä³öÒý½Å¡£ static uint16_t PWM_high,PWM_low; //Öмä±äÁ¿£¬Óû§ÇëÎðÐ޸ġ£ /** * @brief Âí´ïGPIO³õʼ»¯ * @param None * @retval None */ static void Motor_GPIO_Init(void) { GPIO_InitTypeDef GPIO_InitStructure; GPIO_InitStructure.GPIO_Mode = GPIO_OUT_PP; GPIO_InitStructure.GPIO_Pin = Left_MotoA_Pin | Left_MotoB_Pin | Right_MotoA_Pin | Right_MotoB_Pin | Right_MotoPWM_Pin | Left_MotoPWM_Pin; GPIO_Init(Motor_Port, &GPIO_InitStructure); GPIO_SetBits(Motor_Port, Left_MotoA_Pin | Left_MotoB_Pin | Right_MotoA_Pin | Right_MotoB_Pin | Right_MotoPWM_Pin | Left_MotoPWM_Pin); } void Motor_PWM_Init(void) { TIM_InitTypeDef TIM_InitStructure; //½á¹¹¶¨Òå TIM_InitStructure.TIM_Mode = TIM_16BitAutoReload; //Ö¸¶¨¹¤×÷ģʽ, TIM_16BitAutoReload,TIM_16Bit,TIM_8BitAutoReload,TIM_16BitAutoReloadNoMask TIM_InitStructure.TIM_Polity = PolityLow; //Ö¸¶¨ÖжÏÓÅÏȼ¶, PolityHigh,PolityLow TIM_InitStructure.TIM_Interrupt = ENABLE; //ÖжÏÊÇ·ñÔÊÐí, ENABLE»òDISABLE TIM_InitStructure.TIM_ClkSource = TIM_CLOCK_1T; //Ö¸¶¨Ê±ÖÓÔ´, TIM_CLOCK_1T,TIM_CLOCK_12T,TIM_CLOCK_Ext TIM_InitStructure.TIM_ClkOut = DISABLE; //ÊÇ·ñÊä³ö¸ßËÙÂö³å, ENABLE»òDISABLE TIM_InitStructure.TIM_Value = 65536UL - PWM_DUTY; //³õÖµ, TIM_InitStructure.TIM_Run = ENABLE; //ÊÇ·ñ³õʼ»¯ºóÆô¶¯¶¨Ê±Æ÷, ENABLE»òDISABLE Timer_Inilize(Timer1,&TIM_InitStructure); //³õʼ»¯ Timer0,Timer1,Timer2 Motor_GPIO_Init(); } /**************** ¼ÆËãPWMÖØ×°Öµº¯Êý *******************/ static void LoadPWM(uint16_t i) { uint16_t j; j = 65536UL - PWM_DUTY + i; //¼ÆËãPWMµÍµçƽʱ¼ä i = 65536UL - i; //¼ÆËãPWM¸ßµçƽʱ¼ä EA = 0; PWM_high = i; //×°ÔØPWM¸ßµçƽʱ¼ä PWM_low = j; //×°ÔØPWMµÍµçƽʱ¼ä EA = 1; } /********************* Timer1ÖжϺ¯Êý************************/ void timer1_int (void) interrupt 3 { if(PWMB_PIN) { TH1 = (uint8_t)(PWM_high >> 8); //Èç¹ûÊÇÊä³öµÍµçƽ£¬Ôò×°Ôظߵçƽʱ¼ä¡£ TL1 = (uint8_t)PWM_high; PWMB_PIN = 0; PWMA_PIN = 0; } else { TH1 = (uint8_t)(PWM_low >> 8); //Èç¹ûÊÇÊä³ö¸ßµçƽ£¬Ôò×°Ôص͵çƽʱ¼ä¡£ TL1 = (uint8_t)PWM_low; PWMB_PIN = 1; PWMA_PIN = 1; } } /********************* Timer3ÖжϺ¯Êý************************/ /*STC15F2KûÓж¨Ê±Æ÷3*/ //void timer3_int (void) interrupt 19 //{ // // P1 = 0; // if(PWMA_PIN) // { // T3H = (uint8_t)(PWM_high >> 8); //Èç¹ûÊÇÊä³öµÍµçƽ£¬Ôò×°Ôظߵçƽʱ¼ä¡£ // T3L = (uint8_t)PWM_high; // PWMA_PIN = 0; // } // else // { // T3H = (uint8_t)(PWM_low >> 8); //Èç¹ûÊÇÊä³ö¸ßµçƽ£¬Ôò×°Ôص͵çƽʱ¼ä¡£ // T3L = (uint8_t)PWM_low; // PWMA_PIN = 1; // } //} void Motor_Run(uint8_t dir, uint16_t speed) { speed < PWM_HIGH_MIN ? speed = PWM_HIGH_MIN:speed; //Èç¹ûдÈëСÓÚ×îСռ¿Õ±ÈÊý¾Ý£¬ÔòÇ¿ÖÆΪ×îСռ¿Õ±È¡£ speed > PWM_HIGH_MAX ? speed = PWM_HIGH_MAX:speed; //Èç¹ûдÈë´óÓÚ×î´óÕ¼¿Õ±ÈÊý¾Ý£¬ÔòÇ¿ÖÆΪ×î´óÕ¼¿Õ±È¡£ switch (dir) { case FORWARD: LeftMotor_Go(); RightMotor_Go(); LoadPWM(speed); break; case BACKWARDS: LeftMotor_Back(); RightMotor_Back(); LoadPWM(speed); break; case TURNLEFT: LeftMotor_Stop(); RightMotor_Go(); LoadPWM(speed); break; case TURNRIGHT: LeftMotor_Go(); RightMotor_Stop(); LoadPWM(speed); break; case SPINTURNLEFT: LeftMotor_Back(); RightMotor_Go(); LoadPWM(speed); break; case SPINTURNRIGHT: LeftMotor_Go(); RightMotor_Back(); LoadPWM(speed); break; case STOP: LeftMotor_Stop(); RightMotor_Stop(); LoadPWM(speed); break; default: LeftMotor_Stop(); RightMotor_Stop(); break; } }