//大舵机2.5%-12.5%满占空比调节 270度左右 PWM设置25-125 //一般舵机7%为中间值,4.5%-10%左右范围 void stepperMoterInit() { TIM5_Init();//左边的电机前四个 TIM8_Init();//用于手爪的吸力电机 TIM4_Init();//右边的电机前四个 TIM1_Init(); }
void System_init(void) { //系统时钟初始化 内部16M System_Clock_init(); //串口初始化 9600 UART1_Init(); //串口发送函数绑定 HekrInit(UART1_SendChar); //16M主频延迟初始化 delay_init(16); //通过上电次数选择模式 必须先初始化延迟 串口 Bright_ModeInit(); //PWM 初始化 TIM2_Init(); //亮度调整定时器 TIM1_Init(); _asm("rim"); }
void main() { u16 tmp; u8 tmp8, tmp8_A; static tCANMsg RxMsgBuff; CLK_Init(CLK_HSE); disableInterrupts(); GPIO_Init(); TIM4_Init(); // TIM2_Init(); TIM1_Init(); ADC_Init(); /* Configure CAN - Interface */ CAN_Init(); // init CAN - interface enableInterrupts(); CAN_Start(); CAN_TxMsg1.Length = 4; CAN_TxMsg1.Xtd = false; CAN_TxMsg1.rtr = false; CAN_TxMsg1.ID = 0x280; CAN_TxMsg1.Data[0] =0 ; CAN_TxMsg1.Data[1] =0; //PWM_SetFrequency(1); do { if ( IsCAN_MSG1_Send()) { tmp = ADC_GetValue(ADC_REV_CHANEL); tmp = tmp *24; if ( tmp < 100 ) { OIL_PRESS = false; } else { OIL_PRESS = true; } CAN_TxMsg1.Data[3] =(u8)(tmp >> 8) ; CAN_TxMsg1.Data[2] =(u8)(tmp & 0x00FF); CAN_Write(&CAN_TxMsg1); } if ( IsSpeedAdjustTime()) { tmp = ADC_GetValue(ADC_SPEED_CHANEL); tmp = tmp * 10; tmp = tmp/ 34; PWM_SetFrequency(tmp); // 1023 = 300 Hz } /* if( CAN_GetMsg(&RxMsgBuff)== RET_OK){ if (RxMsgBuff.Xtd ){ // EID tmp8 = (u8)(RxMsgBuff.timeStamp >>3) & 0xE0U; if (RxMsgBuff.rtr) tmp8 |= 0x10; tmp8 |= (RxMsgBuff.Length & 0x0F); tmp8_A = (RxMsgBuff.ID>>24) & 0x001f; tmp8_A |= (RxMsgBuff.FilterID << 5); USART_SendBytesMessage (CAN_MSG_EXT_1, tmp8,(u8)((RxMsgBuff.timeStamp) & 0x00FF), tmp8_A ,(RxMsgBuff.ID>>16) & 0x00ffU); USART_SendBytesMessage (CAN_MSG_EXT_2, (RxMsgBuff.ID>>8) & 0x00ffU,RxMsgBuff.ID & 0x00ffU,RxMsgBuff.Data[0], RxMsgBuff.Data[1] ); if (RxMsgBuff.Length > 2) USART_SendBytesMessage (CAN_MSG_EXT_3, RxMsgBuff.Data[2], RxMsgBuff.Data[3], RxMsgBuff.Data[4], RxMsgBuff.Data[5]); if (RxMsgBuff.Length > 6 ) USART_SendBytesMessage (CAN_MSG_EXT_4, RxMsgBuff.Data[6], RxMsgBuff.Data[7],0,0); }else{ // standard ID tmp8 = (u8)(RxMsgBuff.timeStamp >>3) & 0xE0U; if (RxMsgBuff.rtr) tmp8 |= 0x10; tmp8 |= (RxMsgBuff.Length & 0x0F); tmp8_A = (RxMsgBuff.ID>>8) & 0x007f; tmp8_A |= (RxMsgBuff.FilterID << 3); USART_SendBytesMessage (CAN_MSG_STD_1, tmp8,(u8)((RxMsgBuff.timeStamp) & 0x00FF), tmp8_A ,RxMsgBuff.ID & 0x00ff); if (RxMsgBuff.Length > 0) USART_SendBytesMessage (CAN_MSG_STD_2, RxMsgBuff.Data[0], RxMsgBuff.Data[1], RxMsgBuff.Data[2], RxMsgBuff.Data[3]); if (RxMsgBuff.Length > 4 ) USART_SendBytesMessage (CAN_MSG_STD_3, RxMsgBuff.Data[4], RxMsgBuff.Data[5], RxMsgBuff.Data[6], RxMsgBuff.Data[7]); } }*/ /** LED Flashing **/ if (GetLedState()) { LED_ON; } else { LED_OFF; } } while (1); }