int main(void)
{
bool ReadValue;
/* 配置系统时钟为72M */
SystemInit();
/* TIM1 PWM波输出初始化，并使能TIM1 PWM输出 */
//飞机起飞，飞到扔球区扔球，扔球，回到抓球区，等待PC发出指令，两个减速电机开始转动，共用3路pwm
// TIM1_PWM_Init(); //四路都开始输出pwm
TIM1_PWM_Init();
/*PB12 PB13分别连接两个行程开关，
等滚子位置到达装球盒子边缘时
任意一个行程开关发生碰撞进入中断就将两个减速电机停下
*/
EXTI_PB12_Config();
EXTI_PB13_Config();
USART2_Configuration();
key_init();
while (1)
{
// ReadValue = GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_12);
//USART_ReceiveData(USART2);
// USART_SendData(USART2, ReadValue);
}
// return 0;
}
void SVPWM_3ShuntInit(void)
{
TIM1_PWM_Init( );//TIM1 初始化
CurrentReading_ADC_Init( );//ADC初始化
SVPWM_3ShuntCurrentReadingCalibration( );//标定偏置电压
TIM1_ADC_NVIC_Init( ); //ADC_TIM1中断初始化
}
int main(void)
{
int i = 100000000;
int j = 10000000;
int cnt = 1000;
delay_init();
led_Configuration();
MPU6050_Configuration();
// PWM_Configuration();
TIM3_PWM_Init();
TIM1_PWM_Init();
TIM2_PWM_Init();
// SysTick_Config(SystemCoreClock / 1000); // ms
CtrData = CTRL_UP;
while (i-- > 0) {
while (j-- > 0) {
;
}
}
while (1) {
if(schedulercnt_2ms >= 2)
{
if (cnt > 0)
{
//读加速度计和陀螺仪数据
READ_MPU6050();
//飞控函数
Control();
//PWM波输出函数
PWMControl(PWM);
cnt--;
}
else {
CtrData = CTRL_STOP;
Control();
PWMControl(PWM);
}
schedulercnt_2ms = 0;
}
}
}
void Steering_Init(void) {
STMFLASH_Read(STEERING_DATA_ADDR, (u16*)(&steering_data), sizeof(struct steering_type));
TIM2_PWM_Init(20000,71);
TIM3_PWM_Init(20000,71);
TIM5_PWM_Init(20000,71);
TIM1_PWM_Init(20000,71);
TIM8_PWM_Init(20000,71);
TIM4_PWM_Init(20000,71);
if(STEERING_INIT_MARK==steering_data.mark)
Steering_Move(steering_data.init);
else
Steering_Move(default_init);
}
int main(void)
{
u16 led0pwmval=0;
u8 dir=1;
delay_init(); //延时函数初始化
LED_Init(); //初始化与LED连接的硬件接口
TIM1_PWM_Init(899,0);//不分频。PWM频率=72000/(899+1)=80Khz
while(1)
{
delay_ms(10);
if(dir)led0pwmval++;
else led0pwmval--;
if(led0pwmval>300)dir=0;
if(led0pwmval==0)dir=1;
TIM_SetCompare1(TIM1,led0pwmval);
}
}
