//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 vidInit(void)
{
/*Populate DMA_TEST*/
//int i=0;
//int a=0xFF;
/*for(i=0; i<100;i++){
if(i%2 != 0)
DMA_TEST[0][i]=a;
}*/
vidClearScreen();
TIM8_Init();
TIM_Configuration();
DMA_Config();
//TIM5_Init();
}
void DMA_Config(void){
NVIC_InitTypeDef NVIC_InitStructure;
DMA_InitTypeDef DMA_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
__IO uint32_t Timeout = 50000;
//int i;
/* Enable DMA clock & TIM3 Clock*/
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA2, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
/*Enable GPIOB Pins as digital output*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_Speed = GPIO_High_Speed;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOB,&GPIO_InitStructure);
TIM8_Init();
/* Reset DMA Stream registers (for debug purpose) */
DMA_DeInit(DMA2_Stream2);
/* Configure DMA Stream */
DMA_InitStructure.DMA_Channel = DMA_Channel_7;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&(GPIOB->ODR); //;0x40000010 &(GPIOB->ODR)//dest
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)fb; //source TAVA fb
DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
DMA_InitStructure.DMA_BufferSize = (uint32_t)VID_HSIZE+2;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Enable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_INC16;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(DMA2_Stream1, &DMA_InitStructure);
/* Enable DMA Stream Transfer Complete interrupt */
DMA_ITConfig(DMA2_Stream1, DMA_IT_TC, ENABLE);
DMA_Cmd(DMA2_Stream1,ENABLE);
/* Enable DAC Channel2 */
Timeout = 50000;
while ((DMA_GetCmdStatus(DMA2_Stream1) != ENABLE) && (Timeout-- > 0))
{
}
/* Check if a timeout condition occurred */
if (Timeout == 0)
{
/* Manage the error: to simplify the code enter an infinite loop */
while (1)
{
}
}
DMA2->LIFCR = 0xC40;
/* Enable the DMA Stream IRQ Channel */
NVIC_InitStructure.NVIC_IRQChannel = DMA2_Stream1_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
//TIM_Cmd(TIM8,ENABLE);
}
