同步最新代码

底盘独立控制器/code/System/TIM.c

@@ -0,0 +1,72 @@
+#include "stm32f4xx.h"                  // Device header
+#include "stm32f4xx_conf.h"
+#include "CAN.h"
+
+/*====================	 定时器资源分配   ====================
+	TIM1(高级)	················PWM1~PWM4
+	TIM2		················定时器
+	TIM3		················
+	TIM4		················蜂鸣器发声
+	TIM5		················混色LED三色控制
+	TIM6(基本)	················PID闭环
+	TIM7(基本)	················遥控器连接检测
+	TIM8(高级)	················PWM5~PWM7
+	TIM9		················
+	TIM10		················
+	TIM11		················
+	TIM12		················
+	TIM13		················CAN总线设备连接检测
+	TIM14		················
+  =============================================================*/
+
+/*
+ *函数简介:TIM2定时器初始化
+ *参数说明:无
+ *返回类型:无
+ *备注:默认定时1ms
+ *备注:Freq=Sys_APB1TIM/(PSC+1)/(ARR+1)=84MHz/(PSC+1)/(ARR+1)
+ */
+void TIM_Init(void)
+{
+	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);//开启时钟
+	
+	TIM_InternalClockConfig(TIM2);//选择时基单元的时钟(此处为内部时钟),TIM_ITRxExternalClockConfig()接ITRx时钟,TIM_TIxExternalClockConfig()接TIx捕获通道时钟,TIM_ETRClockMode1Config()接ETR时钟(选择外部时钟模式1),TIM_ETRClockMode2Config()接ETR时钟(选择外部时钟模式2)
+	
+	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;//配置时基单元（配置参数）
+	TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;//配置时钟分频为1分频
+	TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up;//配置计数器模式为向上计数
+	TIM_TimeBaseInitStructure.TIM_Period=200-1;//配置自动重装值ARR
+	TIM_TimeBaseInitStructure.TIM_Prescaler=420-1;//配置分频值PSC,默认频率800Hz
+	TIM_TimeBaseInitStructure.TIM_RepetitionCounter=0;//配置重复计数单元的置为0
+	TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitStructure);//初始化TIM2
+	
+	TIM_ClearFlag(TIM2,TIM_FLAG_Update);//清除配置时基单元产生的中断标志位
+	
+	TIM_ITConfig(TIM2,TIM_IT_Update,ENABLE);//使能更新中断
+	
+	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//选择NVIC分组
+	
+	NVIC_InitTypeDef NVIC_InitStructure;//配置NVIC（配置参数）
+	NVIC_InitStructure.NVIC_IRQChannel=TIM2_IRQn;//选择中断通道为TIM2
+	NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;//使能中断通道
+	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1;//TIM2的抢占优先级
+	NVIC_InitStructure.NVIC_IRQChannelSubPriority=2;//TIM2的响应优先级
+	NVIC_Init(&NVIC_InitStructure);//初始化NVIC
+	
+	TIM_Cmd(TIM2,ENABLE);//启动定时器
+}
+
+/*
+ *函数简介:TIM2定时器更新中断函数
+ *参数说明:无
+ *返回类型:无
+ *备注:无
+ */
+void TIM2_IRQHandler(void)
+{
+	if(TIM_GetITStatus(TIM2,TIM_IT_Update)==SET)//检测TIM2更新
+	{
+		TIM_ClearITPendingBit(TIM2,TIM_IT_Update);//清除标志位
+		//函数体
+	}
+}