stm8s tim2 源码 [复制链接]

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离线deepken

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stm8s tim2使用的一个例子

int CurPos;//current position 75-187-300 ( 0-90-180°)
unsigned char Re_buf[11],counter=0;//UASRT data
unsigned char isRead=0;
float a[3],w[3],angle[3],T;

void Timer2_Init(void)
{
  CLK_ICKR|=0x01;         //开启内部HSI
  while(!(CLK_ICKR&0x02));//HSI准备就绪
  CLK_SWR=0xe1;           //HSI为主时钟源
  CLK_CKDIVR=0x00;  //外设时钟8分频=2MHz

  TIM2_PSCR=0x07;  //Timer2时钟128分频，计算一次8us
  TIM2_ARRH=25;     //自动重装的值
  TIM2_ARRL=196;      //PWM周期为20000us
  TIM2_CCER1=bit0 | bit4;  // high level,OC1
  TIM2_CCMR1=bit3|bit5|bit6;  //MODE
  TIM2_CCR1H=0x00;            //占空比
  TIM2_CCR1L=0x00;

  TIM2_CCER1 |= 0x10;   //开启OC2信号输出脚
  TIM2_CCMR2 = 0x60;   //PWM1模式
  TIM2_CCMR2 |= 0x08;   //输出比较2预装载使能
  TIM2_CCR2H=0x00;            //占空比
  TIM2_CCR2L=0x00;

  TIM2_IER=0x00;             //更新中断使能
  TIM2_CR1=bit0;            //enable counter
}

void GPIO_Init(void)
{
  PB_DDR|=0x20;
  PB_CR1|=0x20;
  PB_CR2|=0x00;
}

void ServoPosition(int pos)//position 40 75-187-300 2400, 0 means no torque
{
  TIM2_CCR1H=pos/256; //占空比
  TIM2_CCR1L=pos%256;
}

void ServoPT(int pos,int time)//time about 10
{
  int k,i,j,d;
  if(CurPos>pos)
  {
    d=CurPos-pos;
    for(k=0;k<d;k++)
    {
    ServoPosition(--CurPos);
    for(i=0;i<time;i++)
      for(j=0;j<5000;j++);
    }
  }
  else
  {
    d=pos-CurPos;
    for(k=0;k<d;k++)
    {
      ServoPosition(++CurPos);
      for(i=0;i<time;i++)
        for(j=0;j<5000;j++);
    }
  }
}

void StopRotate()
{
  TIM2_CCR2H=0; //占空比
  TIM2_CCR2L=0;
}
void RotateClockwise()
{
  TIM2_CCR2H=0; //占空比
  TIM2_CCR2L=50;
}
void RotaetClockwiseTime(int t)//rotate clockwisely with given time(no unit)
{
  int i,j,k;
  for(i=0;i<t;i++)
    for(j=0;j<500;j++)
    {
      StopRotate();
      for(k=0;k<4;k++);
      RotateClockwise();
      for(k=0;k<4;k++);
    }
  StopRotate();
}
void RotateCntrClockwise()
{
  TIM2_CCR2H=600/256; //占空比
  TIM2_CCR2L=600%256;
}
void RotateTo0()
{
  TIM2_CCR2H=0; //占空比
  TIM2_CCR2L=187;
}

void Init_UART1(void)//Baud Rate 9600
{
      UART1_CR1=0x00;
      UART1_CR2=0x00;
      UART1_CR3=0x00;
      // 设置波特率，必须注意以下几点：
      // (1) 必须先写BRR2
      // (2) BRR1存放的是分频系数的第11位到第4位，
      // (3) BRR2存放的是分频系数的第15到12位，和第3到0位
      // 例如对于波特率位9600时，分频系数=2000000/9600=208
      // 对应的十六进制数为00D0，BBR1=0D,BBR2=00
      UART1_BRR2=0x00;
      UART1_BRR1=0x0d;

      UART1_CR2=0x2c;//允许接收，发送，开接收中断 *asm("rim");开中断，sim为关中断
}

void UART1_sendchar(unsigned char c)
{
      while((UART1_SR & 0x80)==0x00);
      UART1_DR=c;
}

#pragma vector= UART1_R_OR_vector//0x19
__interrupt void UART1_R_OR_IRQHandler(void)
{
      Re_buf[counter]=UART1_DR;//不同单片机略有差异
      if((counter==0)&&(Re_buf[0]!=0x55)) return;      //第 0 号数据不是帧头，跳过
      counter++;
      if(counter==11) //接收到 11 个数据
      {
        counter=0; //重新赋值，准备下一帧数据的接收
        isRead=1;
      }
      return;
}

void decodeIMU()  //decode UASRT data from IMU
{
   if(isRead)
   {
      isRead=0;
      if(Re_buf[0]==0x55)       //检查帧头
      {
         switch(Re_buf [1])
         {
           case 0x51:      //acceleration
             //a[0] = ((short)(Re_buf [3]<<8| Re_buf [2]))/32768.0*16;//x
             //a[1] = ((short)(Re_buf [5]<<8| Re_buf [4]))/32768.0*16;//y
             //a[2] = ((short)(Re_buf [7]<<8| Re_buf [6]))/32768.0*16;//z
             //T = ((short)(Re_buf [9]<<8| Re_buf [8]))/340.0+36.25;//Temperature
             break;
           case 0x52:     //rotational speed
             w[0] = ((short)(Re_buf [3]<<8| Re_buf [2]))/32768.0*2000;
             w[1] = ((short)(Re_buf [5]<<8| Re_buf [4]))/32768.0*2000;
             //w[2] = ((short)(Re_buf [7]<<8| Re_buf [6]))/32768.0*2000;
             //T = ((short)(Re_buf [9]<<8| Re_buf [8]))/340.0+36.25;
             break;
           case 0x53:     //angle
             angle[0] = ((short)(Re_buf [3]<<8| Re_buf [2]));//*180/32768.0;
             angle[1] = ((short)(Re_buf [5]<<8| Re_buf [4]))*180/32768.0;
             angle[2] = ((short)(Re_buf [7]<<8| Re_buf [6]))*180/32768.0;
             //T = ((short)(Re_buf [9]<<8| Re_buf [8]))/340.0+36.25;
             break;
         }
       }
     }
}
void setZas0()
{
  UART1_sendchar(0xFF);
  UART1_sendchar(0xAA);
  UART1_sendchar(0x52);
}
void KeepOrientationX(float x) //Stablize Angle of x axis, PD control
{
  int u;
  decodeIMU();
  //u=(int)(P*(-angle[0]-x)+D*w[1]);
  //ServoPosition((CurPos-=u));
  if((-angle[0])>x)
    ServoPosition(225);
  if((-angle[0])<x)
    ServoPosition(150);
  if((-angle[0])==x)
    ServoPosition(180);
  for(u=0;u<5000;u++);
}

int main( void )
{
  int i,j;
  Timer2_Init();
  Init_UART1();
  GPIO_Init();
  //ServoPosition(187);//servo homming
  //RotateTo0();
  for(i=0;i<1000;i++)
    for(j=0;j<5000;j++);
  CurPos=187;
  setZas0();

  while(1)
  {
    //PB_ODR^=0xf0;
    KeepOrientationX(0);

  }
}