my_auto_mobi

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Diff: pwm_input/pwmin.cpp

Revision:: 0:528f6a3352b9
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pwm_input/pwmin.cpp	Thu May 10 04:44:46 2018 +0000
@@ -0,0 +1,253 @@
+/***************************************************************
+功能 : 航模接收机PWM脉宽测量程序
+作者 : 王若溪
+邮箱 : thuwrx10[at]gmail[dot]com
+声明 : 
+本程序仅供学习与交流使用,如需他用,须联系作者
+本程序可以随意更改,但须保留本信息页
+All rights reserved
+2018.5.2
+***************************************************************/
+
+#include "pwmin.h"
+
+extern Serial pc;
+const uint16_t timerPeriod = 40000 - 1; // 单位为微秒，实际数字减1
+const int16_t widthUpperBound = 2200;
+const int16_t widthLowerBound = 800;
+
+int16_t	tim3IC1Width=0;  //定时器3通道1脉宽，单位为微秒
+int16_t	tim3IC2Width=0;  //定时器3通道2脉宽
+int16_t	tim3IC3Width=0;  //定时器3通道3脉宽
+int16_t	tim3IC4Width=0;  //定时器3通道4脉宽
+int16_t tim1IC2Width=0;
+int16_t tim1IC3Width=0;
+
+TIM_HandleTypeDef 	htim1, htim3;
+//
+
+void TIM1_3_Config(void)
+{
+
+	TIM_IC_InitTypeDef TIM_ICInitStructure;
+
+	htim3.Instance = TIM3;
+	htim3.Init.Period = timerPeriod;
+	htim3.Init.Prescaler = (uint16_t) (SystemCoreClock / 1000000) - 1; //1微秒
+	htim3.Init.ClockDivision = 0;     
+	htim3.Init.CounterMode = TIM_COUNTERMODE_UP;  
+	HAL_TIM_IC_Init(&htim3); 
+
+	TIM_ICInitStructure.ICPolarity = TIM_ICPOLARITY_FALLING; 
+	TIM_ICInitStructure.ICSelection = TIM_ICSELECTION_DIRECTTI; 
+	TIM_ICInitStructure.ICPrescaler = TIM_ICPSC_DIV1; 
+	TIM_ICInitStructure.ICFilter = 0x0;     
+	HAL_TIM_IC_ConfigChannel(&htim3, &TIM_ICInitStructure, TIM_CHANNEL_1); //配置各个通道的极性等
+	HAL_TIM_IC_ConfigChannel(&htim3, &TIM_ICInitStructure, TIM_CHANNEL_2);
+	HAL_TIM_IC_ConfigChannel(&htim3, &TIM_ICInitStructure, TIM_CHANNEL_3);
+	HAL_TIM_IC_ConfigChannel(&htim3, &TIM_ICInitStructure, TIM_CHANNEL_4);
+
+	HAL_TIM_IC_Start_IT(&htim3, TIM_CHANNEL_1); //使能各通道的输入捕获中断
+	HAL_TIM_IC_Start_IT(&htim3, TIM_CHANNEL_2);
+	HAL_TIM_IC_Start_IT(&htim3, TIM_CHANNEL_3);
+	HAL_TIM_IC_Start_IT(&htim3, TIM_CHANNEL_4);
+	
+	htim1.Instance = TIM1; //换成TIM1再来一遍
+	htim1.Init.Period = timerPeriod;
+	htim1.Init.Prescaler = (uint16_t) (SystemCoreClock / 1000000) - 1; //1微秒
+	htim1.Init.ClockDivision = 0;     
+	htim1.Init.CounterMode = TIM_COUNTERMODE_UP;  
+	HAL_TIM_IC_Init(&htim1); 
+	HAL_TIM_IC_ConfigChannel(&htim1, &TIM_ICInitStructure, TIM_CHANNEL_2);
+	HAL_TIM_IC_ConfigChannel(&htim1, &TIM_ICInitStructure, TIM_CHANNEL_3);
+	HAL_TIM_IC_Start_IT(&htim1, TIM_CHANNEL_2);
+	HAL_TIM_IC_Start_IT(&htim1, TIM_CHANNEL_3);
+}
+
+void HAL_TIM_IC_MspInit(TIM_HandleTypeDef *htim) //自己定义此函数，这个函数已在别处声明，会被HAL_TIM_IC_Init调用。
+{	
+	GPIO_InitTypeDef GPIO_InitStructure;
+	if (htim->Instance == TIM3)
+	{
+		__HAL_RCC_TIM3_CLK_ENABLE();
+		__HAL_RCC_GPIOA_CLK_ENABLE();
+		__HAL_RCC_GPIOB_CLK_ENABLE();
+
+		GPIO_InitStructure.Pin = GPIO_PIN_6 | GPIO_PIN_7;
+		GPIO_InitStructure.Mode = GPIO_MODE_INPUT;
+		GPIO_InitStructure.Pull = GPIO_PULLDOWN;
+		GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_HIGH;	
+		HAL_GPIO_Init(GPIOA, &GPIO_InitStructure);
+
+		GPIO_InitStructure.Pin = GPIO_PIN_0 | GPIO_PIN_1;
+		HAL_GPIO_Init(GPIOB, &GPIO_InitStructure);
+		
+		HAL_NVIC_SetPriority(TIM3_IRQn, 1, 0);
+		HAL_NVIC_EnableIRQ(TIM3_IRQn);
+	}
+	
+	if (htim->Instance == TIM1)
+	{
+		__HAL_RCC_TIM1_CLK_ENABLE();
+		__HAL_RCC_GPIOA_CLK_ENABLE();
+		
+		GPIO_InitStructure.Pin = GPIO_PIN_9 | GPIO_PIN_10;
+		GPIO_InitStructure.Mode = GPIO_MODE_INPUT;
+		GPIO_InitStructure.Pull = GPIO_PULLDOWN;
+		GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_HIGH;	
+		HAL_GPIO_Init(GPIOA, &GPIO_InitStructure);
+		
+		HAL_NVIC_SetPriority(TIM1_CC_IRQn, 2, 0);
+		HAL_NVIC_EnableIRQ(TIM1_CC_IRQn);
+	}
+}
+
+//自己实现一个名为HAL_TIM_IC_CaptureCallback的函数。它要被HAL_TIM_IRQHandler调用。
+//另外需要将HAL_TIM_IRQHandler加入相关的中断处理函数中，见stm32f1xx_it.c
+void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) 
+{
+	static int16_t temp;
+	static uint16_t tim1PrevIC2Value, tim1PrevIC3Value, tim3PrevIC1Value, tim3PrevIC2Value, tim3PrevIC3Value, tim3PrevIC4Value; //上升沿时计数器的值
+	static uint16_t tim1CurIC2Value, tim1CurIC3Value, tim3CurIC1Value, tim3CurIC2Value, tim3CurIC3Value, tim3CurIC4Value; // 下降沿时计数器的值
+	
+	if (htim->Instance == TIM1)
+	{
+		if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_2)
+		{
+			__HAL_TIM_DISABLE_IT(htim, TIM_IT_CC2);
+			if(!(TIM1->CCER & 0x0020)) // 发生了上升沿
+			{
+				tim1PrevIC2Value = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_2);
+				TIM1->CCER |= 0x0020;	// 改为下降沿触发以迎接下降沿
+			}
+			else
+			{
+				tim1CurIC2Value = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_2);
+				temp = tim1CurIC2Value - tim1PrevIC2Value;
+				if (temp < 0) // 上升沿和下降沿之间计数器走完了一个循环
+					temp += timerPeriod;
+				if (temp > widthLowerBound && temp < widthUpperBound) // 检查是否超限
+					tim1IC2Width=temp;
+					
+//				Tim3_ser1.printf("tim1IC2Width:%f\ttim1IC3Width:%f\n",tim1IC2Width,tim1IC3Width);
+				
+				TIM1->CCER &= ~0x0020; // 改回上升沿触发
+			}
+			__HAL_TIM_ENABLE_IT(htim, TIM_IT_CC2);
+		}
+		
+		if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_3)
+		{
+			__HAL_TIM_DISABLE_IT(htim, TIM_IT_CC3);
+			if(!(TIM1->CCER & 0x0200)) // Rising Edge
+			{
+				tim1PrevIC3Value = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_3);
+				TIM1->CCER |= 0x0200;		
+			}
+			else
+			{
+				tim1CurIC3Value = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_3);
+				temp = tim1CurIC3Value - tim1PrevIC3Value;
+				if (temp < 0) // 上升沿和下降沿之间计数器走完了一个循环
+					temp += timerPeriod;
+				if (temp > widthLowerBound && temp < widthUpperBound)
+					tim1IC3Width=temp;
+//				Tim3_ser1.printf("tim1IC2Width:%f\ttim1IC3Width:%f\n",tim1IC2Width,tim1IC3Width);
+				TIM1->CCER &= ~0x0200;
+			}
+			__HAL_TIM_ENABLE_IT(htim, TIM_IT_CC3);
+		}
+		
+	}
+
+	if (htim->Instance == TIM3)
+	{
+		if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1)
+		{
+			__HAL_TIM_DISABLE_IT(htim, TIM_IT_CC1);
+			if(!(TIM3->CCER & 0x0002)) // Rising Edge
+			{
+				tim3PrevIC1Value = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_1);
+				TIM3->CCER |= 0x0002;		
+			}
+			else
+			{
+				tim3CurIC1Value = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_1);
+				temp = tim3CurIC1Value - tim3PrevIC1Value;
+				if (temp < 0) // 上升沿和下降沿之间计数器走完了一个循环
+					temp += timerPeriod;
+				if (temp > widthLowerBound && temp < widthUpperBound)
+					tim3IC1Width=temp;
+//				Tim3_ser1.printf("tim3IC1Width:%f\ttim3IC2Width:%f\n",tim3IC1Width,tim3IC2Width);
+				TIM3->CCER &= ~0x0002;
+			}
+			__HAL_TIM_ENABLE_IT(htim, TIM_IT_CC1);
+		}
+		
+		if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_2)
+		{
+			__HAL_TIM_DISABLE_IT(htim, TIM_IT_CC2);
+			if(!(TIM3->CCER & 0x0020)) // Rising Edge
+			{
+				tim3PrevIC2Value = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_2);
+				TIM3->CCER |= 0x0020;		
+			}
+			else
+			{
+				tim3CurIC2Value = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_2);
+				temp = tim3CurIC2Value - tim3PrevIC2Value;
+				if (temp < 0) // 上升沿和下降沿之间计数器走完了一个循环
+					temp += timerPeriod;
+				if (temp > widthLowerBound && temp < widthUpperBound)
+					tim3IC2Width=temp;
+//				Tim3_ser1.printf("tim3IC1Width:%f\ttim3IC2Width:%f\n",tim3IC1Width,tim3IC2Width);
+				TIM3->CCER &= ~0x0020;
+			}
+			__HAL_TIM_ENABLE_IT(htim, TIM_IT_CC2);
+		}
+		
+		if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_3)
+		{
+			__HAL_TIM_DISABLE_IT(htim, TIM_IT_CC3);
+			if(!(TIM3->CCER & 0x0200)) // Rising Edge
+			{
+				tim3PrevIC3Value = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_3);
+				TIM3->CCER |= 0x0200;		
+			}
+			else
+			{
+				tim3CurIC3Value = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_3);
+				temp = tim3CurIC3Value - tim3PrevIC3Value;
+				if (temp < 0) // 上升沿和下降沿之间计数器走完了一个循环
+					temp += timerPeriod;
+				if (temp > widthLowerBound && temp < widthUpperBound)
+					tim3IC3Width=temp;
+//				Tim3_ser1.printf("tim3IC3Width:%f\ttim3IC4Width:%f\n",tim3IC3Width,tim3IC4Width);
+				TIM3->CCER &= ~0x0200;
+			}
+			__HAL_TIM_ENABLE_IT(htim, TIM_IT_CC3);
+		}
+		
+		if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_4)
+		{
+			__HAL_TIM_DISABLE_IT(htim, TIM_IT_CC4);
+			if(!(TIM3->CCER & 0x2000)) // Rising Edge
+			{
+				tim3PrevIC4Value = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_4);
+				TIM3->CCER |= 0x2000;		
+			}
+			else
+			{
+				tim3CurIC4Value = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_4);
+				temp = tim3CurIC4Value - tim3PrevIC4Value;
+				if (temp < 0) // Overflow occurred during rising edge and falling edge
+					temp += timerPeriod;
+				if (temp > widthLowerBound && temp < widthUpperBound)
+					tim3IC4Width=temp;
+//				Tim3_ser1.printf("tim3IC3Width:%f\ttim3IC4Width:%f\n",tim3IC3Width,tim3IC4Width);
+				TIM3->CCER &= ~0x2000;
+			}
+			__HAL_TIM_ENABLE_IT(htim, TIM_IT_CC4);
+		}
+	}
+}
\ No newline at end of file
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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	10 May 2018
Imports:	2
Forks:	0
Commits:	2
Dependents:	0
Dependencies:	2
Followers:	1
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Diff: pwm_input/pwmin.cpp

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