diff --git a/Core/Inc/main.h b/Core/Inc/main.h
index c4eaede..06b3ff8 100644
--- a/Core/Inc/main.h
+++ b/Core/Inc/main.h
@@ -78,8 +78,10 @@ void Error_Handler(void);
/* Private defines -----------------------------------------------------------*/
#define LED_BLUE_Pin LL_GPIO_PIN_13
#define LED_BLUE_GPIO_Port GPIOC
-#define PWMA_Pin LL_GPIO_PIN_1
-#define PWMA_GPIO_Port GPIOA
+#define AIN1_Pin LL_GPIO_PIN_4
+#define AIN1_GPIO_Port GPIOA
+#define AIN2_Pin LL_GPIO_PIN_5
+#define AIN2_GPIO_Port GPIOA
#define OLED_SDA_Pin LL_GPIO_PIN_12
#define OLED_SDA_GPIO_Port GPIOB
#define OLDE_SCK_Pin LL_GPIO_PIN_13
diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c
index 164a159..b70c885 100644
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@@ -1,21 +1,21 @@
/* USER CODE BEGIN Header */
/**
- ******************************************************************************
- * @file gpio.c
- * @brief This file provides code for the configuration
- * of all used GPIO pins.
- ******************************************************************************
- * @attention
- *
- * Copyright (c) 2024 STMicroelectronics.
- * All rights reserved.
- *
- * This software is licensed under terms that can be found in the LICENSE file
- * in the root directory of this software component.
- * If no LICENSE file comes with this software, it is provided AS-IS.
- *
- ******************************************************************************
- */
+ ******************************************************************************
+ * @file gpio.c
+ * @brief This file provides code for the configuration
+ * of all used GPIO pins.
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2024 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
@@ -56,7 +56,7 @@ void MX_GPIO_Init(void)
LL_GPIO_ResetOutputPin(LED_BLUE_GPIO_Port, LED_BLUE_Pin);
/**/
- LL_GPIO_ResetOutputPin(PWMA_GPIO_Port, PWMA_Pin);
+ LL_GPIO_ResetOutputPin(GPIOA, AIN1_Pin|AIN2_Pin);
/**/
LL_GPIO_ResetOutputPin(GPIOB, OLED_SDA_Pin|OLDE_SCK_Pin);
@@ -69,23 +69,33 @@ void MX_GPIO_Init(void)
LL_GPIO_Init(LED_BLUE_GPIO_Port, &GPIO_InitStruct);
/**/
- GPIO_InitStruct.Pin = LL_GPIO_PIN_14|LL_GPIO_PIN_15;
+ GPIO_InitStruct.Pin = LL_GPIO_PIN_14;
GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
LL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/**/
- GPIO_InitStruct.Pin = LL_GPIO_PIN_0|LL_GPIO_PIN_2|LL_GPIO_PIN_3|LL_GPIO_PIN_4
- |LL_GPIO_PIN_5|LL_GPIO_PIN_6|LL_GPIO_PIN_7|LL_GPIO_PIN_8
- |LL_GPIO_PIN_11|LL_GPIO_PIN_12|LL_GPIO_PIN_15;
+ GPIO_InitStruct.Pin = LL_GPIO_PIN_15;
+ GPIO_InitStruct.Mode = LL_GPIO_MODE_FLOATING;
+ LL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+ /**/
+ GPIO_InitStruct.Pin = LL_GPIO_PIN_0;
+ GPIO_InitStruct.Mode = LL_GPIO_MODE_FLOATING;
+ LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+ /**/
+ GPIO_InitStruct.Pin = LL_GPIO_PIN_2|LL_GPIO_PIN_3|LL_GPIO_PIN_6|LL_GPIO_PIN_7
+ |LL_GPIO_PIN_8|LL_GPIO_PIN_11|LL_GPIO_PIN_12|LL_GPIO_PIN_15;
GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/**/
- GPIO_InitStruct.Pin = PWMA_Pin;
+ GPIO_InitStruct.Pin = AIN1_Pin|AIN2_Pin;
GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT;
GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
- LL_GPIO_Init(PWMA_GPIO_Port, &GPIO_InitStruct);
+ GPIO_InitStruct.Pull = LL_GPIO_PULL_UP;
+ LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/**/
GPIO_InitStruct.Pin = LL_GPIO_PIN_0|LL_GPIO_PIN_1|LL_GPIO_PIN_2|LL_GPIO_PIN_10
diff --git a/Core/Src/stm32f1xx_it.c b/Core/Src/stm32f1xx_it.c
index 66671fe..237d314 100644
--- a/Core/Src/stm32f1xx_it.c
+++ b/Core/Src/stm32f1xx_it.c
@@ -67,8 +67,8 @@
/* Cortex-M3 Processor Interruption and Exception Handlers */
/******************************************************************************/
/**
- * @brief This function handles Non maskable interrupt.
- */
+ * @brief This function handles Non maskable interrupt.
+ */
void NMI_Handler(void)
{
/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
@@ -82,8 +82,8 @@ void NMI_Handler(void)
}
/**
- * @brief This function handles Hard fault interrupt.
- */
+ * @brief This function handles Hard fault interrupt.
+ */
void HardFault_Handler(void)
{
/* USER CODE BEGIN HardFault_IRQn 0 */
@@ -97,8 +97,8 @@ void HardFault_Handler(void)
}
/**
- * @brief This function handles Memory management fault.
- */
+ * @brief This function handles Memory management fault.
+ */
void MemManage_Handler(void)
{
/* USER CODE BEGIN MemoryManagement_IRQn 0 */
@@ -112,8 +112,8 @@ void MemManage_Handler(void)
}
/**
- * @brief This function handles Prefetch fault, memory access fault.
- */
+ * @brief This function handles Prefetch fault, memory access fault.
+ */
void BusFault_Handler(void)
{
/* USER CODE BEGIN BusFault_IRQn 0 */
@@ -127,8 +127,8 @@ void BusFault_Handler(void)
}
/**
- * @brief This function handles Undefined instruction or illegal state.
- */
+ * @brief This function handles Undefined instruction or illegal state.
+ */
void UsageFault_Handler(void)
{
/* USER CODE BEGIN UsageFault_IRQn 0 */
@@ -142,8 +142,8 @@ void UsageFault_Handler(void)
}
/**
- * @brief This function handles System service call via SWI instruction.
- */
+ * @brief This function handles System service call via SWI instruction.
+ */
void SVC_Handler(void)
{
/* USER CODE BEGIN SVCall_IRQn 0 */
@@ -155,8 +155,8 @@ void SVC_Handler(void)
}
/**
- * @brief This function handles Debug monitor.
- */
+ * @brief This function handles Debug monitor.
+ */
void DebugMon_Handler(void)
{
/* USER CODE BEGIN DebugMonitor_IRQn 0 */
@@ -168,8 +168,8 @@ void DebugMon_Handler(void)
}
/**
- * @brief This function handles Pendable request for system service.
- */
+ * @brief This function handles Pendable request for system service.
+ */
void PendSV_Handler(void)
{
/* USER CODE BEGIN PendSV_IRQn 0 */
@@ -181,8 +181,8 @@ void PendSV_Handler(void)
}
/**
- * @brief This function handles System tick timer.
- */
+ * @brief This function handles System tick timer.
+ */
void SysTick_Handler(void)
{
/* USER CODE BEGIN SysTick_IRQn 0 */
@@ -202,8 +202,8 @@ void SysTick_Handler(void)
/******************************************************************************/
/**
- * @brief This function handles DMA1 channel4 global interrupt.
- */
+ * @brief This function handles DMA1 channel4 global interrupt.
+ */
void DMA1_Channel4_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Channel4_IRQn 0 */
@@ -216,8 +216,8 @@ void DMA1_Channel4_IRQHandler(void)
}
/**
- * @brief This function handles DMA1 channel5 global interrupt.
- */
+ * @brief This function handles DMA1 channel5 global interrupt.
+ */
void DMA1_Channel5_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Channel5_IRQn 0 */
@@ -230,8 +230,8 @@ void DMA1_Channel5_IRQHandler(void)
}
/**
- * @brief This function handles TIM1 update interrupt.
- */
+ * @brief This function handles TIM1 update interrupt.
+ */
void TIM1_UP_IRQHandler(void)
{
/* USER CODE BEGIN TIM1_UP_IRQn 0 */
@@ -248,21 +248,25 @@ void TIM1_UP_IRQHandler(void)
}
/**
- * @brief This function handles TIM2 global interrupt.
- */
+ * @brief This function handles TIM2 global interrupt.
+ */
void TIM2_IRQHandler(void)
{
/* USER CODE BEGIN TIM2_IRQn 0 */
/* USER CODE END TIM2_IRQn 0 */
/* USER CODE BEGIN TIM2_IRQn 1 */
-
+ if (IS_TIM_IT_FLAG(PWM_TIM))
+ {
+ TIM_IRQ_HANDLER(PWM_TIM);
+ // GPIO_TOGGLE(PWM_GPIO_Port, PWM_Pin);
+ }
/* USER CODE END TIM2_IRQn 1 */
}
/**
- * @brief This function handles USART1 global interrupt.
- */
+ * @brief This function handles USART1 global interrupt.
+ */
void USART1_IRQHandler(void)
{
/* USER CODE BEGIN USART1_IRQn 0 */
diff --git a/Core/Src/tim.c b/Core/Src/tim.c
index 3a5e897..3044bb4 100644
--- a/Core/Src/tim.c
+++ b/Core/Src/tim.c
@@ -1,21 +1,21 @@
/* USER CODE BEGIN Header */
/**
- ******************************************************************************
- * @file tim.c
- * @brief This file provides code for the configuration
- * of the TIM instances.
- ******************************************************************************
- * @attention
- *
- * Copyright (c) 2024 STMicroelectronics.
- * All rights reserved.
- *
- * This software is licensed under terms that can be found in the LICENSE file
- * in the root directory of this software component.
- * If no LICENSE file comes with this software, it is provided AS-IS.
- *
- ******************************************************************************
- */
+ ******************************************************************************
+ * @file tim.c
+ * @brief This file provides code for the configuration
+ * of the TIM instances.
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2024 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "tim.h"
@@ -68,7 +68,9 @@ void MX_TIM2_Init(void)
/* USER CODE END TIM2_Init 0 */
LL_TIM_InitTypeDef TIM_InitStruct = {0};
+ LL_TIM_OC_InitTypeDef TIM_OC_InitStruct = {0};
+ LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
/* Peripheral clock enable */
LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM2);
@@ -79,18 +81,35 @@ void MX_TIM2_Init(void)
/* USER CODE BEGIN TIM2_Init 1 */
/* USER CODE END TIM2_Init 1 */
- TIM_InitStruct.Prescaler = 7199;
+ TIM_InitStruct.Prescaler = 0;
TIM_InitStruct.CounterMode = LL_TIM_COUNTERMODE_UP;
- TIM_InitStruct.Autoreload = 99;
+ TIM_InitStruct.Autoreload = 7199;
TIM_InitStruct.ClockDivision = LL_TIM_CLOCKDIVISION_DIV1;
LL_TIM_Init(TIM2, &TIM_InitStruct);
LL_TIM_DisableARRPreload(TIM2);
LL_TIM_SetClockSource(TIM2, LL_TIM_CLOCKSOURCE_INTERNAL);
+ LL_TIM_OC_EnablePreload(TIM2, LL_TIM_CHANNEL_CH2);
+ TIM_OC_InitStruct.OCMode = LL_TIM_OCMODE_PWM2;
+ TIM_OC_InitStruct.OCState = LL_TIM_OCSTATE_DISABLE;
+ TIM_OC_InitStruct.OCNState = LL_TIM_OCSTATE_DISABLE;
+ TIM_OC_InitStruct.CompareValue = 0;
+ TIM_OC_InitStruct.OCPolarity = LL_TIM_OCPOLARITY_LOW;
+ LL_TIM_OC_Init(TIM2, LL_TIM_CHANNEL_CH2, &TIM_OC_InitStruct);
+ LL_TIM_OC_EnableFast(TIM2, LL_TIM_CHANNEL_CH2);
LL_TIM_SetTriggerOutput(TIM2, LL_TIM_TRGO_RESET);
LL_TIM_DisableMasterSlaveMode(TIM2);
/* USER CODE BEGIN TIM2_Init 2 */
/* USER CODE END TIM2_Init 2 */
+ LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
+ /**TIM2 GPIO Configuration
+ PA1 ------> TIM2_CH2
+ */
+ GPIO_InitStruct.Pin = LL_GPIO_PIN_1;
+ GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
+ GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
+ GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
+ LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}
diff --git a/MDK-ARM/motor.uvoptx b/MDK-ARM/motor.uvoptx
index 6c8ed85..fe03e32 100644
--- a/MDK-ARM/motor.uvoptx
+++ b/MDK-ARM/motor.uvoptx
@@ -155,6 +155,26 @@
1
buffer
+
+ 1
+ 1
+ app,0x0A
+
+
+ 2
+ 1
+ 0x00000E0F,0x0A
+
+
+ 3
+ 1
+ 0x0000270F,0x0A
+
+
+ 4
+ 1
+ 0x000003E7,0x0A
+
0
@@ -200,9 +220,17 @@
- System Viewer\TIM1
+ System Viewer\GPIOA
35905
+
+ System Viewer\GPIOC
+ 35903
+
+
+ System Viewer\TIM2
+ 35904
+
diff --git a/MDK-ARM/motor/motor.hex b/MDK-ARM/motor/motor.hex
index c18fd8c..8aca44a 100644
--- a/MDK-ARM/motor/motor.hex
+++ b/MDK-ARM/motor/motor.hex
@@ -1,490 +1,597 @@
:020000040800F2
-:10000000801C002005010008C50B0008B301000892
-:10001000C10B0008710100083D0F0008000000003E
-:10002000000000000000000000000000490D000872
-:10003000B101000800000000490C00084B0D000849
+:10000000801C002005010008490E000803020008BA
+:10001000450E0008C1010008891400080000000016
+:10002000000000000000000000000000E9110008CE
+:100030000102000800000000E9100008EB110008B0
:100040001F0100081F0100081F0100081F01000810
:100050001F0100081F0100081F0100081F01000800
:100060001F0100081F0100081F0100081F010008F0
-:100070001F0100081F01000891010008A1010008EC
+:100070001F0100081F010008E1010008F10100084C
:100080001F0100081F0100081F0100081F010008D0
:100090001F0100081F0100081F0100081F010008C0
-:1000A0001F010008410E00081F0100081F01000881
-:1000B000290F00081F0100081F0100081F01000888
+:1000A0001F010008E11200081F0100081F010008DD
+:1000B000B11300081F0100081F0100081F010008FC
:1000C0001F0100081F0100081F0100081F01000890
-:1000D0001F0100082D0F00081F0100081F01000864
+:1000D0001F010008791400081F0100081F01000813
:1000E0001F0100081F0100081F010008DFF810D0E1
-:1000F00000F02CF80048004769130008AFF30080B7
+:1000F00000F054F800480047CD190008AFF3008025
:10010000801C00200648804706480047FEE7FEE7BF
:10011000FEE7FEE7FEE7FEE7FEE7FEE7FEE7FEE7B7
-:100120003D0E0008ED000008D2B201E000F8012BFE
+:10012000DD120008ED000008D2B201E000F8012B5A
:10013000491EFBD270470022F6E710B513460A4667
-:1001400004461946FFF7F0FF204610BD064C074D48
-:1001500006E0E06840F0010394E807009847103497
-:10016000AC42F6D3FFF7C6FFD81D0008F81D000803
-:1001700000BFFEE770B504460D4600BF2CB901F084
-:1001800089FA01E000BF00BFFCE700BF012070BD9D
-:1001900010B50248006801F00CFB10BD640000209F
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diff --git a/User/application/app.c b/User/application/app.c
index 960125d..d23631b 100644
--- a/User/application/app.c
+++ b/User/application/app.c
@@ -2,7 +2,31 @@
#include "app.h"
#include "board.h"
#include "flow.h"
-static struct flow idle_fw; // 空闲任务
+static struct flow business_fw; // 业务流程
+static struct flow idle_fw; // 空闲任务
+
+app_t app;
+
+static uint8_t business_inspection(struct flow *fl)
+{
+ FL_HEAD(fl);
+ for (;;)
+ {
+ if (app.pwm_percent > 0)
+ {
+ GPIO_SET(AIN1_GPIO_Port, AIN1_Pin);
+ GPIO_RESET(AIN2_GPIO_Port, AIN2_Pin);
+ }
+ else
+ {
+ GPIO_RESET(AIN1_GPIO_Port, AIN1_Pin);
+ GPIO_SET(AIN2_GPIO_Port, AIN2_Pin);
+ }
+ PWM_SET_DUTY(PWM_TIM, PWM_CHANNEL, ABS(app.pwm_percent));
+ FL_LOCK_DELAY(fl, FL_CLOCK_SEC*2);
+ }
+ FL_TAIL(fl);
+}
/**
* @brief 对流量进行空闲检查
*
@@ -32,6 +56,7 @@ static uint8_t idle_inspection(struct flow *fl)
*/
void app_run(void)
{
+ business_inspection(&business_fw); // 业务流程检测
idle_inspection(&idle_fw);
}
@@ -42,7 +67,13 @@ void app_run(void)
*/
void app_init(void)
{
- FL_INIT(&idle_fw); // 空闲任务
+ FL_INIT(&business_fw); // 业务流程
+ FL_INIT(&idle_fw); // 空闲任务
ENABLE_TIM(TASK_TIM);
+ ENABLE_TIM(PWM_TIM);
+ PWM_START(PWM_TIM, PWM_CHANNEL);
+ PWM_SET_DUTY(PWM_TIM, PWM_CHANNEL, 0);
+
+ app.pwm_feq = PWM_GET_FREQ(PWM_TIM);
}
diff --git a/User/application/app.h b/User/application/app.h
index 62b197d..8ff7a13 100644
--- a/User/application/app.h
+++ b/User/application/app.h
@@ -8,6 +8,15 @@
#ifndef APP_H
#define APP_H
#include "main.h"
+
+typedef struct
+{
+ float32 pwm_percent;
+ uint32_t pwm_feq;
+} app_t;
+
+extern app_t app;
+
void app_init(void);
void app_run(void);
#endif // APP_H
diff --git a/User/board/board.c b/User/board/board.c
index 7c203f4..961e3d0 100644
--- a/User/board/board.c
+++ b/User/board/board.c
@@ -18,6 +18,12 @@ static void uart_init(void)
}
}
+static void motor_init(void)
+{
+ GPIO_RESET(AIN1_GPIO_Port, AIN1_Pin);
+ GPIO_RESET(AIN2_GPIO_Port, AIN2_Pin);
+}
+
/**
* @brief 通过UART发送数据
*
@@ -39,4 +45,5 @@ void board_init(void)
{
uart_init();
ssd1306_init();
+ motor_init();
}
diff --git a/User/board/board.h b/User/board/board.h
index 170d4c8..d715b3a 100644
--- a/User/board/board.h
+++ b/User/board/board.h
@@ -6,6 +6,8 @@
#define UART_TXSIZE (240u) // 发送240个字节
#define TASK_TIM TIM1
+#define PWM_TIM TIM2
+#define PWM_CHANNEL LL_TIM_CHANNEL_CH2
extern uart_t *uart;
diff --git a/User/system/bsp/bsp.h b/User/system/bsp/bsp.h
index a1fc982..e506816 100644
--- a/User/system/bsp/bsp.h
+++ b/User/system/bsp/bsp.h
@@ -17,7 +17,7 @@
// #include "dacs.h"
#include "dmas.h"
#include "tims.h"
-// #include "pwms.h"
+#include "pwms.h"
#include "uarts.h"
// #include "eeprom.h"
// #include "spis.h"
diff --git a/User/system/bsp/pwms.c b/User/system/bsp/pwms.c
index e69de29..b8a1bea 100644
--- a/User/system/bsp/pwms.c
+++ b/User/system/bsp/pwms.c
@@ -0,0 +1 @@
+#include "pwms.h"
diff --git a/User/system/bsp/pwms.h b/User/system/bsp/pwms.h
index fee50c0..5946032 100644
--- a/User/system/bsp/pwms.h
+++ b/User/system/bsp/pwms.h
@@ -12,6 +12,7 @@
#ifndef __PWMS_H__
#define __PWMS_H__
#include "lib.h"
+
/**
* @brief Starts the PWM for a specific channel
* @param TIMx: TIM instance
@@ -39,16 +40,51 @@
} while (__LINE__ == -1)
/**
- * @brief Sets the duty cycle for a specific channel
+ * @brief Sets the PWM frequency
* @param TIMx: TIM instance
* @param CHx: Channel to be set
- * @param DUTY: Duty cycle value (0-100)
+ * @param COMPARE: Compare value
* @retval None
*/
-#define PWM_SET_DUTY(TIMx, CHx, DUTY) \
- do \
- { \
- LL_TIM_OC_SetCompareCH##CHx(TIMx, DUTY); \
- } while (__LINE__ == -1)
+static inline void PWM_SET_COMPARE(TIM_TypeDef *TIMx, uint32_t CHx, uint16_t COMPARE)
+{
+ switch (CHx)
+ {
+ case LL_TIM_CHANNEL_CH1:
+ LL_TIM_OC_SetCompareCH1(TIMx, COMPARE);
+ break;
+ case LL_TIM_CHANNEL_CH2:
+ LL_TIM_OC_SetCompareCH2(TIMx, COMPARE);
+ break;
+ case LL_TIM_CHANNEL_CH3:
+ LL_TIM_OC_SetCompareCH3(TIMx, COMPARE);
+ break;
+ case LL_TIM_CHANNEL_CH4:
+ LL_TIM_OC_SetCompareCH4(TIMx, COMPARE);
+ break;
+ default:
+ break;
+ }
+}
+
+/**
+ * @brief 设置PWM占空比
+ *
+ * 设置指定定时器TIMx的指定通道CHx的PWM占空比。
+ *
+ * @param TIMx 定时器类型，例如TIM1、TIM2等
+ * @param CHx 通道号，例如TIM_CHANNEL_1、TIM_CHANNEL_2等
+ * @param DUTY 占空比，范围在0到100之间
+ */
+static inline void PWM_SET_DUTY(TIM_TypeDef *TIMx, uint32_t CHx, uint16_t DUTY)
+{
+ PWM_SET_COMPARE(TIMx, CHx, DUTY * LL_TIM_GetAutoReload(TIMx) / 100);
+}
+
+// 获取当前频率
+static inline uint32_t PWM_GET_FREQ(TIM_TypeDef *TIMx)
+{
+ return SystemCoreClock / (LL_TIM_GetPrescaler(TIMx) + 1) / (LL_TIM_GetAutoReload(TIMx) + 1);
+}
#endif ///< __PWMS_H__
diff --git a/motor.ioc b/motor.ioc
index 1348df1..17e3703 100644
--- a/motor.ioc
+++ b/motor.ioc
@@ -39,19 +39,23 @@ Mcu.IPNb=7
Mcu.Name=STM32F103C(8-B)Tx
Mcu.Package=LQFP48
Mcu.Pin0=PC13-TAMPER-RTC
-Mcu.Pin1=PD0-OSC_IN
-Mcu.Pin10=VP_SYS_VS_Systick
-Mcu.Pin11=VP_TIM1_VS_ClockSourceINT
-Mcu.Pin12=VP_TIM2_VS_ClockSourceINT
-Mcu.Pin2=PD1-OSC_OUT
-Mcu.Pin3=PA1
-Mcu.Pin4=PB12
-Mcu.Pin5=PB13
-Mcu.Pin6=PA9
-Mcu.Pin7=PA10
-Mcu.Pin8=PA13
-Mcu.Pin9=PA14
-Mcu.PinsNb=13
+Mcu.Pin1=PC15-OSC32_OUT
+Mcu.Pin10=PA9
+Mcu.Pin11=PA10
+Mcu.Pin12=PA13
+Mcu.Pin13=PA14
+Mcu.Pin14=VP_SYS_VS_Systick
+Mcu.Pin15=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin16=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin2=PD0-OSC_IN
+Mcu.Pin3=PD1-OSC_OUT
+Mcu.Pin4=PA0-WKUP
+Mcu.Pin5=PA1
+Mcu.Pin6=PA4
+Mcu.Pin7=PA5
+Mcu.Pin8=PB12
+Mcu.Pin9=PB13
+Mcu.PinsNb=17
Mcu.ThirdParty0=RealThread.RT-Thread.3.1.5
Mcu.ThirdPartyNb=1
Mcu.UserConstants=
@@ -74,15 +78,28 @@ NVIC.TIM1_UP_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.TIM2_IRQn=true\:15\:0\:true\:false\:true\:true\:true\:true
NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-PA1.GPIOParameters=GPIO_Label
-PA1.GPIO_Label=PWMA
-PA1.Signal=GPIO_Output
+PA0-WKUP.Locked=true
+PA0-WKUP.Signal=GPIO_Input
+PA1.Locked=true
+PA1.Signal=S_TIM2_CH2
PA10.Mode=Asynchronous
PA10.Signal=USART1_RX
PA13.Mode=Serial_Wire
PA13.Signal=SYS_JTMS-SWDIO
PA14.Mode=Serial_Wire
PA14.Signal=SYS_JTCK-SWCLK
+PA4.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultOutputPP
+PA4.GPIO_Label=AIN1
+PA4.GPIO_ModeDefaultOutputPP=GPIO_MODE_OUTPUT_PP
+PA4.GPIO_PuPd=GPIO_PULLUP
+PA4.Locked=true
+PA4.Signal=GPIO_Output
+PA5.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultOutputPP
+PA5.GPIO_Label=AIN2
+PA5.GPIO_ModeDefaultOutputPP=GPIO_MODE_OUTPUT_PP
+PA5.GPIO_PuPd=GPIO_PULLUP
+PA5.Locked=true
+PA5.Signal=GPIO_Output
PA9.Mode=Asynchronous
PA9.Signal=USART1_TX
PB12.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultOutputPP
@@ -102,6 +119,8 @@ PB13.Signal=GPIO_Output
PC13-TAMPER-RTC.GPIOParameters=GPIO_Label
PC13-TAMPER-RTC.GPIO_Label=LED_BLUE
PC13-TAMPER-RTC.Signal=GPIO_Output
+PC15-OSC32_OUT.Locked=true
+PC15-OSC32_OUT.Signal=GPIO_Input
PD0-OSC_IN.Mode=HSE-External-Oscillator
PD0-OSC_IN.Signal=RCC_OSC_IN
PD1-OSC_OUT.Mode=HSE-External-Oscillator
@@ -167,12 +186,21 @@ RealThread.RT-Thread.3.1.5.RT_USING_COMPONENTS_INIT=1
RealThread.RT-Thread.3.1.5.RT_USING_CONSOLE=0
RealThread.RT-Thread.3.1.5.RT_USING_DEVICE=1
RealThread.RT-Thread.3.1.5_SwParameter=RTOSJjkernel\:true;RTOSJjshell\:true;RTOSJjdevice\:true;
+SH.S_TIM2_CH2.0=TIM2_CH2,PWM Generation2 CH2
+SH.S_TIM2_CH2.ConfNb=1
TIM1.IPParameters=Prescaler,Period
TIM1.Period=99
TIM1.Prescaler=7199
-TIM2.IPParameters=Prescaler,Period
-TIM2.Period=99
-TIM2.Prescaler=7199
+TIM2.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_DISABLE
+TIM2.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
+TIM2.CounterMode=TIM_COUNTERMODE_UP
+TIM2.IPParameters=Prescaler,Period,CounterMode,AutoReloadPreload,OCPolarity_2,TIM_MasterOutputTrigger,Channel-PWM Generation2 CH2,OCFastMode_PWM-PWM Generation2 CH2,OCMode_PWM-PWM Generation2 CH2
+TIM2.OCFastMode_PWM-PWM\ Generation2\ CH2=TIM_OCFAST_ENABLE
+TIM2.OCMode_PWM-PWM\ Generation2\ CH2=TIM_OCMODE_PWM2
+TIM2.OCPolarity_2=TIM_OCPOLARITY_LOW
+TIM2.Period=7199
+TIM2.Prescaler=0
+TIM2.TIM_MasterOutputTrigger=TIM_TRGO_RESET
USART1.IPParameters=VirtualMode
USART1.VirtualMode=VM_ASYNC
VP_SYS_VS_Systick.Mode=SysTick