6 计时器（三）
6.4 输出比较演示**
演示1：PWM驱动呼吸灯**
函数解释：
输出比较单元（掌握）
void TIM_OC1Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct);
void TIM_OC2Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct);
void TIM_OC3Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct);
void TIM_OC4Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct);
void TIM_OCStructInit(TIM_OCInitTypeDef* TIM_OCInitStruct); //赋默认值
仅高级定时器使用，在使用高级定时器输出PWM时，需要调用这个函数，使能主动输出，否则pwm将不能正常输出
void TIM_CtrlPWMOutputs(TIM_TypeDef* TIMx, FunctionalState NewState);
配置强制输出模式（了解）
void TIM_ForcedOC1Config(TIM_TypeDef* TIMx, uint16_t TIM_ForcedAction);
void TIM_ForcedOC2Config(TIM_TypeDef* TIMx, uint16_t TIM_ForcedAction);
void TIM_ForcedOC3Config(TIM_TypeDef* TIMx, uint16_t TIM_ForcedAction);
void TIM_ForcedOC4Config(TIM_TypeDef* TIMx, uint16_t TIM_ForcedAction);
用来配置CCR寄存器的预装功能的（了解）
void TIM_OC1PreloadConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPreload);
void TIM_OC2PreloadConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPreload);
void TIM_OC3PreloadConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPreload);
void TIM_OC4PreloadConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPreload);
用来配置快速使能（了解）
void TIM_OC1FastConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCFast);
void TIM_OC2FastConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCFast);
void TIM_OC3FastConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCFast);
void TIM_OC4FastConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCFast);
外部事件清除REF信号（了解）
void TIM_ClearOC1Ref(TIM_TypeDef* TIMx, uint16_t TIM_OCClear);
void TIM_ClearOC2Ref(TIM_TypeDef* TIMx, uint16_t TIM_OCClear);
void TIM_ClearOC3Ref(TIM_TypeDef* TIMx, uint16_t TIM_OCClear);
void TIM_ClearOC4Ref(TIM_TypeDef* TIMx, uint16_t TIM_OCClear);
在使用输出比较模式，配置定时器得触发极性
void TIM_OC1PolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPolarity);
void TIM_OC1NPolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCNPolarity);
void TIM_OC2PolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPolarity);
void TIM_OC2NPolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCNPolarity);
void TIM_OC3PolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPolarity);
void TIM_OC3NPolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCNPolarity);
void TIM_OC4PolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPolarity);
单独更改输出比较模式
void TIM_SelectOCxM(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint16_t TIM_OCMode);
单独更改输出使能参数
void TIM_CCxCmd(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint16_t TIM_CCx);
void TIM_CCxNCmd(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint16_t TIM_CCxN);
单独更改CCR寄存器值得函数（修改占空比）（掌握）
void TIM_SetCompare1(TIM_TypeDef* TIMx, uint16_t Compare1);
void TIM_SetCompare2(TIM_TypeDef* TIMx, uint16_t Compare2);
void TIM_SetCompare3(TIM_TypeDef* TIMx, uint16_t Compare3);
void TIM_SetCompare4(TIM_TypeDef* TIMx, uint16_t Compare4);
引脚重映射配置（掌握）
void GPIO_PinRemapConfig(uint32_t GPIO_Remap, FunctionalState NewState);//参数说明：
/*** @param GPIO_Remap: selects the pin to remap.* @arg GPIO_PartialRemap1_TIM2 : TIM2 Partial1 Alternate Function mapping 部分重映射1* @arg GPIO_PartialRemap2_TIM2 : TIM2 Partial2 Alternate Function mapping 部分重映射2* @arg GPIO_FullRemap_TIM2 : TIM2 Full Alternate Function mapping 完全重映射//如果使用这个参数，查引脚表可知，PB4就变成正常的GPIO口了* @arg GPIO_Remap_SWJ_NoJTRST : Full SWJ Enabled (JTAG-DP + SW-DP) but without JTRST//查表可知，PA15 PB3 PB4这三个端口变成正常的GPIO口了* @arg GPIO_Remap_SWJ_JTAGDisable : JTAG-DP Disabled and SW-DP Enabled//完全禁用调试接口（包括JTAG-DP和SW-DP）慎用慎用慎用* @arg GPIO_Remap_SWJ_Disable : Full SWJ Disabled (JTAG-DP + SW-DP)
主函数：
#include "stm32f10x.h" // Device header
#include "Delay.h"
#include "OLED.h"
#include "PWM.h"uint8_t i;int main(void)
{OLED_Init();PWN_Init();while (1){for (i=0;i<=100;i++){PWM_SetCompare1(i);Delay_ms(10);}for (i=0;i<=100;i++){PWM_SetCompare1(100-i);Delay_ms(10);}}
}pwm函数编写步骤：
1.把TIM外设与GPIO外设的时钟打开
2.配置时基单元
3.配置输出比较单元（CRR的值，输出比较模式，极性选择，输出使能）
4.配置GPIO，PWM对应的GPIO配置为复位推挽输出
5.运行控制，启动计数器
PWM.c
#include "stm32f10x.h" // Device headervoid PWN_Init(void)
{//1.把TIM外设与GPIO外设的时钟打开RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);TIM_InternalClockConfig(TIM2); //选择内部时钟源TIM2//PA0改到PA15（GPIO_InitStructure处也得进行修改Pin_0改为Pin_15）RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE); //打开AFIO时钟GPIO_PinRemapConfig(GPIO_PartialRemap1_TIM2, ENABLE); //在定义表，PA15没给加粗，上电默认复用为调试端口JTDI，所以需要关闭调试端口GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE); //查表可知，PA15 PB3 PB4这三个端口变成正常的GPIO口了//4.配置GPIO，PWM对应的GPIO配置位复位推挽输出RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);GPIO_InitTypeDef GPIO_InitStructure;//对于普通的开漏推挽输出，引脚的控制权来自输出数据库，如果用定时器来控制引脚，需使用复用开漏，来自片上外设控制引脚，断开输出数据寄存器GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15; //修改了引脚复用，这里也得进行对应修改（0-15） GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOA, &GPIO_InitStructure);//2.配置时基单元TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1; //不分频TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数TIM_TimeBaseInitStructure.TIM_Period = 100 - 1; //ARR自动重装值（总数）TIM_TimeBaseInitStructure.TIM_Prescaler = 720 -1; //PSC预分频的值（一周期计多少次）TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0; //重复计数器的值（高级TIM才有）TIM_TimeBaseInit(TIM2, &TIM_TimeBaseInitStructure);//3.配置输出比较单元（输出比较模式，极性选择，输出使能，设置CRR的值）TIM_OCInitTypeDef TIM_OCInitStructure;TIM_OCStructInit(&TIM_OCInitStructure); //赋一个初始值TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //设置输出比较模式TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //设置极性TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //设置输出使能TIM_OCInitStructure.TIM_Pulse = 0; //CCRTIM_OC1Init(TIM2, &TIM_OCInitStructure); //PA0口对应OC1口（参考引脚定义表）TIM_Cmd(TIM2, ENABLE);
}void PWM_SetCompare1(uint16_t Compare)
{TIM_SetCompare1(TIM2, Compare);
}演示2：PWM驱动舵机
主函数：
#include "stm32f10x.h" // Device header
#include "Delay.h"
#include "OLED.h"
#include "Servo.h"
#include "Key.h"uint8_t KeyNum;
float Angle;int main(void)
{OLED_Init();Servo_Init();Key_Init();OLED_ShowString(1,1,"Angle:");while (1){KeyNum = Key_GetNum();if (KeyNum == 1){Angle += 30;if(Angle > 180){Angle = 0;}}Servo_SetAngle(Angle);OLED_ShowNum(1,7,Angle,3);}
}PWM函数：
#include "stm32f10x.h" // Device headervoid PWM_Init(void)
{//1.把TIM外设与GPIO外设的时钟打开RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);TIM_InternalClockConfig(TIM2); //选择内部时钟源TIM2//4.配置GPIO，PWM对应的GPIO配置位复位推挽输出RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);GPIO_InitTypeDef GPIO_InitStructure;//对于普通的开漏推挽输出，引脚的控制权来自输出数据库，如果用定时器来控制引脚，需使用复用开漏，来自片上外设控制引脚，断开输出数据寄存器GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOA, &GPIO_InitStructure);//2.配置时基单元TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1; //不分频TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数TIM_TimeBaseInitStructure.TIM_Period = 20000 - 1; //ARR自动重装值（总数）TIM_TimeBaseInitStructure.TIM_Prescaler = 72 -1; //PSC预分频的值（一周期计多少次）TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0; //重复计数器的值（高级TIM才有）TIM_TimeBaseInit(TIM2, &TIM_TimeBaseInitStructure);//3.配置输出比较单元（输出比较模式，极性选择，输出使能，设置CRR的值）TIM_OCInitTypeDef TIM_OCInitStructure;TIM_OCStructInit(&TIM_OCInitStructure); //赋一个初始值TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //设置输出比较模式TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //设置极性TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //设置输出使能TIM_OCInitStructure.TIM_Pulse = 0; //CCRTIM_OC2Init(TIM2, &TIM_OCInitStructure); //PA0口对应OC1口（参考引脚定义表） 这里采用的是OC2通道2TIM_Cmd(TIM2, ENABLE);
}void PWM_SetCompare2(uint16_t Compare)
{TIM_SetCompare2(TIM2, Compare);
}Servo函数：
#include "stm32f10x.h" // Device header
#include "PWM.h"void Servo_Init(void)
{PWM_Init();
}//设置舵机角度（y=kx+b）
void Servo_SetAngle(float Angle)
{PWM_SetCompare2(Angle / 180 * 2000 + 500);
}演示3：PWM驱动直流电机
主函数：
#include "stm32f10x.h" // Device header
#include "Delay.h"
#include "OLED.h"
#include "Motor.h"
#include "Key.h"uint8_t KeyNum;
int8_t Speed;int main(void)
{OLED_Init();Motor_Init();Key_Init();OLED_ShowString(1,1,"Speed:");while (1){KeyNum = Key_GetNum();if (KeyNum == 1){Speed += 20;if (Speed > 100){Speed = -100;} } Motor_SetSpeed(Speed);OLED_ShowSignedNum(1,7,Speed,3);}
}PWM函数：
#include "stm32f10x.h" // Device headervoid PWM_Init(void)
{//1.把TIM外设与GPIO外设的时钟打开RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);TIM_InternalClockConfig(TIM2); //选择内部时钟源TIM2//4.配置GPIO，PWM对应的GPIO配置位复位推挽输出RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);GPIO_InitTypeDef GPIO_InitStructure;//对于普通的开漏推挽输出，引脚的控制权来自输出数据库，如果用定时器来控制引脚，需使用复用开漏，来自片上外设控制引脚，断开输出数据寄存器GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; //GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOA, &GPIO_InitStructure); //2.配置时基单元TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1; //不分频TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数TIM_TimeBaseInitStructure.TIM_Period = 100 - 1; //ARR自动重装值（总数）TIM_TimeBaseInitStructure.TIM_Prescaler = 36 -1; //PSC预分频的值（一周期计多少次）TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0; //重复计数器的值（高级TIM才有）TIM_TimeBaseInit(TIM2, &TIM_TimeBaseInitStructure);//3.配置输出比较单元（输出比较模式，极性选择，输出使能，设置CRR的值）TIM_OCInitTypeDef TIM_OCInitStructure;TIM_OCStructInit(&TIM_OCInitStructure); //赋一个初始值TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //设置输出比较模式TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //设置极性TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //设置输出使能TIM_OCInitStructure.TIM_Pulse = 0; //CCRTIM_OC3Init(TIM2, &TIM_OCInitStructure); //PA2口对应OC3口（参考引脚定义表）TIM_Cmd(TIM2, ENABLE);
}void PWM_SetCompare3(uint16_t Compare)
{TIM_SetCompare3(TIM2, Compare);
}Motor函数：
#include "stm32f10x.h" // Device header
#include "PWM.H"//初始化电机控制引脚
void Motor_Init(void)
{//step1:使用RCC开启GPIO的时钟RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//step2:使用GPIO_Init函数初始化GPIOGPIO_InitTypeDef GPIO_InitStructure;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //(Out_PP:Out Push Pull)推挽输出(高低电平都是有驱动能力)GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOA, &GPIO_InitStructure);PWM_Init();
} void Motor_SetSpeed(int8_t Speed)
{if (Speed >= 0){//配置引脚电平和CCR的值GPIO_SetBits(GPIOA, GPIO_Pin_4);GPIO_ResetBits(GPIOA, GPIO_Pin_5);PWM_SetCompare3(Speed);}else{GPIO_SetBits(GPIOA, GPIO_Pin_5);GPIO_ResetBits(GPIOA, GPIO_Pin_4);PWM_SetCompare3(-Speed);}
}