Quellcode

 *    Informationstechnik Labor SS14  Kamerabefestigung VC25-C

 *    Teammitglieder:

 *          Thorsten Ahlers     ahth1011@hs-karlsruhe.de

 *          David Zagolla       zada1012@hs-karlsruhe.de

 *

 *    Web-Dokumentation:

 *          http://info.hit-karlsruhe.de/info-ss14/KamerabefestigungVC25C/

 *

 *    Programmiert mit Keil5 und STM32F4

*/   

/*

 *    Dieses Beispielprogramm dient der Ansteuerung von zwei Servos an einer Kamerabefestigung

 */

#include "stm32f4xx.h"
#include "stm32f4xx_rcc.h" // Keil::Device:StdPeriph Drivers:RCC
#include "stm32f4xx_rtc.h" // Keil::Device:StdPeriph Drivers:RTC
#include "stm32f4xx_tim.h" // Keil::Device:StdPeriph Drivers:TIM
#include "stm32f4xx_gpio.h" // Keil::Device:StdPeriph Drivers:GPIO
#include <stdio.h>
#include <stdint.h>

//Servo1
#define MOTORPWMTIMER1 TIM4
#define MOTORPWMTIMCLOCK1 RCC_APB1Periph_TIM4
#define MOTORPWMPORTCLOCK1 RCC_AHB1Periph_GPIOD
#define MOTORPWMAF1 GPIO_AF_TIM4
#define MOTORPWMPORT1 GPIOD
#define MOTORPWMBIT1 GPIO_Pin_12
#define MOTORPWMTIMBIT1 GPIO_PinSource12
//Servo2
#define MOTORPWMTIMER2 TIM5
#define MOTORPWMTIMCLOCK2 RCC_APB1Periph_TIM5
#define MOTORPWMPORTCLOCK2 RCC_AHB1Periph_GPIOA
#define MOTORPWMAF2 GPIO_AF_TIM5
#define MOTORPWMPORT2 GPIOA
#define MOTORPWMBIT2 GPIO_Pin_13
#define MOTORPWMTIMBIT2 GPIO_PinSource13

// Private typedefs ----------------------------------------------------------
GPIO_InitTypeDef GPIO_InitStructureLED;
GPIO_InitTypeDef GPIO_InitStructureTimer;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;


// Private variables ---------------------------------------------------------
uint32_t TimerCounterClock = 0;
uint32_t TimerOutputClock = 0;
uint16_t PrescalerValue = 0;
uint32_t PulseDurationInMicroSeconds = 0;

int i;


// the prototypes ------------------------------------------------------------
int main(void);

// Timer init for PWM
void TimerInit1(void);
void TimerInit2(void);

void Delay(__IO uint32_t nCount);


int main(void)
{

// aufrufen der Timer für PWM
TimerInit1();
TimerInit2();


// Timer Gundconfiguration

TIM_TimeBaseStructure.TIM_Period = (uint16_t) (480);
TIM_TimeBaseStructure.TIM_Prescaler = (uint16_t) 168;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;

// basic timer init
TIM_TimeBaseInit(MOTORPWMTIMER1, &TIM_TimeBaseStructure);

// configure PWM mode and duration
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = PulseDurationInMicroSeconds; // set the duty cycle / pulse here!
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(MOTORPWMTIMER1, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(MOTORPWMTIMER1, TIM_OCPreload_Enable);

// preload timer config
TIM_ARRPreloadConfig(MOTORPWMTIMER1, ENABLE);
TIM_ARRPreloadConfig(MOTORPWMTIMER2, ENABLE);

// enable timer / counter
TIM_Cmd(MOTORPWMTIMER1, ENABLE);
TIM_Cmd(MOTORPWMTIMER2, ENABLE);

// PWM Durchlauf
while(1)
{
//for (i=0; i<=8; i++)
//{
Delay(0xFFFFFF);
TIM_Cmd(MOTORPWMTIMER1, DISABLE);

//PulseDurationInMicroSeconds = i;

TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 35;//+i; // Pulsbreite min 1ms max 2ms
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(MOTORPWMTIMER1, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(MOTORPWMTIMER1, TIM_OCPreload_Enable);

TIM_ARRPreloadConfig(MOTORPWMTIMER1, ENABLE);

TIM_Cmd(MOTORPWMTIMER1, ENABLE);
//}
//for (i=8; i>=0; i--)
//{
Delay(0xFFFFFF);
TIM_Cmd(MOTORPWMTIMER2, DISABLE);

//PulseDurationInMicroSeconds = i;

TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 35;//+i; // Pulsbreite min 1ms max 2ms
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(MOTORPWMTIMER2, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(MOTORPWMTIMER2, TIM_OCPreload_Enable);

TIM_ARRPreloadConfig(MOTORPWMTIMER2, ENABLE);

TIM_Cmd(MOTORPWMTIMER2, ENABLE);

i=0;

//}
}
}


void TimerInit1(void)
{
// set timer frequencies
TimerCounterClock = 1000000; // 1 MHz
TimerOutputClock = 10; // 10 kHz = 100 µs period

// set pulse duration in mili seconds (HIGH time)
// can be up to from 0 to 99 (due to a TimerOutputClock of 10 kHz)
PulseDurationInMicroSeconds = 50;

// Timer clock enable
RCC_APB1PeriphClockCmd(MOTORPWMTIMCLOCK1, ENABLE);

// Port clock enable
RCC_AHB1PeriphClockCmd(MOTORPWMPORTCLOCK1, ENABLE);

// Set PWM Port, Pin and method
GPIO_InitStructureTimer.GPIO_Pin = MOTORPWMBIT1;
GPIO_InitStructureTimer.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructureTimer.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructureTimer.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructureTimer.GPIO_PuPd = GPIO_PuPd_UP ;
GPIO_Init(MOTORPWMPORT1, &GPIO_InitStructureTimer);

// Connect TIM pin to AF
GPIO_PinAFConfig(MOTORPWMPORT1, MOTORPWMTIMBIT1, MOTORPWMAF1);
}
void TimerInit2(void)
{
// set timer frequencies
TimerCounterClock = 1000000; // 1 MHz
TimerOutputClock = 10; // 10 kHz = 100 µs period

// set pulse duration in mili seconds (HIGH time)
// can be up to from 0 to 99 (due to a TimerOutputClock of 10 kHz)
PulseDurationInMicroSeconds = 50;

// Timer clock enable
RCC_APB1PeriphClockCmd(MOTORPWMTIMCLOCK2, ENABLE);

// Port clock enable
RCC_AHB1PeriphClockCmd(MOTORPWMPORTCLOCK2, ENABLE);

// Set PWM Port, Pin and method
GPIO_InitStructureTimer.GPIO_Pin = MOTORPWMBIT2;
GPIO_InitStructureTimer.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructureTimer.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructureTimer.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructureTimer.GPIO_PuPd = GPIO_PuPd_UP ;
GPIO_Init(MOTORPWMPORT2, &GPIO_InitStructureTimer);

// Connect TIM pin to AF
GPIO_PinAFConfig(MOTORPWMPORT2, MOTORPWMTIMBIT2, MOTORPWMAF2);
}

void Delay(__IO uint32_t nCount)
{
while(nCount--)
{
}
}

Download Code