/**
******************************************************************************
* @file stm32f10x_tim.c
* @author MCD Application Team
* @version V3.5.0
* @date 11-March-2011
* @brief This file provides all the TIM firmware functions.
******************************************************************************
* @attention
*
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
* TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
* DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
* FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
* CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*
* <h2><center>© COPYRIGHT 2011 STMicroelectronics</center></h2>
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32f10x_tim.h"
#include "stm32f10x_rcc.h"
/** @addtogroup STM32F10x_StdPeriph_Driver
* @{
*/
/** @defgroup TIM
* @brief TIM driver modules
* @{
*/
/** @defgroup TIM_Private_TypesDefinitions
* @{
*/
/**
* @}
*/
/** @defgroup TIM_Private_Defines
* @{
*/
/* ---------------------- TIM registers bit mask ------------------------ */
#define SMCR_ETR_Mask ((uint16_t)0x00FF)
#define CCMR_Offset ((uint16_t)0x0018)
#define CCER_CCE_Set ((uint16_t)0x0001)
#define CCER_CCNE_Set ((uint16_t)0x0004)
/**
* @}
*/
/** @defgroup TIM_Private_Macros
* @{
*/
/**
* @}
*/
/** @defgroup TIM_Private_Variables
* @{
*/
/**
* @}
*/
/** @defgroup TIM_Private_FunctionPrototypes
* @{
*/
static void TI1_Config(TIM_TypeDef* TIMx, uint16_t TIM_ICPolarity, uint16_t TIM_ICSelection,
uint16_t TIM_ICFilter);
static void TI2_Config(TIM_TypeDef* TIMx, uint16_t TIM_ICPolarity, uint16_t TIM_ICSelection,
uint16_t TIM_ICFilter);
static void TI3_Config(TIM_TypeDef* TIMx, uint16_t TIM_ICPolarity, uint16_t TIM_ICSelection,
uint16_t TIM_ICFilter);
static void TI4_Config(TIM_TypeDef* TIMx, uint16_t TIM_ICPolarity, uint16_t TIM_ICSelection,
uint16_t TIM_ICFilter);
/**
* @}
*/
/** @defgroup TIM_Private_Macros
* @{
*/
/**
* @}
*/
/** @defgroup TIM_Private_Variables
* @{
*/
/**
* @}
*/
/** @defgroup TIM_Private_FunctionPrototypes
* @{
*/
/**
* @}
*/
/** @defgroup TIM_Private_Functions
* @{
*/
/**
* @brief Deinitializes the TIMx peripheral registers to their default reset values.
* @param TIMx: where x can be 1 to 17 to select the TIM peripheral.
* @retval None
*/
void TIM_DeInit(TIM_TypeDef* TIMx)
{
/* Check the parameters */
assert_param(IS_TIM_ALL_PERIPH(TIMx));
if (TIMx == TIM1)
{
RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM1, ENABLE);
RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM1, DISABLE);
}
else if (TIMx == TIM2)
{
RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM2, ENABLE);
RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM2, DISABLE);
}
else if (TIMx == TIM3)
{
RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM3, ENABLE);
RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM3, DISABLE);
}
else if (TIMx == TIM4)
{
RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM4, ENABLE);
RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM4, DISABLE);
}
else if (TIMx == TIM5)
{
RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM5, ENABLE);
RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM5, DISABLE);
}
else if (TIMx == TIM6)
{
RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM6, ENABLE);
RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM6, DISABLE);
}
else if (TIMx == TIM7)
{
RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM7, ENABLE);
RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM7, DISABLE);
}
else if (TIMx == TIM8)
{
RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM8, ENABLE);
RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM8, DISABLE);
}
else if (TIMx == TIM9)
{
RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM9, ENABLE);
RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM9, DISABLE);
}
else if (TIMx == TIM10)
{
RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM10, ENABLE);
RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM10, DISABLE);
}
else if (TIMx == TIM11)
{
RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM11, ENABLE);
RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM11, DISABLE);
}
else if (TIMx == TIM12)
{
RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM12, ENABLE);
RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM12, DISABLE);
}
else if (TIMx == TIM13)
{
RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM13, ENABLE);
RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM13, DISABLE);
}
else if (TIMx == TIM14)
{
RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM14, ENABLE);
RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM14, DISABLE);
}
else if (TIMx == TIM15)
{
RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM15, ENABLE);
RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM15, DISABLE);
}
else if (TIMx == TIM16)
{
RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM16, ENABLE);
RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM16, DISABLE);
}
else
{
if (TIMx == TIM17)
{
RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM17, ENABLE);
RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM17, DISABLE);
}
}
}
/**
* @brief Initializes the TIMx Time Base Unit peripheral according to
* the specified parameters in the TIM_TimeBaseInitStruct.
* @param TIMx: where x can be 1 to 17 to select the TIM peripheral.
* @param TIM_TimeBaseInitStruct: pointer to a TIM_TimeBaseInitTypeDef
* structure that contains the configuration information for the
* specified TIM peripheral.
* @retval None
*/
void TIM_TimeBaseInit(TIM_TypeDef* TIMx, TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct)
{
uint16_t tmpcr1 = 0;
/* Check the parameters */
assert_param(IS_TIM_ALL_PERIPH(TIMx));
assert_param(IS_TIM_COUNTER_MODE(TIM_TimeBaseInitStruct->TIM_CounterMode));
assert_param(IS_TIM_CKD_DIV(TIM_TimeBaseInitStruct->TIM_ClockDivision));
tmpcr1 = TIMx->CR1;
if((TIMx == TIM1) || (TIMx == TIM8)|| (TIMx == TIM2) || (TIMx == TIM3)||
(TIMx == TIM4) || (TIMx == TIM5))
{
/* Select the Counter Mode */
tmpcr1 &= (uint16_t)(~((uint16_t)(TIM_CR1_DIR | TIM_CR1_CMS)));
tmpcr1 |= (uint32_t)TIM_TimeBaseInitStruct->TIM_CounterMode;
}
if((TIMx != TIM6) && (TIMx != TIM7))
{
/* Set the clock division */
tmpcr1 &= (uint16_t)(~((uint16_t)TIM_CR1_CKD));
tmpcr1 |= (uint32_t)TIM_TimeBaseInitStruct->TIM_ClockDivision;
}
TIMx->CR1 = tmpcr1;
/* Set the Autoreload value */
TIMx->ARR = TIM_TimeBaseInitStruct->TIM_Period ;
/* Set the Prescaler value */
TIMx->PSC = TIM_TimeBaseInitStruct->TIM_Prescaler;
if ((TIMx == TIM1) || (TIMx == TIM8)|| (TIMx == TIM15)|| (TIMx == TIM16) || (TIMx == TIM17))
{
/* Set the Repetition Counter value */
TIMx->RCR = TIM_TimeBaseInitStruct->TIM_RepetitionCounter;
}
/* Generate an update event to reload the Prescaler and the Repetition counter
values immediately */
TIMx->EGR = TIM_PSCReloadMode_Immediate;
}
/**
* @brief Initializes the TIMx Channel1 according to the specified
* parameters in the TIM_OCInitStruct.
* @param TIMx: where x can be 1 to 17 except 6 and 7 to select the TIM peripheral.
* @param TIM_OCInitStru
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17年电赛openmv查找位置PID算法
共231个文件
h:46个
o:42个
d:42个
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本文介绍了一种基于视觉的板球控制系统,并重点讨论了其控制算法。该系统通过摄像头采集小球的位置信息,计算得到小球的坐标,通过相应的算法来控制电机的运行。用陀螺仪测量木板的倾斜角度,通过两个直线电机的运行来驱动木板的倾斜,从而驱动小球滚动。其目的是实现小球的滚动控制以及轨迹追踪。其中涉及到的研究内容有:智能控制、运动控制、图像处理等。 文中介绍了系统的整体结构与制作过程,详细讨论了其控制的算法的实现。对单片程序的设计提出了独特的见解,并总结出了一种比较通用的单片程序开发框架。针对装置的特点使用多组PID,相互串联或并联使用来控制系统。对于实际制作和调试过程中所遇到问题及解决方法进行了深入的探讨。
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17年电赛openmv查找位置PID算法 (231个子文件)
TEMPLATE.axf 561KB
stm32f10x_tim.c 107KB
stm32f10x_flash.c 61KB
stm32f10x_rcc.c 50KB
stm32f10x_adc.c 46KB
stm32f10x_i2c.c 45KB
stm32f10x_can.c 44KB
stm32f10x_usart.c 37KB
system_stm32f10x.c 36KB
stm32f10x_fsmc.c 35KB
stm32f10x_spi.c 30KB
stm32f10x_dma.c 29KB
stm32f10x_sdio.c 28KB
stm32f10x_gpio.c 23KB
stm32f10x_dac.c 19KB
core_cm3.c 17KB
stm32f10x_cec.c 11KB
oled.c 10KB
stm32f10x_pwr.c 9KB
stm32f10x_rtc.c 8KB
stm32f10x_bkp.c 8KB
delay.c 8KB
s.c 8KB
misc.c 7KB
stm32f10x_exti.c 7KB
stm32f10x_wwdg.c 6KB
stm32f10x_it.c 5KB
control.c 5KB
stm32f10x_dbgmcu.c 5KB
stm32f10x_iwdg.c 5KB
pid.c 4KB
pwm.c 3KB
stm32f10x_crc.c 3KB
usart.c 2KB
key.c 1KB
time4.c 1KB
sys.c 876B
gpio_c.c 809B
main.c 347B
jansson_config.c 159B
software_forced_reset.c 141B
control.cPreview 2KB
stm32f10x_tim.crf 360KB
control.crf 354KB
main.crf 353KB
oled.crf 349KB
stm32f10x_can.crf 347KB
stm32f10x_adc.crf 346KB
stm32f10x_rcc.crf 346KB
stm32f10x_flash.crf 346KB
stm32f10x_i2c.crf 345KB
stm32f10x_usart.crf 344KB
stm32f10x_fsmc.crf 344KB
usart.crf 344KB
stm32f10x_sdio.crf 343KB
stm32f10x_spi.crf 343KB
stm32f10x_gpio.crf 342KB
s.crf 342KB
stm32f10x_dma.crf 342KB
led.crf 341KB
pid.crf 341KB
stm32f10x_dac.crf 340KB
key.crf 340KB
stm32f10x_cec.crf 340KB
system_stm32f10x.crf 340KB
delay.crf 340KB
time4.crf 340KB
stm32f10x_bkp.crf 340KB
stm32f10x_pwr.crf 340KB
stm32f10x_rtc.crf 340KB
stm32f10x_exti.crf 339KB
sys.crf 339KB
pwm.crf 339KB
stm32f10x_wwdg.crf 339KB
stm32f10x_it.crf 339KB
misc.crf 339KB
gpio_c.crf 339KB
stm32f10x_iwdg.crf 339KB
stm32f10x_crc.crf 338KB
stm32f10x_dbgmcu.crf 338KB
software_forced_reset.crf 338KB
core_cm3.crf 4KB
jansson_config.crf 4KB
software_forced_reset.d 2KB
control.d 2KB
main.d 2KB
stm32f10x_dbgmcu.d 2KB
stm32f10x_usart.d 2KB
stm32f10x_flash.d 2KB
stm32f10x_sdio.d 2KB
stm32f10x_gpio.d 2KB
stm32f10x_fsmc.d 2KB
stm32f10x_iwdg.d 2KB
stm32f10x_exti.d 2KB
stm32f10x_wwdg.d 2KB
system_stm32f10x.d 2KB
stm32f10x_rcc.d 2KB
stm32f10x_tim.d 2KB
stm32f10x_spi.d 2KB
stm32f10x_dac.d 2KB
共 231 条
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