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| #include "stm32f10x.h"
#include "Delay.h"
#include "OLED.h"
#include "RotaryEncoder.h"
#include "Motor.h"
int main(void)
{
OLED_Init();
RotaryEncoder_Init();
Motor_Init();
OLED_ShowString(1, 1, "Count:");
while(1){
OLED_ShowSignedNum(1, 7, EncoderNum_Get(), 5);
MotorSpeed_Set(EncoderNum_Get());
}
}
#include "stm32f10x.h"
int16_t Num;
void RotaryEncoder_Init(void)
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
GPIO_InitTypeDef GPIOInitSturcture;
GPIOInitSturcture.GPIO_Mode = GPIO_Mode_IPU;
GPIOInitSturcture.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIOInitSturcture.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIOInitSturcture);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource0);
EXTI_InitTypeDef EXTIInitSturcture;
EXTIInitSturcture.EXTI_Line = EXTI_Line0;
EXTIInitSturcture.EXTI_LineCmd = ENABLE;
EXTIInitSturcture.EXTI_Mode = EXTI_Mode_Interrupt;
EXTIInitSturcture.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_Init(&EXTIInitSturcture);
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
NVIC_InitTypeDef NVICInitSturcture;
NVICInitSturcture.NVIC_IRQChannel = EXTI0_IRQn;
NVICInitSturcture.NVIC_IRQChannelCmd = ENABLE;
NVICInitSturcture.NVIC_IRQChannelPreemptionPriority = 1;
NVICInitSturcture.NVIC_IRQChannelSubPriority = 1;
NVIC_Init(&NVICInitSturcture);
}
int16_t EncoderNum_Get(void)
{
return Num;
}
void EXTI0_IRQHandler(void)
{
if (EXTI_GetITStatus(EXTI_Line0) == SET)
{
if (GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_0) == 1)
{
if (GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_1) == 0)
{
Num ++;
}
else
{
Num --;
}
}
EXTI_ClearITPendingBit(EXTI_Line0);
}
}
#include "stm32f10x.h"
#include "Timer.h"
void PWM_Init(void)
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1 | GPIO_Pin_2;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
TIM_InternalClockConfig(TIM2);
TIM_TimeBaseInitTypeDef TimerInitStructure;
TimerInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TimerInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
TimerInitStructure.TIM_Period = 100 - 1;
TimerInitStructure.TIM_Prescaler = 72 - 1;
TimerInitStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM2, &TimerInitStructure);
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OC2Init(TIM2, &TIM_OCInitStructure);
TIM_OC3Init(TIM2, &TIM_OCInitStructure);
TIM_Cmd(TIM2, ENABLE);
}
#include "stm32f10x.h"
#include "PWM.h"
void Motor_Init(void)
{
PWM_Init();
}
void MotorSpeed_Set(int16_t speed)
{
if (speed>=0)
{
TIM_SetCompare2(TIM2, speed);
TIM_SetCompare3(TIM2, 0);
}
else
{
TIM_SetCompare2(TIM2, 0);
TIM_SetCompare3(TIM2, -speed);
}
}
|