【文件属性】：
文件名称：电调源码 开源ESC32
文件大小：9.05MB
文件格式：RAR
更新时间：2021-07-02 11:18:46
电调源码
/*
This file is part of AutoQuad ESC32.
AutoQuad ESC32 is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
AutoQuad ESC32 is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with AutoQuad ESC32. If not, see .
Copyright © 2011, 2012 Bill Nesbitt
*/
/*
* pwm.c文件.此文件有2个功能，2个功能分别使用，不能同时使用
* 1、pwm in输入模式，pwm输入中断里，调用runNewInput函数
* 2、one wire通讯协议，pwm输入中断里，调用owEdgeDetect函数，来输入新的数据，调用owReset函数来复位1wire通讯
*
*/
#include "pwm.h"
#include "timer.h"
#include "run.h"
#include "main.h"
#include "ow.h"
#include "stm32f10x_gpio.h"
#include "stm32f10x_tim.h"
#include "misc.h"
static int16_t pwmMinPeriod; //timer1 ch1 pwm 输入最小周期
static int16_t pwmMaxPeriod; //timer1 ch1 pwm 输入最大周期
int16_t pwmMinValue; //timer1 ch2 pwm 输入最小周期
static int16_t pwmMaxValue; //timer1 ch2 pwm 输入最大周期
int16_t pwmLoValue;
int16_t pwmHiValue;
int16_t pwmMinStart;
volatile uint32_t pwmValidMicros;
//关闭输入捕获比较中断 1和2
void pwmIsrAllOff(void) {
PWM_TIM->DIER &= (uint16_t)~(TIM_IT_CC1 | TIM_IT_CC2);//关闭中断
}
//开启输入捕获比较中断 1和2
void pwmIsrAllOn(void) {
PWM_TIM->CCR1;
PWM_TIM->CCR2;
PWM_TIM->DIER |= (TIM_IT_CC1 | TIM_IT_CC2);//允许捕获比较 1 2中断
}
//开启捕获比较2中断
void pwmIsrRunOn(void) {
uint16_t dier = PWM_TIM->DIER;
dier &= (uint16_t)~(TIM_IT_CC1 | TIM_IT_CC2);
dier |= TIM_IT_CC2;//允许捕获/比较2中断
PWM_TIM->CCR1;
PWM_TIM->CCR2;
PWM_TIM->DIER = dier;
}
//timer 1
void pwmInit(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
pwmSetConstants();
// TIM1 channel 1 pin (PA.08) configuration
GPIO_InitStructure.GPIO_Pin = PWM_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(PWM_PORT, &GPIO;_InitStructure);
// Enable the TIM1 global Interrupt
NVIC_InitStructure.NVIC_IRQChannel = PWM_IRQ;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC;_InitStructure);
TIM_TimeBaseStructInit(&TIM;_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = (PWM_CLK_DIVISOR-1);
TIM_TimeBaseStructure.TIM_Period = 0xffff;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(PWM_TIM, &TIM;_TimeBaseStructure);
TIM_ICInitStructure.TIM_Channel = PWM_CHANNEL;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0;
TIM_PWMIConfig(PWM_TIM, &TIM;_ICInitStructure);
// Select the TIM Input Trigger: TI1FP1
// 滤波后的定时器输入1(TI1FP1)
TIM_SelectInputTrigger(PWM_TIM, TIM_TS_TI1FP1);
// Select the slave Mode: Reset Mode
TIM_SelectSlaveMode(PWM_TIM, TIM_SlaveMode_Reset);//复位模式
// Enable the Master/Slave Mode
TIM_SelectMasterSlaveMode(PWM_TIM, TIM_MasterSlaveMode_Enable);
// TIM enable counter
TIM_Cmd(PWM_TIM, ENABLE);
pwmIsrAllOn();
}
//timer1 TIM1_CC_IRQHandler中断
void PWM_IRQ_HANDLER(void) {
uint16_t pwmValue;
uint16_t periodValue;
uint8_t edge;
edge = !(PWM_TIM->SR & TIM_IT_CC2);
periodValue = PWM_TIM->CCR1; //IO 输入PA8 周期
pwmValue = PWM_TIM->CCR2; //IO 输入(但是没有看到配置了使用哪个IO做为输入了) 脉宽长度
// look for good RC PWM input
if (inputMode == ESC_INPUT_PWM && //PWM输入模式
periodValue >= pwmMinPeriod && periodValue <= pwmMaxPeriod && //pa8输入的周期范围
pwmValue >= pwmMinValue && pwmValue <= pwmMaxValue //脉宽长度
)
{
if (edge == 0) {
pwmValidMicros = timerMicros;
runNewInput(pwmValue); //PWM正确.输入
}
}
}
void pwmSetConstants(void) {
float rpmScale = p[PWM_RPM_SCALE];
pwmMinPeriod = p[PWM_MIN_PERIOD] = (int)p[PWM_MIN_PERIOD];//PWM最小周期 timer1 ch1
pwmMaxPeriod = p[PWM_MAX_PERIOD] = (int)p[PWM_MAX_PERIOD];//PWM最大周期 timer1 ch1
pwmMinValue = p[PWM_MIN_VALUE] = (int)p[PWM_MIN_VALUE]; //PWM最小周期 timer1 ch2
pwmMaxValue = p[PWM_MAX_VALUE] = (int)p[PWM_MAX_VALUE]; //PWM最大周期 timer1 ch2
pwmLoValue = p[PWM_LO_VALUE] = (int)p[PWM_LO_VALUE];
pwmHiValue = p[PWM_HI_VALUE] = (int)p[PWM_HI_VALUE];
pwmMinStart = p[PWM_MIN_START] = (int)p[PWM_MIN_START];
if (rpmScale < PWM_RPM_SCALE_MIN)
rpmScale = PWM_RPM_SCALE_MIN;
else if (rpmScale > PWM_RPM_SCALE_MAX)
rpmScale = PWM_RPM_SCALE_MAX;
p[PWM_RPM_SCALE] = rpmScale;
}
ESC32开源电调 源码与原理图,此源码采用RTT操作系统，CAN PWM操作方式 ，本人已用PWM方式成功驱动起来，CAN 暂且还没做测试。
此资料是 啊嘉 开源出来的，好资料不敢独享，稍加整理放到这与大家共享。
【文件预览】：
ESC32开源电调资料
----说明.txt(189B)
----db esc 1.0.pdf(449KB)
----ESC32开源电调源码.rar(9.96MB)
