diff --git a/HARDWARE/LED/led.c b/HARDWARE/LED/led.c
index ab4a3fc..9ad8d61 100644
--- a/HARDWARE/LED/led.c
+++ b/HARDWARE/LED/led.c
@@ -33,6 +33,62 @@ void LED_Init(void)
}
+void gpio_Init(void)
+{
+ GPIO_InitTypeDef GPIO_InitStructure;
+
+ // spi1 chip-select
+ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);//使能GPIOF时钟
+
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;//普通输出模式
+ GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
+ GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
+ GPIO_Init(GPIOC, &GPIO_InitStructure);//初始化
+
+ // spi2 chip-select
+ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);//使能GPIOF时钟
+
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;//普通输出模式
+// GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
+ GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
+ GPIO_Init(GPIOC, &GPIO_InitStructure);//初始化
+
+
+ // micro_move switch
+ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE);//使能GPIOF时钟
+
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;//普通输出模式
+ // GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
+ GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
+ GPIO_Init(GPIOE, &GPIO_InitStructure);//初始化
+
+
+ // position_move sensor
+ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE);//使能GPIOF时钟
+
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;//普通输出模式
+ // GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
+ GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
+ GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化
+
+ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);//使能GPIOF时钟
+
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;//普通输出模式
+ // GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
+ GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
+ GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化
+
+}
diff --git a/HARDWARE/SPI/spi.c b/HARDWARE/SPI/spi.c
index a4c93a1..475c117 100644
--- a/HARDWARE/SPI/spi.c
+++ b/HARDWARE/SPI/spi.c
@@ -10,7 +10,7 @@
//以下是SPI模块的初始化代码，配置成主机模式
//SPI口初始化
//这里针是对SPI1的初始化
-void SPI1_Init(void)
+void motor_spi1_init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
SPI_InitTypeDef SPI_InitStructure;
@@ -19,16 +19,16 @@ void SPI1_Init(void)
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SPI1, ENABLE);//使能SPI1时钟
//GPIOFB3,4,5初始化设置
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3|GPIO_Pin_4|GPIO_Pin_5;//PB3~5复用功能输出
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5|GPIO_Pin_6|GPIO_Pin_7;//PB3~5复用功能输出
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
- GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化
+ GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化
- GPIO_PinAFConfig(GPIOB,GPIO_PinSource3,GPIO_AF_SPI1); //PB3复用为 SPI1
- GPIO_PinAFConfig(GPIOB,GPIO_PinSource4,GPIO_AF_SPI1); //PB4复用为 SPI1
- GPIO_PinAFConfig(GPIOB,GPIO_PinSource5,GPIO_AF_SPI1); //PB5复用为 SPI1
+ GPIO_PinAFConfig(GPIOA,GPIO_PinSource5,GPIO_AF_SPI1); //PB3复用为 SPI1
+ GPIO_PinAFConfig(GPIOA,GPIO_PinSource6,GPIO_AF_SPI1); //PB4复用为 SPI1
+ GPIO_PinAFConfig(GPIOA,GPIO_PinSource7,GPIO_AF_SPI1); //PB5复用为 SPI1
//这里只针对SPI口初始化
RCC_APB2PeriphResetCmd(RCC_APB2Periph_SPI1,ENABLE);//复位SPI1
@@ -83,6 +83,88 @@ u8 spi1_read_write_byte(u8 TxData)
+//以下是SPI模块的初始化代码，配置成主机模式
+//SPI口初始化
+//这里针是对SPI2的初始化
+void motor_spi2_init(void)
+{
+ GPIO_InitTypeDef GPIO_InitStructure;
+ SPI_InitTypeDef SPI_InitStructure;
+
+ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);//使能GPIOA时钟
+ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);//使能GPIOA时钟
+
+ RCC_APB2PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE);//使能SPI1时钟
+
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2|GPIO_Pin_3;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
+ GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
+ GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
+ GPIO_Init(GPIOC, &GPIO_InitStructure);//初始化
+
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
+ GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
+ GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
+ GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化
+
+ GPIO_PinAFConfig(GPIOC,GPIO_PinSource2,GPIO_AF_SPI2); //PB3复用为 SPI1
+ GPIO_PinAFConfig(GPIOC,GPIO_PinSource3,GPIO_AF_SPI2); //PB4复用为 SPI1
+ GPIO_PinAFConfig(GPIOB,GPIO_PinSource10,GPIO_AF_SPI2); //PB5复用为 SPI1
+
+ //这里只针对SPI口初始化
+ RCC_APB2PeriphResetCmd(RCC_APB1Periph_SPI2,ENABLE);//复位SPI1
+ RCC_APB2PeriphResetCmd(RCC_APB1Periph_SPI2,DISABLE);//停止复位SPI1
+
+ SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex; //设置SPI单向或者双向的数据模式:SPI设置为双线双向全双工
+ SPI_InitStructure.SPI_Mode = SPI_Mode_Master; //设置SPI工作模式:设置为主SPI
+ SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b; //设置SPI的数据大小:SPI发送接收8位帧结构
+ SPI_InitStructure.SPI_CPOL = SPI_CPOL_High; //串行同步时钟的空闲状态为高电平
+ SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge; //串行同步时钟的第二个跳变沿（上升或下降）数据被采样
+ SPI_InitStructure.SPI_NSS = SPI_NSS_Soft; //NSS信号由硬件（NSS管脚）还是软件（使用SSI位）管理:内部NSS信号有SSI位控制
+ SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_256; //定义波特率预分频的值:波特率预分频值为256
+ SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB; //指定数据传输从MSB位还是LSB位开始:数据传输从MSB位开始
+ SPI_InitStructure.SPI_CRCPolynomial = 7; //CRC值计算的多项式
+ SPI_Init(SPI2, &SPI_InitStructure); //根据SPI_InitStruct中指定的参数初始化外设SPIx寄存器
+
+ SPI_Cmd(SPI2, ENABLE); //使能SPI外设
+
+ SPI1_ReadWriteByte(0xff);//启动传输
+}
+//SPI1速度设置函数
+//SPI速度=fAPB2/分频系数
+//@ref SPI_BaudRate_Prescaler:SPI_BaudRatePrescaler_2~SPI_BaudRatePrescaler_256
+//fAPB2时钟一般为84Mhz：
+void SPI2_SetSpeed(u8 SPI_BaudRatePrescaler)
+{
+ assert_param(IS_SPI_BAUDRATE_PRESCALER(SPI_BaudRatePrescaler));//判断有效性
+ SPI2->CR1&=0XFFC7;//位3-5清零，用来设置波特率
+ SPI2->CR1|=SPI_BaudRatePrescaler; //设置SPI1速度
+ SPI_Cmd(SPI2,ENABLE); //使能SPI1
+}
+//SPI1 读写一个字节
+//TxData:要写入的字节
+//返回值:读取到的字节
+u8 SPI2_ReadWriteByte(u8 TxData)
+{
+
+ while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET){}//等待发送区空
+
+ SPI_I2S_SendData(SPI2, TxData); //通过外设SPIx发送一个byte 数据
+
+ while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_RXNE) == RESET){} //等待接收完一个byte
+
+ return SPI_I2S_ReceiveData(SPI2); //返回通过SPIx最近接收的数据
+
+}
+
+u8 spi2_read_write_byte(u8 TxData)
+{
+ SPI2_ReadWriteByte(TxData);
+}
+
diff --git a/HARDWARE/TIMER/timer.c b/HARDWARE/TIMER/timer.c
index 97edaa2..0d912cb 100644
--- a/HARDWARE/TIMER/timer.c
+++ b/HARDWARE/TIMER/timer.c
@@ -13,6 +13,55 @@
//All rights reserved
//////////////////////////////////////////////////////////////////////////////////
+void TIM1_PWM_Init(u16 arr,u16 psc)
+{
+ GPIO_InitTypeDef GPIO_InitStructure;
+ TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
+ TIM_OCInitTypeDef TIM_OCInitStructure;
+
+
+ RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1,ENABLE); ///使能TIM1时钟
+ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE,ENABLE);
+
+ GPIO_PinAFConfig(GPIOE,GPIO_PinSource9,GPIO_AF_TIM1);
+
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
+ GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+ GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
+ GPIO_Init(GPIOE,&GPIO_InitStructure);
+
+ GPIO_ResetBits(GPIOE, GPIO_Pin_9);
+
+ TIM_TimeBaseInitStructure.TIM_Period = arr; //自动重装载值
+ TIM_TimeBaseInitStructure.TIM_Prescaler=psc; //定时器分频
+ TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up; //向上计数模式
+ TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;
+
+ TIM_TimeBaseInit(TIM1,&TIM_TimeBaseInitStructure);//初始化TIM3
+
+ TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
+ TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
+ TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
+ TIM_OCInitStructure.TIM_Pulse = 100;
+
+ TIM_OC1Init(TIM1, &TIM_OCInitStructure);
+
+ TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
+
+ TIM_ARRPreloadConfig(TIM1,ENABLE);
+
+ //TIM_Cmd(TIM3, ENABLE);
+
+}
+
+//定时器3中断服务函数
+void TIM1_IRQHandler(void)
+{
+}
+
+
void TIM2_Int_Init(u16 arr,u16 psc)
{
@@ -115,6 +164,49 @@ void TIM2_IRQHandler(void)
}
+void TIM2_PWM_Init(u16 arr,u16 psc)
+{
+ GPIO_InitTypeDef GPIO_InitStructure;
+ TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
+ TIM_OCInitTypeDef TIM_OCInitStructure;
+
+
+ RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE); ///使能TIM1时钟
+ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB,ENABLE);
+
+ GPIO_PinAFConfig(GPIOB,GPIO_PinSource3,GPIO_AF_TIM1);
+
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
+ GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+ GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
+ GPIO_Init(GPIOB,&GPIO_InitStructure);
+
+ GPIO_ResetBits(GPIOB, GPIO_Pin_9);
+
+ TIM_TimeBaseInitStructure.TIM_Period = arr; //自动重装载值
+ TIM_TimeBaseInitStructure.TIM_Prescaler=psc; //定时器分频
+ TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up; //向上计数模式
+ TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;
+
+ TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitStructure);//初始化TIM3
+
+ TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
+ TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
+ TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
+ TIM_OCInitStructure.TIM_Pulse = 100;
+
+ TIM_OC1Init(TIM2, &TIM_OCInitStructure);
+
+ TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);
+
+ TIM_ARRPreloadConfig(TIM2,ENABLE);
+
+ //TIM_Cmd(TIM3, ENABLE);
+
+}
+
//通用定时器3中断初始化
@@ -170,3 +262,52 @@ void TIM3_PWM_Init(u16 arr,u16 psc)
void TIM3_IRQHandler(void)
{
}
+
+void TIM4_PWM_Init(u16 arr,u16 psc)
+{
+ GPIO_InitTypeDef GPIO_InitStructure;
+ TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
+ TIM_OCInitTypeDef TIM_OCInitStructure;
+
+
+ RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4,ENABLE); ///使能TIM3时钟
+ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD,ENABLE);
+
+ GPIO_PinAFConfig(GPIOD,GPIO_PinSource15,GPIO_AF_TIM3);
+
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
+ GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+ GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
+ GPIO_Init(GPIOD,&GPIO_InitStructure);
+
+ GPIO_ResetBits(GPIOD, GPIO_Pin_15);
+
+ TIM_TimeBaseInitStructure.TIM_Period = arr; //自动重装载值
+ TIM_TimeBaseInitStructure.TIM_Prescaler=psc; //定时器分频
+ TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up; //向上计数模式
+ TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;
+
+ TIM_TimeBaseInit(TIM4,&TIM_TimeBaseInitStructure);//初始化TIM3
+
+ TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
+ TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
+ TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
+ TIM_OCInitStructure.TIM_Pulse = 100;
+
+ TIM_OC1Init(TIM4, &TIM_OCInitStructure);
+
+ TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);
+
+ TIM_ARRPreloadConfig(TIM4,ENABLE);
+
+ //TIM_Cmd(TIM3, ENABLE);
+
+}
+
+//定时器3中断服务函数
+void TIM4_IRQHandler(void)
+{
+}
+
diff --git a/OBJ/USART.axf b/OBJ/USART.axf
index fc31afa..b70baa6 100644
Binary files a/OBJ/USART.axf and b/OBJ/USART.axf differ
diff --git a/OBJ/USART.build_log.htm b/OBJ/USART.build_log.htm
index fe50764..a8a334d 100644
--- a/OBJ/USART.build_log.htm
+++ b/OBJ/USART.build_log.htm
@@ -27,11 +27,9 @@ Project File Date: 02/09/2026
Output:
*** Using Compiler 'V5.05 update 2 (build 169)', folder: 'C:\Keil_v5\ARM\ARMCC\Bin'
Build target 'USART'
-compiling stm32f4xx_adc.c...
-compiling stm32f4xx_spi.c...
-compiling stm32f4xx_tim.c...
+compiling timer.c...
linking...
-Program Size: Code=2844 RO-data=424 RW-data=32 ZI-data=1832
+Program Size: Code=5328 RO-data=424 RW-data=112 ZI-data=1632
FromELF: creating hex file...
"..\OBJ\USART.axf" - 0 Error(s), 0 Warning(s).
@@ -47,7 +45,7 @@ Package Vendor: Keil
C:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.14.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include
Collection of Component Files used:
-Build Time Elapsed: 00:00:02
+Build Time Elapsed: 00:00:01