STM32F407 TIMX的时钟是多少
时间: 2024-05-21 12:15:17 浏览: 9
TIMx的时钟源可以选择不同的时钟源,包括内部时钟源和外部时钟源。如果使用内部时钟源,TIMx的时钟频率为APB1总线时钟的两倍。如果使用外部时钟源,TIMx的时钟频率为外部时钟源的频率。
在STM32F407芯片上,APB1总线时钟的最高频率是84MHz,因此如果使用内部时钟源,TIMx的时钟频率最高可以达到168MHz。如果使用外部时钟源,TIMx的时钟频率则取决于外部时钟源的频率。
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STM32F407 巡线舵机控制转向代码
以下是基于STM32F407的巡线舵机控制转向代码的示例:
```c
#include "stm32f4xx_hal.h"
#include "main.h"
/* 定义舵机PWM输出通道 */
#define SERVO_PWM_CHANNEL TIM_CHANNEL_1
/* 定义舵机PWM输出频率 */
#define SERVO_PWM_FREQ 50 // 50 Hz
/* 定义左右转动的角度范围 */
#define SERVO_MAX_ANGLE 180
#define SERVO_MIN_ANGLE 0
/* 定义巡线传感器IO口 */
#define LINE_SENSOR_GPIO_PORT GPIOA
#define LINE_SENSOR_GPIO_PIN GPIO_PIN_0 // PA0
/* 定义舵机PWM输出IO口 */
#define SERVO_PWM_GPIO_PORT GPIOA
#define SERVO_PWM_GPIO_PIN GPIO_PIN_8 // PA8
/* 定义巡线传感器灰度值阈值 */
#define LINE_SENSOR_THRESHOLD 500
/* 定义左右转动的角度 */
uint16_t servoAngle = 90;
/* 定义PWM输出句柄 */
TIM_HandleTypeDef htim1;
/* 函数声明 */
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM1_Init(void);
void servoSetAngle(uint16_t angle);
int main(void)
{
/* 初始化HAL库 */
HAL_Init();
/* 初始化系统时钟 */
SystemClock_Config();
/* 初始化GPIO */
MX_GPIO_Init();
/* 初始化PWM */
MX_TIM1_Init();
/* 启动PWM输出 */
HAL_TIM_PWM_Start(&htim1, SERVO_PWM_CHANNEL);
/* 无限循环 */
while (1)
{
/* 读取巡线传感器的灰度值 */
uint16_t lineSensorValue = HAL_GPIO_ReadPin(LINE_SENSOR_GPIO_PORT, LINE_SENSOR_GPIO_PIN);
/* 如果传感器检测到黑线,则向左转动舵机 */
if (lineSensorValue < LINE_SENSOR_THRESHOLD)
{
servoAngle += 10;
if (servoAngle > SERVO_MAX_ANGLE)
{
servoAngle = SERVO_MAX_ANGLE;
}
servoSetAngle(servoAngle);
}
/* 如果传感器没有检测到黑线,则向右转动舵机 */
else
{
servoAngle -= 10;
if (servoAngle < SERVO_MIN_ANGLE)
{
servoAngle = SERVO_MIN_ANGLE;
}
servoSetAngle(servoAngle);
}
/* 延时 */
HAL_Delay(100);
}
}
/* 设置舵机角度 */
void servoSetAngle(uint16_t angle)
{
/* 计算PWM输出的占空比 */
uint16_t dutyCycle = (angle * 11) + 500;
TIM_OC_InitTypeDef sConfigOC = {0};
/* 配置PWM输出通道的占空比 */
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = dutyCycle;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, SERVO_PWM_CHANNEL);
/* 更新PWM输出 */
HAL_TIM_PWM_Start(&htim1, SERVO_PWM_CHANNEL);
}
/* 初始化GPIO */
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* 使能GPIOA时钟 */
__HAL_RCC_GPIOA_CLK_ENABLE();
/* 配置PA0为输入模式 */
GPIO_InitStruct.Pin = LINE_SENSOR_GPIO_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(LINE_SENSOR_GPIO_PORT, &GPIO_InitStruct);
/* 配置PA8为复用模式 */
GPIO_InitStruct.Pin = SERVO_PWM_GPIO_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
HAL_GPIO_Init(SERVO_PWM_GPIO_PORT, &GPIO_InitStruct);
}
/* 初始化PWM */
static void MX_TIM1_Init(void)
{
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
/* 使能TIM1时钟 */
__HAL_RCC_TIM1_CLK_ENABLE();
/* 配置TIM1时钟源 */
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig);
/* 配置TIM1基本参数 */
htim1.Instance = TIM1;
htim1.Init.Prescaler = 83; // 84 MHz / (83 + 1) = 1 MHz
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 20000 / SERVO_PWM_FREQ; // 20000 us / 50 Hz = 400
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
HAL_TIM_Base_Init(&htim1);
/* 配置TIM1 PWM模式 */
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 1500; // 1500 us
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, SERVO_PWM_CHANNEL);
/* 配置TIM1主从模式 */
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig);
}
/* 初始化系统时钟 */
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 25;
RCC_OscInitStruct.PLL.PLLN = 336;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 7;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK
| RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
{
Error_Handler();
}
}
/* 错误处理函数 */
void Error_Handler(void)
{
/* 用户自定义错误处理代码 */
}
```
在上述代码中,我们使用TIM1作为PWM输出的定时器,通过HAL库的函数来控制PWM输出的占空比,从而控制舵机的转动角度。同时,我们使用GPIO来读取巡线传感器的灰度值,从而控制舵机的转动方向。
stm32f407定时器触发adc采样HAL库代码
下面是使用HAL库编写的在STM32F407上使用定时器触发ADC采样的示例代码。
首先需要配置ADC和定时器的初始化参数。
```c
ADC_HandleTypeDef hadc1;
TIM_HandleTypeDef htim2;
void MX_ADC1_Init(void)
{
ADC_ChannelConfTypeDef sConfig;
/** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
*/
hadc1.Instance = ADC1;
hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
hadc1.Init.Resolution = ADC_RESOLUTION_12B;
hadc1.Init.ScanConvMode = DISABLE;
hadc1.Init.ContinuousConvMode = ENABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
hadc1.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T2_TRGO;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 1;
hadc1.Init.DMAContinuousRequests = DISABLE;
hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
*/
sConfig.Channel = ADC_CHANNEL_0;
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
}
void MX_TIM2_Init(void)
{
TIM_MasterConfigTypeDef sMasterConfig;
htim2.Instance = TIM2;
htim2.Init.Prescaler = 8399;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 1999;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
}
```
在主函数中,开启定时器和ADC:
```c
int main(void)
{
HAL_Init();
SystemClock_Config();
MX_GPIO_Init();
MX_TIM2_Init();
MX_ADC1_Init();
HAL_TIM_Base_Start(&htim2);
HAL_ADC_Start(&hadc1);
while (1)
{
if (HAL_ADC_PollForConversion(&hadc1, 1000) == HAL_OK)
{
uint32_t adc_value = HAL_ADC_GetValue(&hadc1);
printf("ADC value: %ld\n", adc_value);
}
}
}
```
在这个示例中,定时器的时钟频率为84MHz / (8399 + 1) = 10 kHz,定时器的周期为(1999 + 1) / 10 kHz = 200ms,ADC的采样时间为3个时钟周期,因此每200ms会触发一次ADC采样。
需要注意的是,这个示例中使用了轮询模式进行ADC采样,也可以使用DMA模式进行采样以提高效率。
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