鎽� 瑕�: 鏈枃浠嬬垂浜嗕竴绋熀浜嶴3C2410寰帶鍒跺櫒鐨勭洿娴侀浕姗�(j墨)瑾�(di脿o)閫熺郴绲�(t菕ng)銆傛枃绔犲湪浠嬬垂PWM瑾�(di脿o)閫熷師鐞嗙殑鍩虹(ch菙)涓婅┏绱�(x矛)瑾�(shu艒)鏄庝簡S3C2410鐨凱WM鐧�(f膩)鐢熷櫒鐨勭祼(ji茅)妲�(g貌u)鐗归粸(di菐n)鍙婂叾浣跨敤鏂规硶銆傚苟绲﹀嚭浜嗗(sh铆)鐝�(xi脿n)瑾�(di脿o)閫熺殑鏍稿績浠ｇ⒓鍙婅(di脿o)閫熺郴绲�(t菕ng)鐨勭附楂旇ō(sh猫)瑷�(j矛)銆� 闂�(gu膩n)閸佃: S3C2410; PWM; 瑾�(di脿o)閫� 0 寮曡█ 銆€銆€PWM锛圥ulse-Width Modulation锛夋槸鑴堝瑾�(di脿o)鍒舵妧琛�(sh霉)鐨勭啊(ji菐n)绋�(ch膿ng)銆侾WM鎺у埗鎶€琛�(sh霉)浠ュ叾鎺у埗绨�(ji菐n)鍠�銆侀潏娲诲拰鍕�(d貌ng)鎱�(t脿i)闊挎噳(y墨ng)濂界殑鍎�(y艒u)榛�(di菐n)鑰屾垚鐐洪浕鍔涢浕瀛愭妧琛�(sh霉)寤ｆ硾鎳�(y墨ng)鐢ㄧ殑鎺у埗鏂瑰紡锛屼篃鐐洪珮鎬ц兘鐨勭洿娴侀浕姗�(j墨)鏁�(sh霉)瀛楀寲鎺у埗鎻愪緵浜嗗熀绀�(ch菙)銆� 1 PWM瑾�(di脿o)閫熷師鐞� 銆€銆€鏅堕珨绠￠枊(k膩i)闂�(gu膩n)鍣ㄤ欢鐨勫皫(d菐o)閫氭檪(sh铆)闁撲篃琚ū(ch膿ng)鐐哄皫(d菐o)閫氳 锛岄€氶亷(gu貌)鎺у埗鏅堕珨绠＄殑闁�(k膩i)閫氳垏闂�(gu膩n)鏂锋檪(sh铆)闁撲締(l谩i)鏀硅畩灏�(d菐o)閫氳 鐨勫ぇ灏忥紝灏卞彲浠ヨ(di脿o)绡€(ji茅)鍔犲湪璨�(f霉)杓変笂鐨勫钩鍧囬浕澹撶殑澶у皬锛屼互瀵�(sh铆)鐝�(xi脿n)灏�(du矛)鐩存祦闆绘(j墨)鐨勮(di脿o)閫�锛岄€欏氨鏄疨WM璁婇€熸帶鍒舵妧琛�(sh霉)鐨勫熀鏈師鐞�锛屽鍦栦竴鎵€绀恒€傝(di脿o)閫熸帶鍒跺父閫氶亷(gu貌)瑾�(di脿o)绡€(ji茅)鑴堟矕瀵害鐨勬柟娉曚締(l谩i)瀵�(sh铆)鐝�(xi脿n)銆� 銆€銆€ 2 S3C2410鐨凱WM鐧�(f膩)鐢熷櫒 銆€銆€2.1 PWM鐧�(f膩)鐢熷櫒鐨勭祼(ji茅)妲�(g貌u)鍜岃▓(j矛)鏅�(sh铆)鍘熺悊 銆€銆€鐢ㄥ垎绔嬪櫒浠剁祫鎴怭WM闆昏矾涓€鑸締(l谩i)瑾�(shu艒)闇€瑕佸涓嬪咕鍊�(g猫)閮ㄥ垎锛氫笁瑙掓尝鐢�(ch菐n)鐢熼浕璺�銆佽剤娌栬(di脿o)鍒堕浕璺�銆丳WM淇¤櫉(h脿o)寤堕伈鍙婂垎閰嶉浕璺€係3C2410鍋氱偤涓€娆惧姛鑳藉挤(qi谩ng)澶х殑寰檿鐞嗗櫒锛屽叾鍏�(n猫i)閮ㄥ凡缍�(j墨ng)闆嗘垚浜嗗寘鍚笂杩颁笁鍊�(g猫)閮ㄥ垎鐨凱WM鐧�(f膩)鐢熷櫒锛屽彧瑕佸皪(du矛)鐩搁棞(gu膩n)瀵勫瓨鍣ㄩ€�(j矛n)琛岀啊(ji菐n)鍠殑瑷�(sh猫)缃紝灏卞彲浠ョ敘(ch菐n)鐢熼渶瑕佺殑PWM淇¤櫉(h脿o)銆� 銆€銆€S3C2410鐨勫畾鏅�(sh铆)/瑷�(j矛)鏁�(sh霉)鍣�0锝�3閮藉叿鏈塒WM杓稿嚭鍔熻兘锛屼互瀹氭檪(sh铆)/瑷�(j矛)鏁�(sh霉)鍣�0鐐轰緥瑾�(shu艒)鏄�銆傛檪(sh铆)閻樹俊铏�(h脿o)PCLK缍�(j墨ng)閬�(gu貌)鍙法绋嬬殑8浣嶉爯(y霉)鍒嗛牷鍣ㄥ拰鏅�(sh铆)閻橀櫎娉曞櫒鍒嗛牷鍚�锛岄﹨(q奴)鍕�(d貌ng)瀹氭檪(sh铆)鍣ㄥ収(n猫i)鐨勯倧杓帶鍒跺櫒閫�(j矛n)琛屽伐浣�銆傞倧杓帶鍒跺櫒鐨勬牳蹇冿紝鏄竴鍊�(g猫)16浣嶇殑娓涙硶瑷�(j矛)鏁�(sh霉)鍣�銆� 銆€銆€鎴戝€戝彲浠ヨ肠浜庤▓(j矛)鏁�(sh霉)绶╂矕瀵勫瓨鍣紙TCNTB0锛� 鍜屾瘮杓冪珐娌栧瘎瀛樺櫒锛圱CMPB0锛変笉鍚岀殑鍒濆鍊�锛岀暥(d膩ng)瀹氭檪(sh铆)鍣ㄤ娇鑳芥檪(sh铆)锛岄€欏叐鍊�(g猫)瀵勫瓨鍣ㄤ腑鐨勬暩(sh霉)鎿�(j霉)灏囪鍒嗗垾杓夊叆鍒版笡娉曡▓(j矛)鏁�(sh霉)鍣紙TCNT0锛夊拰姣旇純瀵勫瓨鍣紙TCMP0锛�銆傝▓(j矛)鏁�(sh霉)绶╂矕瀵勫瓨鍣ㄥ拰姣旇純绶╂矕瀵勫瓨鍣ㄧ殑瑷�(sh猫)瑷�(j矛)鎬濇兂鍦⊿3C2410涓绋�(ch膿ng)鐐衡€滈洐绶╂矕鈥濓紝瀹冪殑鍎�(y艒u)榛�(di菐n)鏄湪闋荤巼鎴栧崰绌烘瘮鏀硅畩鏅�(sh铆)锛屽畾鏅�(sh铆)鍣ㄤ粛鐒惰兘鐢�(ch菐n)鐢熺┅(w臎n)瀹氱殑杓稿嚭銆� 銆€銆€瑷�(j矛)鏅�(sh铆)閬�(gu貌)绋嬪涓嬶細寰濸CLK閬�(gu貌)渚�(l谩i)鐨勬檪(sh铆)閻樹俊铏�(h脿o)鍒伴仈(d谩)閭忚集鎺у埗鍣ㄦ檪(sh铆)锛屾笡娉曡▓(j矛)鏁�(sh霉)鍣ㄧ殑鍊艰嚜鍕�(d貌ng)娓�1锛岀暥(d膩ng)娓涙硶瑷�(j矛)鏁�(sh霉)鍣ㄧ殑鍊肩偤0鏅�(sh铆)锛屽畾鏅�(sh铆)鍣ㄦ渻(hu矛)鍚慍PU鐧�(f膩)閫佷腑鏂疯珛(q菒ng)姹傦紝涓€杓▓(j矛)鏅�(sh铆)鎿嶄綔瀹屾垚銆傚湪鑷嫊(d貌ng)瑁濊級妯″紡涓嬶紝瑷�(j矛)鏁�(sh霉)绶╂矕瀵勫瓨鍣ㄤ腑鐨勫垵濮嬪€兼渻(hu矛)鐢辩‖浠舵帶鍒惰嚜鍕�(d貌ng)杓夊叆娓涙硶瑷�(j矛)鏁�(sh霉)鍣�锛岄€�(j矛n)琛屼笅涓€杓殑瑷�(j矛)鏅�(sh铆)鎿嶄綔銆� 銆€銆€2.2 PWM鐧�(f膩)鐢熷櫒鐨勫師鐞� 銆€銆€姣旇純绶╂矕瀵勫瓨鍣紙TCMPB0锛変腑瑷�(sh猫)瀹氱殑鍒濆€兼槸鐢ㄤ締(l谩i)鐢�(ch菐n)鐢烶WM淇¤櫉(h脿o)鐨�. 淇¤櫉(h脿o)鐨勭敘(ch菐n)鐢熻(gu墨)鍓囨槸锛氭瘡鐣�(d膩ng)TCNT0鐨勫€煎拰TCMP0鐨勫€肩浉绛夋檪(sh铆)锛屽畾鏅�(sh铆)鍣ㄧ殑杓稿嚭閭忚集闆诲钩缈昏綁(zhu菐n)銆侾WM鑴堟矕闋荤巼鐢盩CNT0姹哄畾锛岃€岃剤娌栧搴︾敱TCMP0姹哄畾銆俆CMP0鐨勫€艰秺澶�锛孭WM鑴堟矕鐨勫崰绌烘瘮瓒婂ぇ锛屼篃鍗冲钩鍧囪几鍑洪浕澹撹秺澶�锛屽弽涔嬩害鐒�銆� 銆€銆€2.3 姝诲崁(q奴)锛圖ead Zone锛夌櫦(f膩)鐢熷櫒 銆€銆€鐐轰簡鑳藉鎺у埗杓冨ぇ鍔熺巼鐨勮ō(sh猫)鍌�锛孭WM鐧�(f膩)鐢熷櫒涓倓闆嗘垚浜嗘鍗€(q奴)鐧�(f膩)鐢熷櫒銆傞€欎竴鐗规€х敤浜庡湪闁�(k膩i)闂�(gu膩n)瑷�(sh猫)鍌欑殑鏂烽枊(k膩i)鍜屽彟涓€鍊�(g猫)闁�(k膩i)闂�(gu膩n)瑷�(sh猫)鍌欑殑闁夊悎涔嬮枔鎻掑叆涓€鍊�(g猫)鏅�(sh铆)闁撶己鍙�锛屼娇瀹冨€戜笉鏈�(hu矛)铏曚簬鍚屾檪(sh铆)闁夊悎鐨勭媭鎱�(t脿i)銆傚鍦�2鎵€绀猴細 銆€銆€宸茬煡TOUT0鏄畾鏅�(sh铆)鍣�0鐨凱WM杓稿嚭寮曡叧锛岃€孴OUT1鏄疶OUT淇¤櫉(h脿o)鐨勫弽鐩歌几鍑哄紩鑵筹紝濡傛灉闁�(k膩i)鍟熶簡姝诲崁(q奴)鐧�(f膩)鐢熷櫒鍔熻兘锛岄偅涔圱OUT0鍜孴OUT1鐨勮几鍑烘尝褰㈠氨涓嶅彲鑳藉悓鏅�(sh铆)鐐洪珮闆诲钩浜�锛岄€欐ǎ灏辨湁鏁堢殑闃叉浜嗛枊(k膩i)闂�(gu膩n)瑷�(sh猫)鍌欏悓鏅�(sh铆)闁夊悎鏅�(sh铆)鐨勮几鍑虹煭璺儏娉�銆� 3 PWM鐧�(f膩)鐢熷櫒绋嬪簭 銆€銆€PWM鐧�(f膩)鐢熷櫒鐨勫瘎瀛樺櫒閰嶇疆鍜屾帶鍒堕亷(gu貌)绋嬪涓嬶細 銆€銆€// 瀹氱京姝诲崁(q奴)瀵害鍜岄爯(y霉)妯�(bi膩o)瀹氬€� 銆€銆€#define PRE_SCALER0 锛�2 << 0锛� 銆€銆€#define DEAD_ZONE 锛�20 << 16锛� 銆€銆€// 鍜屽畾鏅�(sh铆)鎺у埗鏈夐棞(gu膩n)鐨勫畯瀹氱京 銆€銆€#define START_TIMER0 锛�1 << 0锛� 銆€銆€#define UPDATE_CFG 锛�1 << 1锛� 銆€銆€#define AUTO_RELOAD 锛�1 << 3锛� 銆€銆€#define ENABLE_DEADZONE 锛�1 << 4锛� 銆€銆€// 瀹氭檪(sh铆)绶╂矕鍣ㄥ垵鍊�1024锛岄浕姗�(j墨)瑾�(di脿o)閫熸闀�(zh菐ng) 2 銆€銆€// 鍙€�(j矛n)琛�1024/2 = 512绱�(j铆)瑾�(di脿o)閫� 銆€銆€#define MOTOR_COUNT 锛�1024锛� 銆€銆€#define MOTOR_STEP 锛�1锛� 銆€銆€// 鐢ㄤ締(l谩i)鎺у埗杞�(zhu菐n)閫熺殑闈滄厠(t脿i)璁婇噺 銆€銆€static int nSpeed =0; 銆€銆€/锛� 鍒濆鍖朠WM鐧�(f膩)鐢熷櫒 锛�/ 銆€銆€void InitPWM锛堬級 銆€銆€锝� 銆€銆€/锛� TOUT0 灏�(du矛)鎳�(y墨ng)钁� GPB0锛孴OUT1灏�(du矛)鎳�(y墨ng)钁桮PB1锛屽洜姝ゅ垵濮嬪寲GPB0/1鐐虹浜屽姛鑳界鍙� 锛�/ 銆€銆€rGPBCON = rGPBCON & 0x3FFFF0 | 0xA; 銆€銆€/锛� 姝诲崁(q奴)鐐�24鍊�(g猫)瑷�(j矛)鏅�(sh铆)鍠綅锛岄爯(y霉)鍒嗛牷鍣ㄨō(sh猫)缃偤 0锛屾檪(sh铆)閻橀櫎娉曞櫒鍜孧UX鍒嗛厤鍣ㄥ彇榛樿獚(r猫n)鍊� 锛�/ 銆€銆€rTCFG0 = DEAD_ZONE | PRE_SCALER0; 銆€銆€/锛� 瑷�(sh猫)缃▓(j矛)鏁�(sh霉)绶╂矕瀵勫瓨鍣ㄥ垵鍊笺€佹瘮杓冪珐娌栧瘎瀛樺櫒鍒濆€硷紛/ 銆€銆€rTCNTB0 = MOTOR_COUNT; 銆€銆€rTCMPB0 = MOTOR_STEP 锛� nSpeed; 銆€銆€/锛� 瑷�(j矛)鏅�(sh铆)鍣�0鍋滄锛屾洿鏂伴厤缃� 锛�/ 銆€銆€rTCON = 锛堬綖 START_TIMER0锛� | UPDATE_CFG; 銆€銆€/锛� 浣胯兘姝诲崁(q奴)鐧�(f膩)鐢熷櫒锛岄€�(j矛n)鍏ヨ嚜鍕�(d貌ng)瑁濊級妯″紡锛岃▓(j矛)鏅�(sh铆)鍣�0鍟熷嫊(d貌ng) 锛�/ 銆€銆€rTCON = NABLE_DEADZONE | AUTO_RELOAD | START_TIMER0; 銆€?銆�? 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PLC涓璓WM鍔熻兘妯″鐨勬噳(y墨ng)鐢ㄧ爺绌� [J].寰▓(j矛)绠楁(j墨)淇℃伅锛�2006锛�25锛夛細42-45. 銆€銆€[2] 浜庢槑. ARM9宓屽叆寮忕郴绲�(t菕ng)瑷�(sh猫)瑷�(j矛)鑸囬枊(k膩i)鐧�(f膩)鏁欑▼ [M]. 鍖椾含:闆诲瓙宸ユキ(y猫)鍑虹増绀�,2006. 銆€銆€[3] 鍛ㄧ珛鍔�.ARM宓屽叆寮忕郴绲�(t菕ng)瀵�(sh铆)椹�(y脿n)鏁欑▼ [M]. 鍖椾含:鍖椾含鑸┖鑸ぉ澶у(xu茅)鍑虹増绀�,2004. 銆€銆€[4] 鍛傞仈(d谩)鏄�锛岀闀�(zh菐ng)瀹�. 涓€绋埄鐢≒IC瀵�(sh铆)鐝�(xi脿n)PWM鎺у埗鐨勬柟妗� [J]. 姗�(j墨)搴婅垏娑插,2004锛�11锛�:133-134. 銆€銆€[5] 濮滈暦(zh菐ng)娉�锛屼簬钀�(w脿n)鍏�. 鍩轰簬AVR鍠墖姗�(j墨)鐨勭洿娴侀浕鍕�(d貌ng)姗�(j墨)鐨凱WM瑾�(di脿o)閫熺郴绲�(t菕ng)瑷�(sh猫)瑷�(j矛) [J]. 鍎€鍣ㄥ剙琛ㄧ敤鎴�(h霉),2006,2锛�42锛�.