#include?“iostm8s103f3.h“//配置TIM2通道1為PWM輸出的過程。

#define?bit0?0x01?
#define?bit1?0x02?
#define?bit2?0x04?
#define?bit3?0x08?
#define?bit4?0x10?
#define?bit5?0x20?
#define?bit6?0x40?
#define?bit7?0x80

#define?P?1
#define?D?1
int?CurPos;//current?position?75-187-300?（?0-90-180°）
unsigned?char?Re_buf[11]counter=0;//UASRT?data
unsigned?char?isRead=0;
float?a[3]w[3]angle[3]T;


void?Timer2_Init（void）?
{?
??CLK_ICKR|=0x01;?????????//開啟內部HSI?
??while（!（CLK_ICKR&0x02））;//HSI準備就緒?
??CLK_SWR=0xe1;???????????//HSI為主時鐘源?
??CLK_CKDIVR=0x00;??//外設時鐘8分頻=2MHz?
??
??TIM2_PSCR=0x07;??//Timer2時鐘128分頻，計算一次8us
??TIM2_ARRH=25;?????//自動重裝的值
??TIM2_ARRL=196;??????//PWM周期為20000us
??TIM2_CCER1=bit0?|?bit4;??//?high?levelOC1
??TIM2_CCMR1=bit3|bit5|bit6;??//MODE?
??TIM2_CCR1H=0x00;????????????//占空比
??TIM2_CCR1L=0x00;?

??TIM2_CCER1?|=?0x10;???//開啟OC2信號輸出腳
??TIM2_CCMR2?=?0x60;???//PWM1模式??
??TIM2_CCMR2?|=?0x08;???//輸出比較2預裝載使能
??TIM2_CCR2H=0x00;????????????//占空比
??TIM2_CCR2L=0x00;?
??
??TIM2_IER=0x00;?????????????//更新中斷使能?
??TIM2_CR1=bit0;????????????//enable?counter?
}

void?GPIO_Init（void）
{
??PB_DDR|=0x20;
??PB_CR1|=0x20;
??PB_CR2|=0x00;
}

void?ServoPosition（int?pos）//position?40?75-187-300?2400?0?means?no?torque
{
??TIM2_CCR1H=pos/256;?//占空比
??TIM2_CCR1L=pos%256;
}

void?ServoPT（int?posint?time）//time?about?10
{
??int?kijd;
??if（CurPos>pos）
??{
????d=CurPos-pos;
????for（k=0;k????{
????ServoPosition（--CurPos）;
????for（i=0;i??????for（j=0;j<5000;j++）;
????}
??}
??else?
??{
????d=pos-CurPos;
????for（k=0;k????{
??????ServoPosition（++CurPos）;
??????for（i=0;i????????for（j=0;j<5000;j++）;
????}
??}
}

void?StopRotate（）
{
??TIM2_CCR2H=0;?//占空比
??TIM2_CCR2L=0;
}
void?RotateClockwise（）
{
??TIM2_CCR2H=0;?//占空比
??TIM2_CCR2L=50;
}
void?RotaetClockwiseTime（int?t）//rotate?clockwisely?with?given?time（no?unit）
{
??int?ijk;
??for（i=0;i????for（j=0;j<500;j++）
????{
??????StopRotate（）;
??????for（k=0;k<4;k++）;
??????RotateClockwise（）;
??????for（k=0;k<4;k++）;
????}
??StopRotate（）;
}
void?RotateCntrClockwise（）
{
??TIM2_CCR2H=600/256;?//占空比
??TIM2_CCR2L=600%256;
}
void?RotateTo0（）
{
??TIM2_CCR2H=0;?//占空比
??TIM2_CCR2L=187;
}

void?Init_UART1（void）//Baud?Rate?9600
{
??????UART1_CR1=0x00;
??????UART1_CR2=0x00;
??????UART1_CR3=0x00;
??????//?設置波特率，必須注意以下幾點：
??????//?（1）?必須先寫BRR2
??????//?（2）?BRR1存放的是分頻系數的第11位到第4位，
??????//?（3）?BRR2存放的是分頻系數的第15到12位，和第3到0位
??????//?例如對于波特率位9600時，分頻系數=2000000/9600=208
??????//?對應的十六進制數為00D0，BBR1=0DBBR2=00
??????UART1_BRR2=0x00;
??????UART1_BRR1=0x0d;

??????UART1_CR2=0x2c;//允許接收，發送，開接收中斷?*asm（“rim“）;開中斷，sim為關中斷
}

void?UART1_sendchar（unsigned?char?c）
{
??????while（（UART1_SR?&?0x80）==0x00）;
??????UART1_DR=c;
}


#pragma?vector=?UART1_R_OR_vector//0x19
__interrupt?void?UART1_R_OR_IRQHandler（void）
{
??????Re_buf[counter]=UART1_DR;//不同單片機略有差異
??????if（（counter==0）&&（Re_buf[0]

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2015-08-06?14:29??rolbot-stm8\
?????目錄???????????0??2015-07-17?09:34??rolbot-stm8\Debug\
?????目錄???????????0??2015-08-06?14:29??rolbot-stm8\Debug\Exe\
?????文件????????5422??2015-08-06?14:29??rolbot-stm8\Debug\Exe\rolbot.hex
?????文件???????41360??2015-08-06?14:29??rolbot-stm8\Debug\Exe\rolbot.out
?????目錄???????????0??2015-08-06?14:29??rolbot-stm8\Debug\List\
?????文件???????14282??2015-08-06?14:29??rolbot-stm8\Debug\List\main.lst
?????文件???????16832??2015-08-06?14:29??rolbot-stm8\Debug\List\rolbot.map
?????目錄???????????0??2015-08-06?14:29??rolbot-stm8\Debug\Obj\
?????文件???????48970??2015-08-06?14:29??rolbot-stm8\Debug\Obj\main.o
?????文件?????????510??2015-08-06?14:29??rolbot-stm8\Debug\Obj\main.pbi
?????文件?????????141??2015-08-06?14:29??rolbot-stm8\Debug\Obj\rolbot.pbd
?????文件????????5562??2015-08-05?09:34??rolbot-stm8\code?backup.txt
?????文件????????6176??2015-08-06?14:29??rolbot-stm8\main.c
?????文件????????2306??2015-08-06?14:29??rolbot-stm8\rolbot.dep
?????文件???????10282??2015-07-18?16:03??rolbot-stm8\rolbot.ewd
?????文件???????41353??2015-07-18?16:14??rolbot-stm8\rolbot.ewp
?????文件?????????160??2015-07-17?10:25??rolbot-stm8\rolbot.eww
?????目錄???????????0??2015-07-17?11:50??rolbot-stm8\settings\
?????文件????????1954??2015-08-06?10:36??rolbot-stm8\settings\rolbot.cspy.bat
?????文件????????5273??2015-08-05?21:48??rolbot-stm8\settings\rolbot.dbgdt
?????文件?????????714??2015-08-05?21:48??rolbot-stm8\settings\rolbot.dni
?????文件????????3137??2015-08-06?14:29??rolbot-stm8\settings\rolbot.wsdt