PWM捕获5路信号错误，求教！

mjmajic

开了5定时器，5个中断捕获PWM信号时，第3，4信号出错，有没有大神看下哪里有问题！！！

附上代码：
/*
* model_airplane.c
*
*  Created on: 2019年10月23日
*      Author: mjjol
*/

#include "model_airplane.h"
#include "model_airplane_def.h"
#include "Utility.h"
#include "stm32f4xx_tim.h"
#include "model_airplane_irq.h"

//PA8有干扰，不建议使用， TIM2用于PWM输出，PC9不能用
const PwmInConfigPro PwmInCfg[ModelAirPlaneKeyNum] =
{
        //高级定时器     Elevator
        {GPIO_Pin_5, GPIOI, RCC_AHB1Periph_GPIOI, GPIO_PinSource5, GPIO_AF_TIM8, TIM_Channel_1,
                TIM8, RCC_APB2Periph_TIM8, TIM8_CC_IRQn, High_Tim},
        //通用定时器     Aileron
        {GPIO_Pin_6, GPIOA, RCC_AHB1Periph_GPIOA, GPIO_PinSource6, GPIO_AF_TIM3, TIM_Channel_1,
                TIM3, RCC_APB1Periph_TIM3, TIM3_IRQn, Normarl_Tim},
        //高级定时器     Throttle
        {GPIO_Pin_0, GPIOA, RCC_AHB1Periph_GPIOA, GPIO_PinSource0, GPIO_AF_TIM5, TIM_Channel_1,
                TIM5, RCC_APB1Periph_TIM5, TIM5_IRQn, Normarl_Tim},
        //高级定时器     Rudder
        {GPIO_Pin_6, GPIOB, RCC_AHB1Periph_GPIOB, GPIO_PinSource6, GPIO_AF_TIM4, TIM_Channel_1,
                TIM4, RCC_APB1Periph_TIM4, TIM4_IRQn, Normarl_Tim},
        //高级定时器     Gear
        {GPIO_Pin_8, GPIOA, RCC_AHB1Periph_GPIOA, GPIO_PinSource8, GPIO_AF_TIM1, TIM_Channel_1,
                TIM1, RCC_APB2Periph_TIM1, TIM1_CC_IRQn, High_Tim},
};


/**
  * @brief  配置TIM复用输出PWM时用到的I/O
  * @param  无
  * @retval 无
  */
static void TIMx_GPIO_Config(uint32_t RCC_AHB1Periph, GPIO_TypeDef* GPIOx, uint16_t GPIO_PinSource, uint8_t GPIO_AF, uint32_t GPIO_Pin)
{
    /*定义一个GPIO_InitTypeDef类型的结构体*/
    GPIO_InitTypeDef GPIO_InitStructure;

    /*开启LED相关的GPIO外设时钟*/
    RCC_AHB1PeriphClockCmd (RCC_AHB1Periph, ENABLE);

    /* 定时器复用引脚 */
    GPIO_PinAFConfig(GPIOx, GPIO_PinSource, GPIO_AF);

    /* 通用定时器PWM输出引脚 */
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_Init(GPIOx, &GPIO_InitStructure);
}

/**
* @brief  高级控制定时器 TIMx,x[1,8]中断优先级配置
* @param  无
* @retval 无
*/
static void TIMx_NVIC_Configuration(uint8_t NVIC_IRQChannel)
{
   NVIC_InitTypeDef NVIC_InitStructure;
   // 设置中断组为0
   NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
       // 设置中断来源
   NVIC_InitStructure.NVIC_IRQChannel = NVIC_IRQChannel;
       // 设置抢占优先级
   NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
     // 设置子优先级
   NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
   NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
   NVIC_Init(&NVIC_InitStructure);
}

/*
* 注意：TIM_TimeBaseInitTypeDef结构体里面有5个成员，TIM6和TIM7的寄存器里面只有
* TIM_Prescaler和TIM_Period，所以使用TIM6和TIM7的时候只需初始化这两个成员即可，
* 另外三个成员是通用定时器和高级定时器才有.
*-----------------------------------------------------------------------------
* TIM_Prescaler         都有
* TIM_CounterMode           TIMx,x[6,7]没有，其他都有（基本定时器）
* TIM_Period            都有
* TIM_ClockDivision     TIMx,x[6,7]没有，其他都有(基本定时器)
* TIM_RepetitionCounter TIMx,x[1,8]才有(高级定时器)
*-----------------------------------------------------------------------------
*/
static void TIM_PWMOUTPUT_Config(void)
{
    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
    TIM_OCInitTypeDef  TIM_OCInitStructure;

    // 开启TIMx_CLK,x[2,3,4,5,12,13,14]
    RCC_APB1PeriphClockCmd(GENERAL_TIM_CLK, ENABLE);

    /* 累计 TIM_Period个后产生一个更新或者中断*/
    //当定时器从0计数到9999，即为10000次，为一个定时周期
    TIM_TimeBaseStructure.TIM_Period = 10000-1;

    // 通用定时器2时钟源TIMxCLK = HCLK/2=90MHz
    // 设定定时器频率为=TIMxCLK/(TIM_Prescaler+1)=100KHz
    TIM_TimeBaseStructure.TIM_Prescaler = 900-1;
    // 采样时钟分频
    TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;
    // 计数方式
    TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up;

    // 初始化定时器TIMx, x[1,8]
    TIM_TimeBaseInit(GENERAL_TIM, &TIM_TimeBaseStructure);

    /* PWM输出模式配置 */
    /* 配置为PWM模式1 */
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    /* PWM脉冲宽度 */
    TIM_OCInitStructure.TIM_Pulse = 3000-1;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    /* 使能通道1 */
    TIM_OC1Init(GENERAL_TIM, &TIM_OCInitStructure);
    /*使能通道1重载*/
    TIM_OC1PreloadConfig(GENERAL_TIM, TIM_OCPreload_Enable);
    // 使能定时器
    TIM_Cmd(GENERAL_TIM, ENABLE);
}

static void TimPwmInputConfig(uint32_t tim_clk, TIM_TypeDef* TIMx, uint16_t tim_channel, TimProperty tim_property)
{
    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
    TIM_ICInitTypeDef  TIM_ICInitStructure;

    // 开启TIMx_CLK,x[1,8]
//  RCC_APB2PeriphClockCmd(tim_clk, ENABLE);

    // 高级控制定时器时钟源TIMxCLK = HCLK=180MHz
    // 设定定时器频率为=TIMxCLK/(TIM_Prescaler+1)=100KHz
  if (tim_property == High_Tim)
  {
      RCC_APB2PeriphClockCmd(tim_clk, ENABLE);
      TIM_TimeBaseStructure.TIM_Period = 0xFFFF-1;
      TIM_TimeBaseStructure.TIM_Prescaler = 1800-1;
  }
  else if (tim_property == Normarl_Tim)
  {
      RCC_APB1PeriphClockCmd(tim_clk, ENABLE);
      TIM_TimeBaseStructure.TIM_Period = 10000-1;
      TIM_TimeBaseStructure.TIM_Prescaler = 900-1;
  }
  else if (tim_property == Normarl_APB2_Tim)
  {
      RCC_APB2PeriphClockCmd(tim_clk, ENABLE);
      TIM_TimeBaseStructure.TIM_Period = 10000-1;
      TIM_TimeBaseStructure.TIM_Prescaler = 900-1;
  }

  // 计数方式
  TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up;
    // 初始化定时器TIMx, x[1,8]
    TIM_TimeBaseInit(TIMx, &TIM_TimeBaseStructure);

    /* IC1捕获：上升沿触发 TI1FP1 */
  TIM_ICInitStructure.TIM_Channel = tim_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(TIMx, &TIM_ICInitStructure);

//    /* IC2捕获：下降沿触发 TI1FP2 */
//  TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
//  TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
//  TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_IndirectTI;
//  TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
//  TIM_ICInitStructure.TIM_ICFilter = 0x0;
//  TIM_PWMIConfig(TIMx, &TIM_ICInitStructure);

    /* 选择定时器输入触发: TI1FP1 */
  TIM_SelectInputTrigger(TIMx, TIM_TS_TI1FP1);

  /* 选择从模式: 复位模式 */
  TIM_SelectSlaveMode(TIMx, TIM_SlaveMode_Reset);
  TIM_SelectMasterSlaveMode(TIMx,TIM_MasterSlaveMode_Enable);

  /* 使能高级控制定时器 */
  TIM_Cmd(TIMx, ENABLE);

  /* 使能捕获/比较2中断请求 */
  TIM_ITConfig(TIMx, TIM_IT_CC1, ENABLE);
  TIM_ClearITPendingBit(TIMx, TIM_IT_CC1);
}

void ModelAirPlaneInit(void)
{
    uint8_t i;

    ModelAirPlaneIrqInit();

    //PWM输出
    TIMx_GPIO_Config(GENERAL_OCPWM_GPIO_CLK, GENERAL_OCPWM_GPIO_PORT, GENERAL_OCPWM_PINSOURCE, GENERAL_OCPWM_AF, GENERAL_OCPWM_PIN);
    TIM_PWMOUTPUT_Config();

    //PWM输入
    for (i = 0; i < ModelAirPlaneKeyNum; i++)
    {
        TIMx_GPIO_Config(PwmInCfg.GPIO_CLK, PwmInCfg.GPIOx, PwmInCfg.GPIO_PinSource, PwmInCfg.GPIO_AF, PwmInCfg.GPIO_Pin);
        TIMx_NVIC_Configuration(PwmInCfg.NVIC_IRQChannel);
        TimPwmInputConfig(PwmInCfg.tim_clk, PwmInCfg.TIMx, PwmInCfg.tim_channel, PwmInCfg.tim_property);
    }
}




/*
* model_airplane.h
*
*  Created on: 2019年10月23日
*      Author: mjjol
*/

#ifndef USER_MIDDLE_MODEL_AIRPLANE_MODEL_AIRPLANE_H_
#define USER_MIDDLE_MODEL_AIRPLANE_MODEL_AIRPLANE_H_

#include "stm32f4xx.h"

typedef enum
{
    Normarl_Tim = 0,
    High_Tim,
    Normarl_APB2_Tim,
} TimProperty;

typedef struct
{
    uint32_t GPIO_Pin;
    GPIO_TypeDef* GPIOx;
    uint32_t GPIO_CLK;
    uint16_t GPIO_PinSource;
    uint8_t GPIO_AF;
    uint16_t tim_channel;
    TIM_TypeDef* TIMx;
    uint32_t tim_clk;
    uint8_t NVIC_IRQChannel;
    TimProperty tim_property;
} PwmInConfigPro;

extern const PwmInConfigPro PwmInCfg[];

extern void ModelAirPlaneInit(void);

#endif /* USER_MIDDLE_MODEL_AIRPLANE_MODEL_AIRPLANE_H_ */




/*
* model_airplane_def.h
*
*  Created on: 2019年10月23日
*      Author: mjjol
*/

#ifndef USER_MIDDLE_MODEL_AIRPLANE_MODEL_AIRPLANE_DEF_H_
#define USER_MIDDLE_MODEL_AIRPLANE_MODEL_AIRPLANE_DEF_H_

#define INVALID_IC_VALUE 0xFFFF

/* 通用定时器PWM输出 */
/* PWM输出引脚 */
#define GENERAL_OCPWM_PIN             GPIO_Pin_5
#define GENERAL_OCPWM_GPIO_PORT       GPIOA
#define GENERAL_OCPWM_GPIO_CLK        RCC_AHB1Periph_GPIOA
#define GENERAL_OCPWM_PINSOURCE             GPIO_PinSource5
#define GENERAL_OCPWM_AF                            GPIO_AF_TIM2

/* 通用定时器 */
#define GENERAL_TIM                     TIM2
#define GENERAL_TIM_CLK                 RCC_APB1Periph_TIM2

/************************************IRQ****************************************/

/*
* 此处中断需与
*/
#define ElevatorServo_IRQHandler            TIM8_CC_IRQHandler              //ElevatorServo

#define AileronServo_IRQHandler             TIM3_IRQHandler                 //AileronServo

#define ThrottleServo_IRQHandler            TIM5_IRQHandler                 //ThrottleServo

#define RudderServo_IRQHandler              TIM4_IRQHandler                 //RudderServo

#define GearServo_IRQHandler                TIM1_CC_IRQHandler   //GearServo

/*******************************************************************************/

typedef enum
{
    ElevatorServo = 0,
    AileronServo,
    ThrottleServo,
    RudderServo,
    GearServo,
    ModelAirPlaneKeyNum,
} ModelAirPlaneKey;

#endif /* USER_MIDDLE_MODEL_AIRPLANE_MODEL_AIRPLANE_DEF_H_ */



/*
* model_airplane_irq.c
*
*  Created on: 2019年10月23日
*      Author: mjjol
*/

#include "stm32f4xx_it.h"
#include "model_airplane_def.h"
#include "model_airplane.h"
#include "model_airplane_irq.h"

PwmICValue PwmIn[ModelAirPlaneKeyNum];
PwmICValue ElevatorServoPwmIn, AileronServoPwmIn;

float DutyCycle = 0, Frequency = 0;

uint8_t IrqLock = 0;

/**
  * @brief  This function handles TIM interrupt request.
  * @param  None
  * @retval None
  */
void  ElevatorServo_IRQHandler (void)
{
    uint8_t elevatorServo_index = ElevatorServo;

    /* 清除定时器捕获/比较1中断 */
//    TIM_ClearITPendingBit(PwmInCfg[elevatorServo_index].TIMx, TIM_IT_CC1);
    PwmInCfg[elevatorServo_index].TIMx->SR = (uint16_t)~TIM_IT_CC1;

    PwmIn[elevatorServo_index].ic1_value = PwmInCfg[elevatorServo_index].TIMx->CCR1;
    PwmIn[elevatorServo_index].ic2_value = PwmInCfg[elevatorServo_index].TIMx->CCR2;
//
//    /* 获取输入捕获值 */
//    PwmIn[elevatorServo_index].ic1_value = TIM_GetCapture1(PwmInCfg[elevatorServo_index].TIMx);
//    PwmIn[elevatorServo_index].ic2_value = TIM_GetCapture2(PwmInCfg[elevatorServo_index].TIMx);
    printf("ElevatorServo: IC1Value = %d  IC2Value = %d ",PwmIn[elevatorServo_index].ic1_value,PwmIn[elevatorServo_index].ic2_value);
//
//    if (PwmIn[elevatorServo_index].ic1_value != 0)
//    {
//        /* 占空比计算 */
//        PwmIn[elevatorServo_index].duty_clcye = (float)(PwmIn[elevatorServo_index].ic2_value * 100) / PwmIn[elevatorServo_index].ic1_value;
//
//        /* 频率计算 */
//        PwmIn[elevatorServo_index].frequency = 180000000/1800/(float)PwmIn[elevatorServo_index].ic1_value;
//        printf("ElevatorServo: 占空比：%0.2f%%   频率：%0.2fHz\r\n",PwmIn[elevatorServo_index].duty_clcye,PwmIn[elevatorServo_index].frequency);
//    }
//    else
//    {
//        PwmIn[elevatorServo_index].duty_clcye = 0;
//        PwmIn[elevatorServo_index].frequency = 0;
//    }
}

uint16_t tt_c1, tt_c2;
/**
  * @brief  This function handles TIM interrupt request.
  * @param  None
  * @retval None
  */
void  AileronServo_IRQHandler (void)
{
    uint8_t aileronServo_index = AileronServo;

    /* 清除定时器捕获/比较1中断 */
//    TIM_ClearITPendingBit(PwmInCfg[aileronServo_index].TIMx, TIM_IT_CC1);
    PwmInCfg[aileronServo_index].TIMx->SR = (uint16_t)~TIM_IT_CC1;

    PwmIn[aileronServo_index].ic1_value = PwmInCfg[aileronServo_index].TIMx->CCR1;
    PwmIn[aileronServo_index].ic2_value = PwmInCfg[aileronServo_index].TIMx->CCR2;
//
//    /* 获取输入捕获值 */
//    PwmIn[aileronServo_index].ic1_value = TIM_GetCapture1(PwmInCfg[aileronServo_index].TIMx);
//    PwmIn[aileronServo_index].ic2_value = TIM_GetCapture2(PwmInCfg[aileronServo_index].TIMx);
    printf("AileronServo: IC1Value = %d  IC2Value = %d ",PwmIn[aileronServo_index].ic1_value,PwmIn[aileronServo_index].ic2_value);
//
//    if (PwmIn[aileronServo_index].ic1_value != 0)
//    {
//        /* 占空比计算 */
//        PwmIn[aileronServo_index].duty_clcye = (float)(PwmIn[aileronServo_index].ic2_value * 100) / PwmIn[aileronServo_index].ic1_value;
//
//        /* 频率计算 */
//        PwmIn[aileronServo_index].frequency = 180000000/1800/(float)PwmIn[aileronServo_index].ic1_value;
//        printf("AileronServo: 占空比：%0.2f%%   频率：%0.2fHz\r\n",PwmIn[aileronServo_index].duty_clcye,PwmIn[aileronServo_index].frequency);
//    }
//    else
//    {
//        PwmIn[aileronServo_index].duty_clcye = 0;
//        PwmIn[aileronServo_index].frequency = 0;
//    }
}

/**
  * @brief  This function handles TIM interrupt request.
  * @param  None
  * @retval None
  */
void  ThrottleServo_IRQHandler (void)
{
    uint8_t ThrottleServo_index = ThrottleServo;

    /* 清除定时器捕获/比较1中断 */
//    TIM_ClearITPendingBit(PwmInCfg[ThrottleServo_index].TIMx, TIM_IT_CC1);
    PwmInCfg[ThrottleServo_index].TIMx->SR = (uint16_t)~TIM_IT_CC1;

    PwmIn[ThrottleServo_index].ic1_value = PwmInCfg[ThrottleServo_index].TIMx->CCR1;
    PwmIn[ThrottleServo_index].ic2_value = PwmInCfg[ThrottleServo_index].TIMx->CCR2;
//
//    /* 获取输入捕获值 */
//    PwmIn[ThrottleServo_index].ic1_value = TIM_GetCapture1(PwmInCfg[ThrottleServo_index].TIMx);
//    PwmIn[ThrottleServo_index].ic2_value = TIM_GetCapture2(PwmInCfg[ThrottleServo_index].TIMx);
    printf("ThrottleServo: IC1Value = %d  IC2Value = %d ",PwmIn[ThrottleServo_index].ic1_value,PwmIn[ThrottleServo_index].ic2_value);
//
//    if (PwmIn[ThrottleServo_index].ic1_value != 0)
//    {
//        /* 占空比计算 */
//        PwmIn[ThrottleServo_index].duty_clcye = (float)(PwmIn[ThrottleServo_index].ic2_value * 100) / PwmIn[ThrottleServo_index].ic1_value;
//
//        /* 频率计算 */
//        PwmIn[ThrottleServo_index].frequency = 180000000/1800/(float)PwmIn[ThrottleServo_index].ic1_value;
//        printf("ThrottleServo: 占空比：%0.2f%%   频率：%0.2fHz\r\n",PwmIn[ThrottleServo_index].duty_clcye,PwmIn[ThrottleServo_index].frequency);
//    }
//    else
//    {
//        PwmIn[ThrottleServo_index].duty_clcye = 0;
//        PwmIn[ThrottleServo_index].frequency = 0;
//    }
}


/**
  * @brief  This function handles TIM interrupt request.
  * @param  None
  * @retval None
  */
void  RudderServo_IRQHandler (void)
{
    uint8_t RudderServo_index = RudderServo;

    /* 清除定时器捕获/比较1中断 */
//    TIM_ClearITPendingBit(PwmInCfg[RudderServo_index].TIMx, TIM_IT_CC1);
    PwmInCfg[RudderServo_index].TIMx->SR = (uint16_t)~TIM_IT_CC1;

    PwmIn[RudderServo_index].ic1_value = PwmInCfg[RudderServo_index].TIMx->CCR1;
    PwmIn[RudderServo_index].ic2_value = PwmInCfg[RudderServo_index].TIMx->CCR2;

//    /* 获取输入捕获值 */
//    PwmIn[RudderServo_index].ic1_value = TIM_GetCapture1(PwmInCfg[RudderServo_index].TIMx);
//    PwmIn[RudderServo_index].ic2_value = TIM_GetCapture2(PwmInCfg[RudderServo_index].TIMx);
    printf("RudderServo: IC1Value = %d  IC2Value = %d ",PwmIn[RudderServo_index].ic1_value,PwmIn[RudderServo_index].ic2_value);
//
//    if (PwmIn[RudderServo_index].ic1_value != 0)
//    {
//        /* 占空比计算 */
//        PwmIn[RudderServo_index].duty_clcye = (float)(PwmIn[RudderServo_index].ic2_value * 100) / PwmIn[RudderServo_index].ic1_value;
//
//        /* 频率计算 */
//        PwmIn[RudderServo_index].frequency = 180000000/1800/(float)PwmIn[RudderServo_index].ic1_value;
//        printf("RudderServo: 占空比：%0.2f%%   频率：%0.2fHz\r\n",PwmIn[RudderServo_index].duty_clcye,PwmIn[RudderServo_index].frequency);
//    }
//    else
//    {
//        PwmIn[RudderServo_index].duty_clcye = 0;
//        PwmIn[RudderServo_index].frequency = 0;
//    }
}

/**
  * @brief  This function handles TIM interrupt request.
  * @param  None
  * @retval None
  */
void  GearServo_IRQHandler (void)
{
    uint8_t GearServo_index = GearServo;

    /* 清除定时器捕获/比较1中断 */
//    TIM_ClearITPendingBit(PwmInCfg[GearServo_index].TIMx, TIM_IT_CC1);
    PwmInCfg[GearServo_index].TIMx->SR = (uint16_t)~TIM_IT_CC1;

    PwmIn[GearServo_index].ic1_value = PwmInCfg[GearServo_index].TIMx->CCR1;
    PwmIn[GearServo_index].ic2_value = PwmInCfg[GearServo_index].TIMx->CCR2;

    /* 获取输入捕获值 */
//    PwmIn[GearServo_index].ic1_value = TIM_GetCapture1(PwmInCfg[GearServo_index].TIMx);
//    PwmIn[GearServo_index].ic2_value = TIM_GetCapture2(PwmInCfg[GearServo_index].TIMx);
    printf("GearServo: IC1Value = %d  IC2Value = %d ",PwmIn[GearServo_index].ic1_value,PwmIn[GearServo_index].ic2_value);
//
//    if (PwmIn[GearServo_index].ic1_value != 0)
//    {
//        /* 占空比计算 */
//        PwmIn[GearServo_index].duty_clcye = (float)(PwmIn[GearServo_index].ic2_value * 100) / PwmIn[GearServo_index].ic1_value;
//
//        /* 频率计算 */
//        PwmIn[GearServo_index].frequency = 180000000/1800/(float)PwmIn[GearServo_index].ic1_value;
//        printf("GearServo: 占空比：%0.2f%%   频率：%0.2fHz\r\n",PwmIn[GearServo_index].duty_clcye,PwmIn[GearServo_index].frequency);
//    }
//    else
//    {
//        PwmIn[GearServo_index].duty_clcye = 0;
//        PwmIn[GearServo_index].frequency = 0;
//    }
}

void ModelAirPlaneIrqInit(void)
{
    uint8_t i;

    for (i = 0; i < ModelAirPlaneKeyNum; i++)
    {
        PwmIn.ic1_value = INVALID_IC_VALUE;
        PwmIn.ic2_value = INVALID_IC_VALUE;
    }
}