如何使用RZ7886，实现电机正反转及调速驱动控制（二）

一、程序设计思路：

使用STM32，P4、P5两个引脚，通过设置P4=0，P5为PWM输入，控制电机正传，设置P5=0，P4为PWM输入，控制电机反转；通过调节PWM的占空比，控制电机转速。

二、程序

1.定时器及PWM初始化函数(timer.c，timer.h)

1.1 Timer.c

#include "timer.h"
void TIM3_Int_Init(u16 arr,u16 psc)
{
    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
	NVIC_InitTypeDef NVIC_InitStructure;
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //时钟使能
	//定时器TIM3初始化
	TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值	
	TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值
	TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置时钟分割:TDTS = Tck_tim
	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式
	TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //根据指定的参数初始化TIMx的时间基数单位
	TIM_ITConfig(TIM3,TIM_IT_Update,ENABLE ); //使能指定的TIM3中断,允许更新中断
	//中断优先级NVIC设置
	NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;  //TIM3中断
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;  //先占优先级0级
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;  //从优先级3级
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
	NVIC_Init(&NVIC_InitStructure);  //初始化NVIC寄存器
	TIM_Cmd(TIM3, ENABLE);  //使能TIMx					 
}
//定时器3中断服务程序
void TIM3_IRQHandler(void)   //TIM3中断
{
	if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET)  //检查TIM3更新中断发生与否
		{
		TIM_ClearITPendingBit(TIM3, TIM_IT_Update  );  //清除TIMx更新中断标志 
		}
}

//TIM3 PMW 初始化
//arr:自动重装值
//psc:时钟预分频数
void TIM3_PWM_Init(u16 arr,u16 psc)
{
//1定义结构体
	GPIO_InitTypeDef GPIO_InitStruct;
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
	TIM_OCInitTypeDef TIM_OCInitStruct;
//2使能TIM3时钟
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
//3使能复用、PB5时钟
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB|RCC_APB2Periph_AFIO, ENABLE);
  //初始化GPIO B PB5 PB4
	GPIO_InitStruct.GPIO_Mode=GPIO_Mode_AF_PP;
	GPIO_InitStruct.GPIO_Pin=GPIO_Pin_5;
	GPIO_InitStruct.GPIO_Speed=GPIO_Speed_50MHz;
	GPIO_Init(GPIOB, &GPIO_InitStruct);
	GPIO_InitStruct.GPIO_Pin=GPIO_Pin_4;
	GPIO_Init(GPIOB, &GPIO_InitStruct);
//4重映射：TIM3_CH2重映射到PB5，TIME3_CH1重映射到PB4
	GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE);
	GPIO_PinRemapConfig(GPIO_Remap_SWJ_NoJTRST, ENABLE);//失能
//5初始化定时器TIM3
	TIM_TimeBaseInitStruct.TIM_CounterMode=TIM_CounterMode_Up;
	TIM_TimeBaseInitStruct.TIM_ClockDivision=TIM_CKD_DIV1;
	TIM_TimeBaseInitStruct.TIM_Period=arr;
	TIM_TimeBaseInitStruct.TIM_Prescaler=psc;
	TIM_TimeBaseInit(TIM3, &TIM_TimeBaseInitStruct);
//6初始化TIM3 CHANNEL2 PWM模式、 CHANNEL1 PWM模式
	TIM_OCInitStruct.TIM_OCMode=TIM_OCMode_PWM2;
	TIM_OCInitStruct.TIM_OutputState=TIM_OutputState_Enable;
	TIM_OCInitStruct.TIM_OCPolarity=TIM_OCPolarity_High;
	TIM_OC2Init(TIM3, &TIM_OCInitStruct);// TIM3 CHANNEL2初始化，PB5输出
	TIM_OC1Init(TIM3, &TIM_OCInitStruct); //TIM3 CHANNEL1初始化 PB4输出
//7使能TIM3
	TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);//使能预装载寄存器
	TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
	TIM_Cmd(TIM3, ENABLE);//使能TIM3
}  

1.2 Timer.h

#ifndef __TIMER_H
#define __TIMER_H
#include "sys.h"

void TIM3_Int_Init(u16 arr,u16 psc);
void TIM3_PWM_Init(u16 arr,u16 psc);
 
#endif  

2.电机驱动函数（motor.c，motor.h）

2.1 motor.c

#include "motor.h"
//电机正转
void Motor_FORWARD(u16 led0pwmval)
{
		TIM_CCxCmd(TIM3, TIM_Channel_1, TIM_CCx_Disable);//关闭TIM3通道1
		GPIO_ResetBits(GPIOB, GPIO_Pin_4);//P4=0
		delay_ms(5);
		TIM_CCxCmd(TIM3, TIM_Channel_2, TIM_CCx_Enable);//开启TIM3通道2
		TIM_SetCompare2(TIM3,led0pwmval);
		delay_ms(5);
		
}	
//电机反转
void Motor_BACK(u16 led0pwmval)
{
		TIM_CCxCmd(TIM3, TIM_Channel_2, TIM_CCx_Disable);//关闭TIM3通道2
		GPIO_ResetBits(GPIOB, GPIO_Pin_5);//P5=0
		delay_ms(5);
		TIM_CCxCmd(TIM3, TIM_Channel_1, TIM_CCx_Enable);//开启TIM3通道1
		TIM_SetCompare1(TIM3,led0pwmval);
		delay_ms(5);	
}  

2.2 motor.h

#ifndef _MOTOR_H_
#define _MOTOR_H_

#include "sys.h"
#include "delay.h"

void Motor_FORWARD(u16 led0pwmval);
void Motor_BACK(u16 led0pwmval);	

#endif

3.主函数

3.1Main.c

#include "stm32f10x.h"
#include "delay.h"
#include "sys.h"
#include "usart.h"
#include "timer.h"
#include "motor.h"

 int main(void)
 {		
	u16 led0pwmval=0,i=0;
	u8 dir=1;
	delay_init();	    	 //延时函数初始化	  
	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); //设置NVIC中断分组2:2位抢占优先级，2位响应优先级
	uart_init(115200);	 //串口初始化为115200
	TIM3_PWM_Init(899,0);//不分频。PWM频率=72000000/900=80Khz 
	 
   	while(1)
	{
		dir=0;
		led0pwmval=900;
		delay_ms(10);
		for(i=0;i<1800;i++)
		{
		if(dir) led0pwmval++;
		else led0pwmval--;
		
		if(led0pwmval>900) dir=0;
		if(led0pwmval==0) dir=1;
		Motor_FORWARD(led0pwmval);
		}
		dir=0;
		led0pwmval=900;
		for(i=0;i<1800;i++)
		{
		if(dir) led0pwmval++;
		else led0pwmval--;
		
		if(led0pwmval>300) dir=0;
		if(led0pwmval==0) dir=1;
		Motor_BACK(led0pwmval);
		}
		
	}	 

三、实物照片