stm32直流电机驱动与测速总结

通过实验发现，定时器的一个通道控制一个pwm信号。

在正式开始之前也可以参考这个视频学习资料

(stm32直流电机驱动)

http://www.makeru.com.cn/live/1392_1218.html?s=45051

超声波雷达测距仪

http://www.makeru.com.cn/live/15971_2626.html?s=45051

PWM驱动电机不需要中断。

① timer.h:

#ifndef __TIMER_H

#define __TIMER_H

#include “sys.h”

void TIM3_PWM_Init(u16 arr,u16 psc);

#endif

② timer.c:

#include “timer.h”

#include “led.h”

void TIM3_PWM_Init(u16 arr,u16 psc)

{

GPIO_InitTypeDef GPIO_InitStructure;

TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;

TIM_OCInitTypeDef TIM_OCInitStructure;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //使能定时器3时钟

RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE); //使能GPIO外设和AFIO复用功能模块时钟

GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE); //Timer3部分重映射 TIM3_CH2->PB5

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//设置该引脚为复用输出功能,输出TIM3 CH2的PWM脉冲波形 GPIOB.5

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; //TIM_CH2

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化GPIO

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8; //TIM_CH2

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化GPIO

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//初始化TIM3

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 = 0; //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TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位

//初始化TIM3 Channel2 PWM模式

TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2

TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能

TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高

TIM_OC2Init(TIM3, &TIM_OCInitStructure); //根据T指定的参数初始化外设TIM3 OC2

TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable); //使能TIM3在CCR2上的预装载寄存器

TIM_Cmd(TIM3, ENABLE); //使能TIM3

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}

void TIM2_PWM_Init(u16 arr,u16 psc)

{

GPIO_InitTypeDef GPIO_InitStructure;

TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;

TIM_OCInitTypeDef TIM_OCInitStructure;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); //使能定时器2时钟

RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE); //使能GPIO外设和AFIO复用功能模块时钟

GPIO_PinRemapConfig(GPIO_PartialRemap2_TIM2, ENABLE); //Timer2映射 TIM2_CH2->PB5

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; //TIM_CH2

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化GPIO

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9; //TIM_CH2

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化GPIO

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//初始化TIM2

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 = 0; //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(TIM2, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位

//初始化TIM2 Channel2 PWM模式

TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2

TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能

TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高

TIM_OC2Init(TIM2, &TIM_OCInitStructure); //根据T指定的参数初始化外设TIM2 OC2

TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable); //使能TIM2在CCR2上的预装载寄存器

TIM_Cmd(TIM2, ENABLE); //使能TIM2

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}

③ main:

#include “led.h”

#include “delay.h”

#include “key.h”

#include “sys.h”

#include “timer.h”

int main(void)

{

u16 led0pwmval=0;

u8 dir=1;

delay_init(); //延时函数初始化

LED_Init(); //LED端口初始化

TIM3_PWM_Init(899,0); //不分频。PWM频率=72000000/900=80Khz

while(1)

{

delay_ms(10);

if(dir)led0pwmval++;

else led0pwmval–;

if(led0pwmval>450)dir=0;

if(led0pwmval==0)dir=1;

TIM_SetCompare2(TIM3,led0pwmval);

TIM_SetCompare2(TIM2,led0pwmval);

}

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}

main中电机效果为加速减速加速减速

但main中后面while中可以只有

TIM_SetCompare2(TIM3,led0pwmval);

TIM_SetCompare2(TIM2,led0pwmval);

但需要自己给 led0pwmval设定一个值，调节占空比。这样的话，电机就只能匀速转动，

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