STM32F103——两路PWM控制电机

最新推荐文章于 2024-07-20 15:06:46 发布

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最新推荐文章于 2024-07-20 15:06:46 发布

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分类专栏：嵌入式学习记录文章标签：单片机 stm32

本文链接：https://blog.csdn.net/qq_29174429/article/details/122750007

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实验条件
STM32F103开发板
TB6612电机驱动模块

参考代码：

#include "car.h"
//初始化定时器，实现PWM输出
void PWM_Init(u16 arr,u16 psc){
		GPIO_InitTypeDef GPIO_InitStructure;
		TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
		TIM_OCInitTypeDef TIM_OCInitStructure;
		RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //①使能定时器 3 时钟
		RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC|RCC_APB2Periph_AFIO, ENABLE); //①使能 GPIO 和 AFIO 复用功能时钟
		GPIO_PinRemapConfig(GPIO_FullRemap_TIM3, ENABLE); //②重映射 TIM3_CH2->PB5 
		//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_6|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(GPIOC, &GPIO_InitStructure); //①初始化 GPIO
		//初始化 TIM3
		TIM_TimeBaseStructure.TIM_Period = arr; //设置在自动重装载周期值
		TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置预分频值
		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); //③初始化 TIMx
		//初始化 TIM3 Channel2 PWM 模式
		TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择 PWM 模式 2
		TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
		TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性高
		TIM_OC1Init(TIM3, &TIM_OCInitStructure); //④初始化外设 TIM3 OC2
		TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable); //使能预装载寄存器
		TIM_OC2Init(TIM3, &TIM_OCInitStructure); //④初始化外设 TIM3 OC2
		TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable); //使能预装载寄存器
		TIM_Cmd(TIM3, ENABLE); //⑤使能 TIM3
		

}
/**************************************************************************
函数功能：电机的正反转
入口参数：mode   mode=0时为正转  mode=1时反转 mode=2是停止
返回  值：无
**************************************************************************/

void MOTO(int mode)
{
	if(mode==PosMode )//正转
	{
	 GPIO_SetBits(GPIOB, GPIO_Pin_13);	 // 高电平
	 GPIO_ResetBits(GPIOB, GPIO_Pin_14);	 // 低电平}
		
	GPIO_SetBits(GPIOA, GPIO_Pin_4);	 // 高电平
	GPIO_ResetBits(GPIOA, GPIO_Pin_5);	 // 低电平
	}
	 if(mode==NegMode)//反转
	{
	 
	 GPIO_ResetBits(GPIOB, GPIO_Pin_13);	 // 低电平
	 GPIO_SetBits(GPIOB, GPIO_Pin_14);	 // 高电平
		
	 GPIO_ResetBits(GPIOA, GPIO_Pin_4);	 // 低电平
	 GPIO_SetBits(GPIOA, GPIO_Pin_5);	 // 高电平
	 }
	 if(mode==StopMode)//停止
	{
	 GPIO_ResetBits(GPIOB, GPIO_Pin_13);	 // 低电平
	 GPIO_ResetBits(GPIOB, GPIO_Pin_14);	 // 低电平}
		
	GPIO_ResetBits(GPIOA, GPIO_Pin_4);	 // 低电平
	GPIO_ResetBits(GPIOA, GPIO_Pin_5);	 // 低电平
	 }


}
//初始化所需GPIO
void CAR_Gpio_Init(void)
{
	 GPIO_InitTypeDef GPIO_InitStructure;            //定义结构体GPIO_InitStructure
	
	 RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOB, ENABLE); // 使能PB端口时钟 
	 RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA, ENABLE); // 使能PA端口时钟 

	
     GPIO_InitStructure.GPIO_Pin =   GPIO_Pin_13| GPIO_Pin_14;	  //PB4 PB3
	 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;     	//推挽，增大电流输出能力  
	 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;  //IO口速度
	 GPIO_Init(GPIOB, &GPIO_InitStructure);          //GBIOB初始化 
	
	 GPIO_InitStructure.GPIO_Pin =   GPIO_Pin_4| GPIO_Pin_5;	  //PB4 PB5
	 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;     	//推挽，增大电流输出能力  
	 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;  //IO口速度
	 GPIO_Init(GPIOA, &GPIO_InitStructure);          //GBIOA初始化 
	


}

void CAR_Speed(u16 speed){
	TIM_SetCompare1(TIM3,speed);
	TIM_SetCompare2(TIM3,speed);
}

主函数参考代码：

#include "stm32f10x.h"
#include "lcd.h"
#include "delay.h"
#include "remote.h"
#include "motor.h"
#include "key.h"
#include "led.h"
#include "usart.h"
#define MAXSPEED 7000
#define MINSPEED 1000
#define FILTERNUM 20
int main(void)
{
	u8 Remote_key;//遥控器键值
	u8 Key;//按键值
 	u8 *str=0;//遥控器显示
	u16 speed=1000;
	u16 PWM=0;
	u16 filter=FILTERNUM;

	
	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
	LCD_Init();//初始化LCD功能;  320*240
	Remote_Init();			//红外接收初始化
	LED_Init();			     //LED端口初始化
 	//TIM3_PWM_Init(7199,0);	 //不分频。PWM频率=72000000/900=80Khz
	PWM_Init(7199,0);
	KEY_Init();
	CAR_Gpio_Init();
	
	LCD_ShowString(30,60,300,16,16,"My RoBot");
	LCD_ShowString(30,80,300,16,16,"MOTOR TEST:");
	LCD_ShowString(30,100,300,16,16,"PWM:  %");
	MOTO(PosMode);
	CAR_Speed(speed);//设置速度
	while(1){
		Remote_key=Remote_Scan();	
		Key=KEY_Scan(0);								 
		//TIM_SetCompare2(TIM3,led0pwmval);	
		
		if(Remote_key)
		{	 switch(Remote_key)
			{
				case 0:str="ERROR";break;			   
				case 162:
					str="STOP";
					MOTO(StopMode);
					break;	    
				case 98:str="UP";break;	    
				case 2:str="PLAY";break;		 
				case 226:
					str="Go!";
					MOTO(PosMode);
					break;		  
				case 194:str="RIGHT";break;	   
				case 34:str="LEFT";break;		  
				case 224:
					str="VOL-";
					filter--;
					if(!filter){
						filter=FILTERNUM;
						speed-=1000;
					
						if(speed<1000){
						speed=MINSPEED;
						}
					}

				
					break;		  
				case 168:str="DOWN";break;		   
				case 144:
					str="VOL+";
					filter--;
					if(!filter){
						filter=FILTERNUM;
						speed+=500;
					
						if(speed>7000){
						speed=MAXSPEED;	
						}
					}
					break;		    
				case 104:str="1";break;		  
				case 152:str="2";break;	   
				case 176:str="3";break;	    
				case 48:str="4";break;		    
				case 24:str="5";break;		    
				case 122:str="6";break;		  
				case 16:str="7";break;			   					
				case 56:str="8";break;	 
				case 90:str="9";break;
				case 66:str="0";break;
				case 82:str="DELETE";break;		 
			}
			
		}else delay_ms(10);	 
		
		if(Key==KEY0_PRES){//减速
			speed-=1000;
					
			if(speed<1000){
				speed=MINSPEED;
					}
			
		}else if(Key==KEY1_PRES){
			//加速
			speed+=500;
			if(speed>7000){
			speed=MAXSPEED;
			}
			
		
		}
	CAR_Speed(speed);
	LCD_Fill(30+12*8,80,300,80+16,WHITE);	//清楚之前的显示
	LCD_ShowString(30+12*8,80,300,16,16,str);	//显示SYMBOL
	PWM=speed*100/7200;
	LCD_ShowNum(30+4*8, 100, PWM, 2, 16);
	
	}
	
	

}

引脚连接：
A01——电机负
B01——电机正
PC6——PWMA
PC7——PWMB
AIN1——PB14
AIN2——PB13
BIN1——PA5
BIN2——PA4
TB6612逻辑电源、使能信号-由降压3V3提供
单片机电源5V5OUT连接降压源3V3

编码器连线：
PA9——右轮B
PA8——右轮A

PA0——左轮B
PA1——左轮A

编码器参考代码：

#include "encoder.h"
/**************************************************************************
函数功能：把TIM1初始化为编码器接口模式
入口参数：无
返回  值：无
**************************************************************************/
void Encoder_Init_TIM1(void)
{
	TIM_TimeBaseInitTypeDef TIM1_TimeBaseStructure;  
	TIM_ICInitTypeDef TIM1_ICInitStructure;
	GPIO_InitTypeDef GPIO_InitStructure;
    
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA ,ENABLE);	
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1,ENABLE);
	
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8|GPIO_Pin_9;	//端口配置
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //浮空输入
	GPIO_Init(GPIOA, &GPIO_InitStructure);				//根据设定参数初始化GPIOA

	TIM_TimeBaseStructInit(&TIM1_TimeBaseStructure);
	TIM1_TimeBaseStructure.TIM_Prescaler = 0x0; // 预分频器
	TIM1_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //设定计数器自动重装值
	TIM1_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//选择时钟分频:不分频
	TIM1_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;TIM向上计数
	TIM_TimeBaseInit(TIM1, &TIM1_TimeBaseStructure);

	TIM_EncoderInterfaceConfig(TIM1, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);

	TIM_ICStructInit(&TIM1_ICInitStructure);
	TIM1_ICInitStructure.TIM_ICFilter = 10;
	TIM_ICInit(TIM1, &TIM1_ICInitStructure);//根据TIM_ICInitStruct中指定的参数初始化TIM
	TIM_ClearFlag(TIM1, TIM_FLAG_Update);//清除TIM的更新标志位
	TIM_ITConfig(TIM1, TIM_IT_Update, ENABLE); //使能或者失能指定的TIM中断

	TIM_SetCounter(TIM1,0);
	TIM_Cmd(TIM1, ENABLE);   //使能或者使能TIMx外设
}

void Encoder_Init_TIM2(void)
{
	NVIC_InitTypeDef NVIC_InitStruct;
	TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;  
	TIM_ICInitTypeDef TIM_ICInitStructure;  
	GPIO_InitTypeDef GPIO_InitStructure;

	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);//使能定时器2的时钟
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//使能PA端口时钟

	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1;	//端口配置 PA0 PA1
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空输入
	GPIO_Init(GPIOA, &GPIO_InitStructure);					      //根据设定参数初始化GPIOA

	NVIC_InitStruct.NVIC_IRQChannel = TIM2_IRQn;  //定时器2中断
	NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;  //使能IRQ通道
	NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1;//抢占优先级1 
	NVIC_InitStruct.NVIC_IRQChannelSubPriority = 3;       //响应优先级3
	NVIC_Init(&NVIC_InitStruct);

	TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
	TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // 预分频器 
	TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //设定计数器自动重装值
	TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//选择时钟分频：不分频
	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;//边沿计数模式 
	TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);  //初始化定时器

	TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//使用编码器模式3

	TIM_ICStructInit(&TIM_ICInitStructure); //把TIM_ICInitStruct 中的每一个参数按缺省值填入
	TIM_ICInitStructure.TIM_ICFilter = 10;  //设置滤波器长度
	TIM_ICInit(TIM2, &TIM_ICInitStructure);//根据 TIM_ICInitStruct 的参数初始化外设	TIMx

	TIM_ClearFlag(TIM2, TIM_FLAG_Update);//清除TIM的更新标志位
	TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);//使能定时器中断
	TIM_SetCounter(TIM2,0);
	TIM_Cmd(TIM2, ENABLE); //使能定时器

}
/**************************************************************************
函数功能：单位时间读取编码器计数
入口参数：定时器
返回  值：速度值
**************************************************************************/
int Read_Velocity(u8 TIMX)
{
    int Encoder_TIM;    
   switch(TIMX)
	 {
		case 1:  Encoder_TIM= (short)TIM1 -> CNT; 	TIM1->CNT=0; break;
		case 2:  Encoder_TIM= (short)TIM2 -> CNT; 	TIM2->CNT=0; break;	
		default: Encoder_TIM=0;
	 }
		return Encoder_TIM;
}
void TIM1_IRQHandler(void)//中断处理函数为空，清除中断标志位后结束中断
{ 		    		  			    
 if(TIM_GetFlagStatus(TIM2,TIM_FLAG_Update)==SET)//溢出中断
 {
	 
 } 
 TIM_ClearITPendingBit(TIM2,TIM_IT_Update); //清除中断标志位 	  
}

void TIM2_IRQHandler(void)//中断处理函数为空，清除中断标志位后结束中断
{ 		    		  			    
 if(TIM_GetFlagStatus(TIM2,TIM_FLAG_Update)==SET)//溢出中断
 {
	 
 } 
 TIM_ClearITPendingBit(TIM2,TIM_IT_Update); //清除中断标志位 	  
}

参考主函数：

#include "stm32f10x.h"
#include "lcd.h"
#include "delay.h"
#include "remote.h"
#include "motor.h"
#include "key.h"
#include "led.h"
#include "usart.h"
#include "encoder.h"
#define MAXSPEED 7000
#define MINSPEED 1000
#define FILTERNUM 20
int main(void)
{
	u8 Remote_key;//遥控器键值
	u8 Key;//按键值
 	u8 *str=0;//遥控器显示
	u16 speed=1000;
	u16 PWM=0;
	u16 filter=FILTERNUM;
	int Encoder_TIM=0;
	
	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
	LCD_Init();//初始化LCD功能;  320*240
	Remote_Init();			//红外接收初始化
	LED_Init();			     //LED端口初始化
 	//TIM3_PWM_Init(7199,0);	 //不分频。PWM频率=72000000/900=80Khz
	PWM_Init(7199,0);
	KEY_Init();
	CAR_Gpio_Init();
	Encoder_Init_TIM1();
	Encoder_Init_TIM2();
	
	LCD_ShowString(30,60,300,16,16,"My RoBot");
	LCD_ShowString(30,80,300,16,16,"MOTOR TEST:");
	LCD_ShowString(30,100,300,16,16,"PWM:  %");
	MOTO(PosMode);
	CAR_Speed(speed);//设置速度
	while(1){
		Encoder_TIM=Read_Velocity(1);
		LCD_ShowxNum(30, 120,Encoder_TIM , 4, 16,0);
		USART_SendData(USART2,Encoder_TIM);
		//printf("TIM1=%d\n\r",Encoder_TIM);
		Encoder_TIM=Rea/d_Velocity(2);
		//printf("TIM2=%d\n\r",Encoder_TIM);
		USART_SendData(USART2,Encoder_TIM);
		LCD_ShowxNum(30, 140,Encoder_TIM , 4, 16,0);
		Remote_key=Remote_Scan();	
		Key=KEY_Scan(0);								 
		//TIM_SetCompare2(TIM3,led0pwmval);	
		
		if(Remote_key)
		{	 switch(Remote_key)
			{
				case 0:str="ERROR";break;			   
				case 162:
					str="STOP";
					MOTO(StopMode);
					break;	    
				case 98:str="UP";break;	    
				case 2:str="PLAY";break;		 
				case 226:
					str="Go!";
					MOTO(PosMode);
					break;		  
				case 194:str="RIGHT";break;	   
				case 34:str="LEFT";break;		  
				case 224:
					str="VOL-";
					filter--;
					if(!filter){
						filter=FILTERNUM;
						speed-=1000;
					
						if(speed<1000){
						speed=MINSPEED;
						}
					}

				
					break;		  
				case 168:str="DOWN";break;		   
				case 144:
					str="VOL+";
					filter--;
					if(!filter){
						filter=FILTERNUM;
						speed+=500;
					
						if(speed>7000){
						speed=MAXSPEED;	
						}
					}
					break;		    
				case 104:str="1";break;		  
				case 152:str="2";break;	   
				case 176:str="3";break;	    
				case 48:str="4";break;		    
				case 24:str="5";break;		    
				case 122:str="6";break;		  
				case 16:str="7";break;			   					
				case 56:str="8";break;	 
				case 90:str="9";break;
				case 66:str="0";break;
				case 82:str="DELETE";break;		 
			}
			
		}else delay_ms(10);	 
		
		if(Key==KEY0_PRES){//减速
			speed-=1000;
					
			if(speed<1000){
				speed=MINSPEED;
					}
			
		}else if(Key==KEY1_PRES){
			//加速
			speed+=500;
			if(speed>7000){
			speed=MAXSPEED;
			}
			
		
		}
	CAR_Speed(speed);
	LCD_Fill(30+12*8,80,300,80+16,WHITE);	//清楚之前的显示
	LCD_ShowString(30+12*8,80,300,16,16,str);	//显示SYMBOL
	PWM=speed*100/7200;
	LCD_ShowNum(30+4*8, 100, PWM, 2, 16);
	
	}
	
	

}

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STM32F103——两路PWM控制电机

实验条件STM32F103开发板TB6612电机驱动模块参考代码：#include "car.h"//初始化定时器，实现PWM输出void PWM_Init(u16 arr,u16 psc){ GPIO_InitTypeDef GPIO_InitStructure; TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_OCInitTypeDef TIM_OCInitStructure; RCC_APB1PeriphClockCmd
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