STM32入门教程：电机驱动控制

下面是一个使用STM32驱动电机的简单示例代码：

#include "stm32f4xx.h"
#include "stm32f4xx_gpio.h"
#include "stm32f4xx_rcc.h"
#include "stm32f4xx_tim.h"

#define MOTOR_PWM_PIN    GPIO_Pin_9
#define MOTOR_PWM_PORT   GPIOA
#define MOTOR_DIR_PIN    GPIO_Pin_10
#define MOTOR_DIR_PORT   GPIOA
#define MOTOR_TIM        TIM1
#define MOTOR_TIM_CLK    RCC_APB2Periph_TIM1
#define MOTOR_TIM_CH     TIM_OCMode_PWM1
#define MOTOR_TIM_PRESC  84
#define MOTOR_TIM_PERIOD 1000

void GPIO_Configuration(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);

    GPIO_InitStructure.GPIO_Pin = MOTOR_PWM_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP ;
    GPIO_Init(MOTOR_PWM_PORT, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Pin = MOTOR_DIR_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
    GPIO_Init(MOTOR_DIR_PORT, &GPIO_InitStructure);

    GPIO_PinAFConfig(MOTOR_PWM_PORT, GPIO_PinSource9, GPIO_AF_TIM1);
}

void TIM_Configuration(void)
{
    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
    TIM_OCInitTypeDef  TIM_OCInitStructure;

    RCC_APB2PeriphClockCmd(MOTOR_TIM_CLK, ENABLE);

    TIM_TimeBaseStructure.TIM_Prescaler = MOTOR_TIM_PRESC - 1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseStructure.TIM_Period = MOTOR_TIM_PERIOD - 1;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
    TIM_TimeBaseInit(MOTOR_TIM, &TIM_TimeBaseStructure);

    TIM_OCInitStructure.TIM_OCMode = MOTOR_TIM_CH;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
    TIM_OCInitStructure.TIM_Pulse = 0;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
    TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;
    TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
    TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
    TIM_OC1Init(MOTOR_TIM, &TIM_OCInitStructure);

    TIM_Cmd(MOTOR_TIM, ENABLE);
}

void Motor_Drive(int speed, int direction)
{
    if (direction) {
        GPIO_SetBits(MOTOR_DIR_PORT, MOTOR_DIR_PIN);
    } else {
        GPIO_ResetBits(MOTOR_DIR_PORT, MOTOR_DIR_PIN);
    }

    TIM_SetCompare1(MOTOR_TIM, speed);
}

int main(void)
{
    GPIO_Configuration();
    TIM_Configuration();

    while (1) {
        Motor_Drive(500, 1);   // 向一个方向驱动电机，速度为500
        delay_ms(1000);
        Motor_Drive(0, 1);     // 停止电机
        delay_ms(1000);
        Motor_Drive(500, 0);   // 向另一个方向驱动电机，速度为500
        delay_ms(1000);
        Motor_Drive(0, 1);     // 停止电机
        delay_ms(1000);
    }
}

这个例子中，我们使用了一个定时器（TIM1）来产生PWM信号控制电机的速度。首先，我们通过GPIO初始化函数将相关引脚配置为正确的模式和功能。然后，我们使用TIM初始化函数配置定时器的时钟预分频、计数模式、周期等参数。接下来，我们通过TIM_OC初始化函数配置定时器的输出模式、极性等参数，并启动定时器。在主循环中，我们调用Motor_Drive函数来驱动电机，在每次调用函数前后加上delay_ms函数来控制电机转动的时间和停止的时间。

注意：这只是一个简单的示例代码，具体的电机驱动控制方法可能有所不同，具体取决于所使用的电机类型和驱动器。在实际的应用中，您需要根据您的具体需求和硬件配置进行适当的修改。