【stm-4】PWM驱动LED呼吸灯 &PWM驱动舵机&PWM驱动直流电机

1.PWM驱动LED呼吸灯 

void TIM_OC1Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct);        //结构体初始化输出比较单元
void TIM_OC2Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct);
void TIM_OC3Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct);
void TIM_OC4Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct);

void TIM_CtrlPWMOutputs(TIM_TypeDef* TIMx, FunctionalState NewState);        //仅高级定时器使用，在使用高级定时器输出PWM函数时调用。否则PWM不能正常输出 

void TIM_SetCompare1(TIM_TypeDef* TIMx, uint16_t Compare1);

//单独更改通道1的CCR值
void TIM_SetCompare2(TIM_TypeDef* TIMx, uint16_t Compare2);
void TIM_SetCompare3(TIM_TypeDef* TIMx, uint16_t Compare3);
void TIM_SetCompare4(TIM_TypeDef* TIMx, uint16_t Compare4); 

(1)main.c

#include "Device/Include/stm32f10x.h"   // Device header
#include "pwm.h"
#include "delay.h"
#include "OLED.h"
uint8_t i;
int main(void)
{
	OLED_Init();
	PWM_Init();
	while(1)
	{
		for(i=0;i<=100;i++)
		{
			PWM_setcompare1(i);	
			//通过单独改变通道1（PA0）的CCR值，PWM的占空比、分辨率、频率随之改变
			Delay_ms(10);
		}
		for(i=0;i<=100;i++)
		{
			PWM_setcompare1(100-i);
			Delay_ms(10);
		}
	}
}

(2) pwm.c

#include "Device/Include/stm32f10x.h"   // Device header
void PWM_Init(void)
{
//根据PWM基本结构框图，时基单元初始化、输出比较单元选择(TIM1通道初始化)
	
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);	//打开时钟
	
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP;	//复用推挽输出（输出控制权转移给片上外设）
	GPIO_InitStructure.GPIO_Pin=GPIO_Pin_0;
	GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
	GPIO_Init(GPIOA,&GPIO_InitStructure);
	
	TIM_InternalClockConfig(TIM2);	//选择内部时钟
	
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitstructure;	//初始化时基单元
	TIM_TimeBaseInitstructure.TIM_ClockDivision=TIM_CKD_DIV1;
	TIM_TimeBaseInitstructure.TIM_CounterMode=TIM_CounterMode_Up;
	TIM_TimeBaseInitstructure.TIM_Period=100-1;//定时器周期，实际就是ARR的值。计10000个数
	TIM_TimeBaseInitstructure.TIM_Prescaler=720-1;//7200-1;//PSC.72MHZ下7200分频
	TIM_TimeBaseInitstructure.TIM_RepetitionCounter=0;//重复计数器，高级控制寄存器专用寄存器位，这里不用设置
	TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitstructure);//初始化定时器
	
	TIM_OCInitTypeDef TIM_OCInitstructure;
	TIM_OCStructInit(&TIM_OCInitstructure);	//结构体赋初始值
	TIM_OCInitstructure.TIM_OCMode=TIM_OCMode_PWM1;
	TIM_OCInitstructure.TIM_OCPolarity=TIM_OCPolarity_High;
	TIM_OCInitstructure.TIM_OutputState=TIM_OutputState_Enable;	//输出状态
	TIM_OCInitstructure.TIM_Pulse=0;	//CCR的值
	TIM_OC1Init(TIM2,&TIM_OCInitstructure);	//使用PA0口，对应第一个通道，使用OC1Init函数
	//TIM1通道初始化
	TIM_Cmd(TIM2,ENABLE);//计数器使能，启动定时器
}
void PWM_setcompare1(uint16_t compare)
{
	TIM_SetCompare1(TIM2,compare);
}

(3)pwm.h

#ifndef __PWM_H
#define __PWM_H
void PWM_Init(void);
void PWM_setcompare1(uint16_t compare);
#endif

2.PWM驱动舵机 

(1)main.c

#include "Device/Include/stm32f10x.h"   // Device header
#include "servo.h"
#include "delay.h"
#include "OLED.h"
#include "key.h"
uint8_t i;
uint8_t KeyNum;
float Angle;
int main(void)
{
	OLED_Init();
	servo_Init();
	Key_Init();
	OLED_ShowString(1,1,"Angle:");
	while(1)
	{
		KeyNum=Key_GetNumber();
		if(KeyNum==1)
		{
			Angle+=30;
			if(Angle>180)
			{
				Angle=0;
			}
		}
		servo_SetAngle(Angle);
		OLED_ShowNum(1,7,Angle,3);
	}
}

(2)pwm.c

#include "Device/Include/stm32f10x.h"   // Device header
void PWM_Init(void)
{
	
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);	//打开时钟
	
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP;	//复用推挽输出（输出控制权转移给片上外设）
	GPIO_InitStructure.GPIO_Pin=GPIO_Pin_1;	//用PA1口通道2
	GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
	GPIO_Init(GPIOA,&GPIO_InitStructure);
	
	TIM_InternalClockConfig(TIM2);	//选择内部时钟
	
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitstructure;	//初始化时基单元
	TIM_TimeBaseInitstructure.TIM_ClockDivision=TIM_CKD_DIV1;
	TIM_TimeBaseInitstructure.TIM_CounterMode=TIM_CounterMode_Up;
	TIM_TimeBaseInitstructure.TIM_Period=20000-1;//定时器周期，实际就是ARR的值。计10000个数
	TIM_TimeBaseInitstructure.TIM_Prescaler=72-1;//7200-1;//PSC.72MHZ下7200分频
	TIM_TimeBaseInitstructure.TIM_RepetitionCounter=0;//重复计数器，高级控制寄存器专用寄存器位，这里不用设置
	TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitstructure);//初始化定时器
	
	TIM_OCInitTypeDef TIM_OCInitstructure;
	TIM_OCStructInit(&TIM_OCInitstructure);	//结构体赋初始值
	TIM_OCInitstructure.TIM_OCMode=TIM_OCMode_PWM1;
	TIM_OCInitstructure.TIM_OCPolarity=TIM_OCPolarity_High;
	TIM_OCInitstructure.TIM_OutputState=TIM_OutputState_Enable;	//输出状态
	TIM_OCInitstructure.TIM_Pulse=0;	//CCR的值
	TIM_OC2Init(TIM2,&TIM_OCInitstructure);	//使用PA0口，对应第一个通道，使用OC1Init函数
	
	TIM_Cmd(TIM2,ENABLE);//计数器使能，启动定时器
}
void PWM_setcompare2(uint16_t compare)
{
	TIM_SetCompare2(TIM2,compare);
}

 (3)pwm.h

#ifndef __PWM_H
#define __PWM_H
void PWM_Init(void);
void PWM_setcompare2(uint16_t compare);
#endif

(2)servo.c

#include "Device/Include/stm32f10x.h"   // Device header
#include "pwm.h"
void servo_Init(void)
{
	PWM_Init();	
}
void servo_SetAngle(float Angle)
{
	PWM_setcompare2(Angle/180*2000+500);
}

(3)servo.h

#ifndef __SERVO_H
#define __SERVO_H

void servo_Init(void);
void servo_SetAngle(float Angle);

#endif

3.PWM驱动直流电机 

(1)main.c

#include "Device/Include/stm32f10x.h"   // Device header
#include "motor.h"
#include "delay.h"
#include "OLED.h"
#include "key.h"
uint8_t KeyNum;
uint8_t i;
int8_t speed;
int main(void)
{
	OLED_Init();
	motor_Init();
	Key_Init();
	OLED_ShowString(1,1,"speed:");
	while(1)
	{
		KeyNum=Key_GetNumber();
		if(KeyNum==1)
		{
			speed+=20;
			if(speed>100)
			{
				speed=-100;
			}
		}
		Motor_SetSpeed(speed);
		OLED_ShowSignedNum(1,7,speed,3);
	}
}

(2)motor.c

#include "Device/Include/stm32f10x.h"   // Device header
#include "PWM.h"
void motor_Init(void)
{
	PWM_Init();
	
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_Out_PP;//????????????????
	GPIO_InitStructure.GPIO_Pin=GPIO_Pin_4|GPIO_Pin_5;
	GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
	GPIO_Init(GPIOA,&GPIO_InitStructure);
}
void Motor_SetSpeed(int8_t speed)	//正转反转有符号
{
	if(speed>=0)
	{
		GPIO_SetBits(GPIOA,GPIO_Pin_4);
		GPIO_ResetBits(GPIOA,GPIO_Pin_5);
		PWM_setcompare3(speed);
	}
	else
	{
		GPIO_ResetBits(GPIOA,GPIO_Pin_4);
		GPIO_SetBits(GPIOA,GPIO_Pin_5);
		PWM_setcompare3(-speed);
	}
}

 (3)motor.h

#ifndef __MOTOR_H
#define __MOTOR_H

void motor_Init(void);
void Motor_SetSpeed(int8_t speed);
	
#endif