用STM32F103ZET6驱动直流电机

目录

一、硬件资源

二、CubeMX配置

 三、相关代码

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一、硬件资源

1. 主控板：正点原子STM32F103精英板
2. TB6612

TB6612相关引脚：

• PWM：PD12
• IN1 ：PE1
• IN2：PE2
• VM：板子上的5V输出
• VCC：板子上的3.3V输出
• GND：板子引出
• AO1\AO2：电机正负极

二、CubeMX配置

1、打开外部高速晶振

2、配置时钟树，这里配置成72MHz

3、配置定时器

配置TIM4 Channel1输出PWM

Clock Source：Internal Clock  使用内部时钟作为时钟源

几个主要参数：

• 预分频系数PSC = 36 - 1
• 自动重装载值ARR = 100 - 1
• 比较器CCR： Pulse = 0

由计算公式可以得到所生成的PWM的相关参数：

• Freq = CK_PSC / (PSC + 1) / (ARR + 1) = 72000000 / 72 / 100 = 10KHz
• Duty = CCR / (ARR + 1) 
• Reso = 1 / (ARR + 1) = 1/100 = 1  （分辨率）

这里的CCR可以通过以下宏定义进行动态修改，从而动态改变占空比

__HAL_TIM_SetCompare(__HANDLE__, __CHANNEL__, __COMPARE__)

 然后说明一下一些其他参数：

Counter Mode : Up  表示向上计数

Internal Clock Division: 这个是时钟的分频系数，不是时基单元那个PSC，这里选择不分频

auto-reload preload : 决定修改ARR时，是否在本周期结束再修改，这里不用配置

Mode：PWM mode1 

Output compare preload: 决定修改CCR时，是否在本周期结束再修改, 这里使能

4、配置GPIO口，决定电机的正反转

• TB6612模块相关功能如图：

• 配置PE1、PE2为推挽输出，接TB6612的IN1和IN2，控制正反转

 5、Project Manager，然后生成文件

 三、相关代码

1、添加motor.c和motor.h文件，控制电机正反转：

• motor.h:

#ifndef __MOTOR_H
#define __MOTOR_H

#include "main.h"
#include "tim.h"

void Motor_SetSpeed(int8_t Speed);

#endif

• motor.c:

#include "motor.h"

void Motor_SetSpeed(int8_t Speed)
{
    if (Speed >= 0)
    {
        HAL_GPIO_WritePin(GPIOE, GPIO_PIN_1, GPIO_PIN_SET);
        HAL_GPIO_WritePin(GPIOE, GPIO_PIN_2, GPIO_PIN_RESET);
        __HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_1, Speed);
    }
    else
    {
        HAL_GPIO_WritePin(GPIOE, GPIO_PIN_1, GPIO_PIN_RESET);
        HAL_GPIO_WritePin(GPIOE, GPIO_PIN_2, GPIO_PIN_SET);
        __HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_1, -Speed);
    }
}

2、介绍一个函数

HAL_StatusTypeDef HAL_TIM_PWM_Start(TIM_HandleTypeDef *htim, uint32_t Channel)

这个函数是开启PWM，如果不写的话相关的接口不会输出PWM

3、主函数 

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2023 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "gpio.h"
#include "motor.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
//int8_t Speed;
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_TIM4_Init();
  /* USER CODE BEGIN 2 */
  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_1);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */
    Motor_SetSpeed(-20);
    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */

  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

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