STM32單片機使用PWM驅動電機行走源程序

ID:1100597 · 發表于 2024-1-16 17:51

TIM函數
#include "timer.h"
#include "led.h"
#include "usart.h"
//通用定時器3中斷初始化
//這里時鐘選擇為APB1的2倍，而APB1為36M
//arr：自動重裝值。
//psc：時鐘預分頻數
//這里使用的是定時器3!
void TIM3_Int_Init(u16 arr,u16 psc)
{
  TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
      NVIC_InitTypeDef NVIC_InitStructure;

      RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //時鐘使能

      TIM_TimeBaseStructure.TIM_Period = arr; //設置在下一個更新事件裝入活動的自動重裝載寄存器周期的值       計數到5000為500ms
      TIM_TimeBaseStructure.TIM_Prescaler =psc; //設置用來作為TIMx時鐘頻率除數的預分頻值  10Khz的計數頻率
      TIM_TimeBaseStructure.TIM_ClockDivision = 0; //設置時鐘分割:TDTS = Tck_tim
      TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上計數模式
      TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //根據TIM_TimeBaseInitStruct中指定的參數初始化TIMx的時間基數單位

      TIM_ITConfig(TIM3,TIM_IT_Update,ENABLE ); //使能指定的TIM3中斷,允許更新中斷

      NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;  //TIM3中斷
      NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;  //先占優先級0級
      NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;  //從優先級3級
      NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
      NVIC_Init(&NVIC_InitStructure);  //根據NVIC_InitStruct中指定的參數初始化外設NVIC寄存器

      TIM_Cmd(TIM3, ENABLE);  //使能TIMx外設

}

void TIM4_Int_Init(u16 arr,u16 psc)
{
  TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
      NVIC_InitTypeDef NVIC_InitStructure;

      RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); //時鐘使能

      TIM_TimeBaseStructure.TIM_Period = arr; //設置在下一個更新事件裝入活動的自動重裝載寄存器周期的值       計數到5000為500ms
      TIM_TimeBaseStructure.TIM_Prescaler =psc; //設置用來作為TIMx時鐘頻率除數的預分頻值  10Khz的計數頻率
      TIM_TimeBaseStructure.TIM_ClockDivision = 0; //設置時鐘分割:TDTS = Tck_tim
      TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上計數模式
      TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //根據TIM_TimeBaseInitStruct中指定的參數初始化TIMx的時間基數單位

      TIM_ITConfig(TIM4,TIM_IT_Update,ENABLE ); //使能指定的TIM3中斷,允許更新中斷

      NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;  //TIM3中斷
      NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;  //先占優先級0級
      NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;  //從優先級3級
      NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
      NVIC_Init(&NVIC_InitStructure);  //根據NVIC_InitStruct中指定的參數初始化外設NVIC寄存器

      TIM_Cmd(TIM4, ENABLE);  //使能TIMx外設

}
//定時器3中斷服務程序
void TIM3_IRQHandler(void) //TIM3中斷
{
      if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET) //檢查指定的TIM中斷發生與否:TIM 中斷源
            {
            TIM_ClearITPendingBit(TIM3, TIM_IT_Update  );  //清除TIMx的中斷待處理位:TIM 中斷源
//             LED1=!LED1;
            }
}

//TIM3 PWM部分初始化
//PWM輸出初始化
//arr：自動重裝值
//psc：時鐘預分頻數
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);       //使能定時器3時鐘
      RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE);  //使能GPIO外設和AFIO復用功能模塊時鐘

      GPIO_PinRemapConfig(GPIO_FullRemap_TIM3, ENABLE); //Timer全部重映射  TIM3_CH2->PB5

//設置該引腳為復用輸出功能,輸出TIM3 CH2的PWM脈沖波形       GPIOB.5
      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 |  GPIO_Pin_8 | GPIO_Pin_9; //TIM_CH2
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  //復用推挽輸出
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
      GPIO_Init(GPIOC, &GPIO_InitStructure);//初始化GPIO
//設置重映射
//初始化TIM3
      TIM_TimeBaseStructure.TIM_Period = arr; //設置在下一個更新事件裝入活動的自動重裝載寄存器周期的值
      TIM_TimeBaseStructure.TIM_Prescaler =psc; //設置用來作為TIMx時鐘頻率除數的預分頻值
      TIM_TimeBaseStructure.TIM_ClockDivision = 0; //設置時鐘分割:TDTS = Tck_tim
      TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上計數模式
      TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //根據TIM_TimeBaseInitStruct中指定的參數初始化TIMx的時間基數單位

      //初始化TIM3 Channel2 PWM模式
      TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //選擇定時器模式:TIM脈沖寬度調制模式2,高極性
      TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比較輸出使能
      TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //輸出極性:TIM輸出比較極性高
      TIM_OC1Init(TIM3, &TIM_OCInitStructure);  //根據T指定的參數初始化外設TIM3 OC1
      TIM_OC2Init(TIM3, &TIM_OCInitStructure);  //根據T指定的參數初始化外設TIM3 OC2
      TIM_OC3Init(TIM3, &TIM_OCInitStructure);  //根據T指定的參數初始化外設TIM3 OC3
      TIM_OC4Init(TIM3, &TIM_OCInitStructure);  //根據T指定的參數初始化外設TIM3 OC4

      TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);  //使能TIM3在CCR2上的預裝載寄存器
      TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);
      TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
      TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);

      TIM_Cmd(TIM3, ENABLE);  //使能TIM3


}

void TIM4_PWM_Init(u16 arr,u16 psc)
{
      GPIO_InitTypeDef GPIO_InitStructure;
      TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
      TIM_OCInitTypeDef  TIM_OCInitStructure;


      RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);       //使能定時器3時鐘
      RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD | RCC_APB2Periph_AFIO, ENABLE);  //使能GPIO外設和AFIO復用功能模塊時鐘

      GPIO_PinRemapConfig(GPIO_Remap_TIM4, ENABLE); //Timer3部分重映射  TIM3_CH2->PB5

//設置該引腳為復用輸出功能,輸出TIM3 CH2的PWM脈沖波形       GPIOB.5
      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13 |  GPIO_Pin_14 | GPIO_Pin_15; //TIM_CH2
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  //復用推挽輸出
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
      GPIO_Init(GPIOD, &GPIO_InitStructure);//初始化GPIO
//設置重映射
//初始化TIM3
      TIM_TimeBaseStructure.TIM_Period = arr; //設置在下一個更新事件裝入活動的自動重裝載寄存器周期的值
      TIM_TimeBaseStructure.TIM_Prescaler =psc; //設置用來作為TIMx時鐘頻率除數的預分頻值
      TIM_TimeBaseStructure.TIM_ClockDivision = 0; //設置時鐘分割:TDTS = Tck_tim
      TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上計數模式
      TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //根據TIM_TimeBaseInitStruct中指定的參數初始化TIMx的時間基數單位

      //初始化TIM3 Channel2 PWM模式
      TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //選擇定時器模式:TIM脈沖寬度調制模式2,
      TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比較輸出使能
      TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //輸出極性:TIM輸出比較極性高
      TIM_OC1Init(TIM4, &TIM_OCInitStructure);  //根據T指定的參數初始化外設TIM3 OC1
      TIM_OC2Init(TIM4, &TIM_OCInitStructure);  //根據T指定的參數初始化外設TIM3 OC2
      TIM_OC3Init(TIM4, &TIM_OCInitStructure);  //根據T指定的參數初始化外設TIM3 OC3
      TIM_OC4Init(TIM4, &TIM_OCInitStructure);  //根據T指定的參數初始化外設TIM3 OC4

      TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);  //使能TIM3在CCR2上的預裝載寄存器
  TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);
      TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);
      TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable);

      TIM_Cmd(TIM4, ENABLE);  //使能TIM3


}
/*
TIM4映射PD12,13,14,15
TIM3映射PC6,7,8,9
*/
void go(void){                                                                                                             //前進
            //低電平
         TIM_SetCompare1(TIM4,899);                //PD12,右前輪-
                     TIM_SetCompare2(TIM4,899);                //左前輪-
                     TIM_SetCompare3(TIM4,899);                //左后輪-
                     TIM_SetCompare4(TIM4,899);                //右后輪-
//高電平
               TIM_SetCompare1(TIM3,0);                   //PC6  右前輪+
               TIM_SetCompare2(TIM3,0);                         //左前輪+
                     TIM_SetCompare3(TIM3,0);                         //左后輪+
                     TIM_SetCompare4(TIM3,0);                               //右后輪+

}
void stop(void){                                                                                                       //停止

         TIM_SetCompare1(TIM4,899);                //調整占空比
                     TIM_SetCompare2(TIM4,899);
                     TIM_SetCompare3(TIM4,899);
                     TIM_SetCompare4(TIM4,899);

               TIM_SetCompare1(TIM3,899);                   //調整占空比
               TIM_SetCompare2(TIM3,899);
                     TIM_SetCompare3(TIM3,899);
                     TIM_SetCompare4(TIM3,899);
}

void left(void){                                                                                                       //左轉

         TIM_SetCompare1(TIM4,899);                //調整占空比
                     TIM_SetCompare2(TIM4,899);
                     TIM_SetCompare3(TIM4,899);
                     TIM_SetCompare4(TIM4,899);

               TIM_SetCompare1(TIM3,0);                   //調整占空比
               TIM_SetCompare2(TIM3,899);
                     TIM_SetCompare3(TIM3,899);
                     TIM_SetCompare4(TIM3,0);
}

void right(void){                                                                                                       //右轉
         TIM_SetCompare1(TIM4,899);                //調整占空比
                     TIM_SetCompare2(TIM4,899);
                     TIM_SetCompare3(TIM4,899);
                     TIM_SetCompare4(TIM4,899);

               TIM_SetCompare1(TIM3,899);                   //調整占空比
               TIM_SetCompare2(TIM3,0);
                     TIM_SetCompare3(TIM3,0);
                     TIM_SetCompare4(TIM3,899);
}

主函數
#include "led.h"
#include "delay.h"
#include "key.h"
#include "sys.h"
#include "usart.h"
#include "timer.h" PWM輸出實驗

int main(void)
{
      delay_init();                   //延時函數初始化
      NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);       //設置NVIC中斷分組2:2位搶占優先級，2位響應優先級
      uart_init(115200);       //串口初始化為115200
      LED_Init();                            //LED端口初始化
      TIM4_PWM_Init(899,9);       //不分頻。PWM頻率=72000000/900=80Khz，設置跳轉中斷的時間長短T=72/[(arr+1)(psc+1)]
      TIM3_PWM_Init(899,9);
         while(1)
      {
                     go();

                     delay_ms(10);
      }
}

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仿真: 無
代碼:

Keil程序.7z (185.94 KB, 下載次數: 22)

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STM32單片機使用PWM驅動電機行走源程序

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