STM32——用PWM控制电机

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#include "moto.c"

void MOTO_GPIO_Init(void)
{		
		/*定义一个GPIO_InitTypeDef类型的结构体*/
		GPIO_InitTypeDef GPIO_InitStructure;
		RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);                                /*开启GPIO的外设时钟*/																   
		GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13;	    /*选择要控制的GPIO引脚*/	
		GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;                              /*设置引脚模式为通用推挽输出*/   
		GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;                             /*设置引脚速率为50MHz */ 
		GPIO_Init(GPIOB, &GPIO_InitStructure);                                	/*调用库函数，初始化GPIO*/			
	
}

//电机模式
void MOTO_Mode(char state)
{
	if(state == GO)//电机前进
	{
		GPIO_SetBits(GPIOB,GPIO_Pin_13);
	    GPIO_ResetBits(GPIOB,GPIO_Pin_12);
	}
	if(state == BACK)//电机后退
	{
		GPIO_SetBits(GPIOB,GPIO_Pin_12);
	    GPIO_ResetBits(GPIOB,GPIO_Pin_13);
		
	}
	if(state == STOP)//停转
	{
		GPIO_ResetBits(GPIOB,GPIO_Pin_12);
	  GPIO_ResetBits(GPIOB,GPIO_Pin_13);
	}
			
} 

void Car_Go(void)
{
	MOTO_Mode(GO);  
}

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#include "timer.h"

void MOTO_PWM_Init(u16 arr, u16 psc)
{
	TIM_OCInitTypeDef TIM_OCInitSructure;
	GPIO_InitTypeDef    GPIO_InitStructure;
	TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
	
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
	TIM_TimeBaseStructure.TIM_Period = arr;                   //自动重新装载寄存器周期的值
	TIM_TimeBaseStructure.TIM_Prescaler = psc;                  //时钟分频系数
	TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;     //对外部时钟进行采样的时钟分频
	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数
	TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStructure);              //参数初始化

	//TIM_ClearFlag(TIM3, TIM_FLAG_Update);
	//TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
	
	//配置pwm输出端口
  GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_0|GPIO_Pin_1;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;	 // 复用推挽输出
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOB, &GPIO_InitStructure);

	//设置通道3 pwm参数
	TIM_OCInitSructure.TIM_OCMode = TIM_OCMode_PWM1;
	TIM_OCInitSructure.TIM_OutputState= TIM_OutputState_Enable;
	TIM_OCInitSructure.TIM_Pulse = 2300;        //设置比较值，控制占空比
	TIM_OCInitSructure.TIM_OCPolarity = TIM_OCPolarity_High;//当定时器计数值小于CCR1_Val时为高电平
	TIM_OC3Init(TIM3, &TIM_OCInitSructure);//参数初始化
	TIM_OC3PolarityConfig(TIM3, TIM_OCPreload_Enable);//开始输出pwm
	
	TIM_ARRPreloadConfig(TIM3, ENABLE);//启动自动重装
	TIM_Cmd(TIM3, ENABLE);//启动定时	
	
}

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#include "stm32f10x.h"
#include "moto.h"
#include "timer.h"
#include "sys.h"
#include "delay.h"

int main()
{
   MOTO_GPIO_Init();  //初始化IO
   MOTO_PWM_Init(3599,0);//配置周期和预分频值
   delay_init();
	
	while(1)
	{		
    	Car_Go();	
	}

}