stm32f103控制小车前后移动

[Jiang＠1158658913]

电机PWM初始化代码：


//电机PWM口初始化
//左电机 arr：自动重装值 psc：时钟预分频数 右电机 arr2：自动重装值 psc2：时钟预分频数

void Motor_PWM_Init(u16 arr, u16 psc, u16 arr2, u16 psc2 )
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;

//PWMA PB7
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); //使能定时器3时钟

//设置该引脚为复用输出功能,输出TIM4 CH1的PWM脉冲波形 GPIOB.7
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; //TIM_CH2
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);//初始化GPIO

//初始化TIM4
TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值
TIM_TimeBaseStructure.TIM_Prescaler = psc; //设置用来作为TIMx时钟频率除数的预分频值
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位

//初始化TIM4 Channel1 PWM模式
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //选择定时器模式:TIM脉冲宽度调制模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OC2Init(TIM4, &TIM_OCInitStructure); //根据T指定的参数初始化外设TIM4 OC2
TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable); //使能TIM4在CCR2上的预装载寄存器
TIM_Cmd(TIM4, ENABLE); //使能TIM3

//PWMB PB6
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); //使能定时器3时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE); //使能GPIO外设和AFIO复用功能模块时钟

//设置该引脚为复用输出功能,输出TIM4 CH1的PWM脉冲波形 GPIOB.6
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; //TIM4_CH2
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);//初始化GPIO

//初始化TIM4
TIM_TimeBaseStructure.TIM_Period = arr2; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值
TIM_TimeBaseStructure.TIM_Prescaler = psc2; //设置用来作为TIMx时钟频率除数的预分频值
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位

//初始化TIM3 Channel2 PWM模式
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //选择定时器模式:TIM脉冲宽度调制模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OC1Init(TIM4, &TIM_OCInitStructure); //根据T指定的参数初始化外设TIM3 OC2
TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable); //使能TIM4在CCR2上的预装载寄存器
TIM_Cmd(TIM4, ENABLE); //使能TIM3
}

电机GPIO初始化：


#include "stm32f10x.h"
#include "bsp_gpio.h"
#include "bsp_motor.h"



/**
* Function MOTOR_GPIO_Config
* @author liusen
* @date 2015.01.03
* @brief 电机GPIO口初始化
* @param[in] void
* @param[out] void
* @retval void
* @par History 无
*/

void MOTOR_GPIO_Init(void)
{
/*定义一个GPIO_InitTypeDef类型的结构体*/
GPIO_InitTypeDef GPIO_InitStructure;

/*开启GPIOB的外设时钟*/
RCC_APB2PeriphClockCmd(Motor_RCC, ENABLE);

/*选择要控制的GPIOB引脚*/
GPIO_InitStructure.GPIO_Pin = Left_MotoA_Pin | Left_MotoB_Pin | Right_MotoA_Pin | Right_MotoB_Pin;

/*设置引脚模式为通用推挽输出*/
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;

/*设置引脚速率为50MHz */
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

/*调用库函数，初始化GPIOB*/
GPIO_Init(Motor_Port, &GPIO_InitStructure);

/* 低电平 */
GPIO_ResetBits(Motor_Port, Left_MotoA_Pin | Left_MotoB_Pin | Right_MotoA_Pin | Right_MotoB_Pin);


//PB4关闭JTAG
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE); //使能GPIO外设和AFIO复用功能模块时钟
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE); //禁能jtag





}

小车运动函数：

//小车运动控制函数
#include "app_motor.h"
#include "sys.h"
#include "bsp_motor.h"

#define LeftMotor_Go() {GPIO_SetBits(Motor_Port, Left_MotoA_Pin); GPIO_ResetBits(Motor_Port, Left_MotoB_Pin);}
#define LeftMotor_Back() {GPIO_ResetBits(Motor_Port, Left_MotoA_Pin); GPIO_SetBits(Motor_Port, Left_MotoB_Pin);}
#define LeftMotor_Stop() {GPIO_ResetBits(Motor_Port, Left_MotoA_Pin); GPIO_ResetBits(Motor_Port, Left_MotoB_Pin);}

#define RightMotor_Go() {GPIO_SetBits(Motor_Port, Right_MotoA_Pin); GPIO_ResetBits(Motor_Port, Right_MotoB_Pin);}
#define RightMotor_Back() {GPIO_ResetBits(Motor_Port, Right_MotoA_Pin); GPIO_SetBits(Motor_Port, Right_MotoB_Pin);}
#define RightMotor_Stop() {GPIO_ResetBits(Motor_Port, Right_MotoA_Pin); GPIO_ResetBits(Motor_Port, Right_MotoB_Pin);}

#define LeftMotorPWM(Speed) TIM_SetCompare2(TIM4, Speed);
#define RightMotorPWM(Speed) TIM_SetCompare1(TIM4, Speed);

//小车前进
void Car_Run(int Speed)
{
LeftMotor_Go();
RightMotor_Go();
LeftMotorPWM(Speed);
RightMotorPWM(Speed);
}
//小车后退
void Car_Back(int Speed)
{
LeftMotor_Back();
RightMotor_Back();

LeftMotorPWM(Speed);
RightMotorPWM(Speed);
}

//小车左转
void Car_Left(int Speed)
{
LeftMotor_Stop();
RightMotor_Go();

LeftMotorPWM(0);
RightMotorPWM(Speed);
}
//小车右转
void Car_Right(int Speed)
{
LeftMotor_Go();
RightMotor_Stop();

LeftMotorPWM(Speed);
RightMotorPWM(0);
}
//小车刹车
void Car_Stop(void)
{
LeftMotor_Stop();
RightMotor_Stop();

LeftMotorPWM(0);
RightMotorPWM(0);
}


初始化:
void bsp_init(void)
{
delay_init();

MOTOR_GPIO_Init(); /*电机GPIO初始化*/
Motor_PWM_Init(7200,0, 7200, 0); /*不分频。PWM频率 72000000/7200=10khz */

}


主函数：
int main(void)
{
bsp_init();

while (1)
{
Car_Run(3600);
delay_ms(1000);
Car_Back(3600);
delay_ms(1000);
Car_Left(3600);
delay_ms(1000);
Car_Right(3600);
delay_ms(1000);
Car_SpinLeft(3600, 3600);
delay_ms(1000);
Car_SpinRight(3600, 3600);
delay_ms(1000);
Car_Stop();
delay_ms(1000);
delay_ms(1000);
delay_ms(1000);
delay_ms(1000);


}

}