生成由stm32f103c8t6和l298n模块驱动推杆正反转的代码

以下是一个简单的由stm32f103c8t6和l298n模块驱动推杆正反转的代码示例。

首先，我们需要定义端口引脚和变量：

#include "stm32f103xb.h"

#define IN1_PIN     GPIO_PIN_0
#define IN2_PIN     GPIO_PIN_1
#define IN3_PIN     GPIO_PIN_2
#define IN4_PIN     GPIO_PIN_3

#define ENA_PIN     GPIO_PIN_0
#define ENB_PIN     GPIO_PIN_1

GPIO_TypeDef *IN1_PORT = GPIOB;
GPIO_TypeDef *IN2_PORT = GPIOB;
GPIO_TypeDef *IN3_PORT = GPIOB;
GPIO_TypeDef *IN4_PORT = GPIOB;

GPIO_TypeDef *ENA_PORT = GPIOA;
GPIO_TypeDef *ENB_PORT = GPIOA;

uint16_t ENA_SPEED = 0;
uint16_t ENB_SPEED = 0;

然后，我们需要初始化GPIO端口和定时器：

void init_gpio()
{
    RCC->APB2ENR |= RCC_APB2ENR_IOPAEN | RCC_APB2ENR_IOPBEN; // Enable GPIOA and GPIOB clock

    // Initialize IN1, IN2, IN3, and IN4 pins as output
    GPIO_InitTypeDef GPIO_InitStruct;
    GPIO_InitStruct.Pin = IN1_PIN | IN2_PIN | IN3_PIN | IN4_PIN;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    HAL_GPIO_Init(IN1_PORT, &GPIO_InitStruct);
    HAL_GPIO_Init(IN2_PORT, &GPIO_InitStruct);
    HAL_GPIO_Init(IN3_PORT, &GPIO_InitStruct);
    HAL_GPIO_Init(IN4_PORT, &GPIO_InitStruct);

    // Initialize ENA and ENB pins as output
    GPIO_InitStruct.Pin = ENA_PIN | ENB_PIN;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    HAL_GPIO_Init(ENA_PORT, &GPIO_InitStruct);
    HAL_GPIO_Init(ENB_PORT, &GPIO_InitStruct);
}

void init_timer()
{
    RCC->APB1ENR |= RCC_APB1ENR_TIM2EN; // Enable TIM2 clock

    TIM_HandleTypeDef htim;
    htim.Instance = TIM2;
    htim.Init.Prescaler = 72 - 1; // 1 microsecond resolution
    htim.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim.Init.Period = 1000 - 1; // 1 kHz frequency
    htim.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    HAL_TIM_Base_Init(&htim);

    HAL_TIM_PWM_Init(&htim);

    TIM_OC_InitTypeDef sConfigOC;
    sConfigOC.OCMode = TIM_OCMODE_PWM1;
    sConfigOC.Pulse = 0;
    sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
    sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
    HAL_TIM_PWM_ConfigChannel(&htim, &sConfigOC, TIM_CHANNEL_1);
    HAL_TIM_PWM_ConfigChannel(&htim, &sConfigOC, TIM_CHANNEL_2);

    HAL_TIM_PWM_Start(&htim, TIM_CHANNEL_1);
    HAL_TIM_PWM_Start(&htim, TIM_CHANNEL_2);
}

接下来，我们可以编写推杆正反转的函数：

void forward(uint16_t speed)
{
    ENA_SPEED = speed;
    ENB_SPEED = speed;

    HAL_GPIO_WritePin(IN1_PORT, IN1_PIN, GPIO_PIN_SET);
    HAL_GPIO_WritePin(IN2_PORT, IN2_PIN, GPIO_PIN_RESET);

    HAL_GPIO_WritePin(IN3_PORT, IN3_PIN, GPIO_PIN_SET);
    HAL_GPIO_WritePin(IN4_PORT, IN4_PIN, GPIO_PIN_RESET);

    TIM2->CCR1 = ENA_SPEED;
    TIM2->CCR2 = ENB_SPEED;
}

void backward(uint16_t speed)
{
    ENA_SPEED = speed;
    ENB_SPEED = speed;

    HAL_GPIO_WritePin(IN1_PORT, IN1_PIN, GPIO_PIN_RESET);
    HAL_GPIO_WritePin(IN2_PORT, IN2_PIN, GPIO_PIN_SET);

    HAL_GPIO_WritePin(IN3_PORT, IN3_PIN, GPIO_PIN_RESET);
    HAL_GPIO_WritePin(IN4_PORT, IN4_PIN, GPIO_PIN_SET);

    TIM2->CCR1 = ENA_SPEED;
    TIM2->CCR2 = ENB_SPEED;
}

void stop()
{
    ENA_SPEED = 0;
    ENB_SPEED = 0;

    HAL_GPIO_WritePin(IN1_PORT, IN1_PIN, GPIO_PIN_RESET);
    HAL_GPIO_WritePin(IN2_PORT, IN2_PIN, GPIO_PIN_RESET);

    HAL_GPIO_WritePin(IN3_PORT, IN3_PIN, GPIO_PIN_RESET);
    HAL_GPIO_WritePin(IN4_PORT, IN4_PIN, GPIO_PIN_RESET);

    TIM2->CCR1 = ENA_SPEED;
    TIM2->CCR2 = ENB_SPEED;
}

最后，在主函数中，我们可以调用这些函数来控制推杆的运动：

int main()
{
    init_gpio();
    init_timer();

    while (1)
    {
        forward(500);
        HAL_Delay(1000);

        backward(500);
        HAL_Delay(1000);

        stop();
        HAL_Delay(1000);
    }
}