STM32 DRV8301 电机驱动代码

以下是一个简单的基于STM32的电机驱动器代码，使用DRV8301芯片控制三相电机：

#include "stm32f10x.h"

#define GPIO_N_Pin GPIO_Pin_0
#define GPIO_P_Pin GPIO_Pin_1

void setup_GPIO(void);
void setup_SPI(void);
void setup_PWM(void);

void delay_ms(uint32_t ms)
{
    uint32_t i;
    for(i=0;i<ms*1000;i++);
}

int main(void)
{
    uint8_t tx_data[3] = {0x00, 0x00, 0x00};
    uint8_t rx_data[3] = {0x00, 0x00, 0x00};

    setup_GPIO();
    setup_SPI();
    setup_PWM();

    while(1)
    {
        // 读取芯片状态寄存器
        tx_data[0] = 0x01;
        GPIO_ResetBits(GPIOA, GPIO_Pin_4);
        SPI_I2S_SendData(SPI1, tx_data[0]);
        while(SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_RXNE) == RESET);
        rx_data[0] = SPI_I2S_ReceiveData(SPI1);
        GPIO_SetBits(GPIOA, GPIO_Pin_4);

        delay_ms(1);

        // 读取电流传感器值
        tx_data[0] = 0x07;
        GPIO_ResetBits(GPIOA, GPIO_Pin_4);
        SPI_I2S_SendData(SPI1, tx_data[0]);
        while(SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_RXNE) == RESET);
        rx_data[0] = SPI_I2S_ReceiveData(SPI1);
        GPIO_SetBits(GPIOA, GPIO_Pin_4);

        delay_ms(1);

        // 设置PWM输出
        TIM_SetCompare1(TIM2, 1000);
        TIM_SetCompare2(TIM2, 500);
        TIM_SetCompare3(TIM2, 0);

        delay_ms(10);
    }
}

void setup_GPIO(void)
{
    GPIO_InitTypeDef GPIO_InitStruct;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

    GPIO_InitStruct.GPIO_Pin = GPIO_Pin_4;
    GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStruct);

    GPIO_InitStruct.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
    GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStruct);
}

void setup_SPI(void)
{
    SPI_InitTypeDef SPI_InitStruct;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_SPI1, ENABLE);

    SPI_InitStruct.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
    SPI_InitStruct.SPI_Mode = SPI_Mode_Master;
    SPI_InitStruct.SPI_DataSize = SPI_DataSize_8b;
    SPI_InitStruct.SPI_CPOL = SPI_CPOL_High;
    SPI_InitStruct.SPI_CPHA = SPI_CPHA_2Edge;
    SPI_InitStruct.SPI_NSS = SPI_NSS_Soft;
    SPI_InitStruct.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_64;
    SPI_InitStruct.SPI_FirstBit = SPI_FirstBit_MSB;
    SPI_Init(SPI1, &SPI_InitStruct);

    SPI_Cmd(SPI1, ENABLE);
}

void setup_PWM(void)
{
    GPIO_InitTypeDef GPIO_InitStruct;
    TIM_TimeBaseInitTypeDef TIM_InitStruct;
    TIM_OCInitTypeDef TIM_OCInitStruct;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

    GPIO_InitStruct.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2;
    GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStruct);

    TIM_InitStruct.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_InitStruct.TIM_Prescaler = 72 - 1;
    TIM_InitStruct.TIM_Period = 2000 - 1;
    TIM_InitStruct.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseInit(TIM2, &TIM_InitStruct);

    TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStruct.TIM_Pulse = 0;
    TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OC1Init(TIM2, &TIM_OCInitStruct);
    TIM_OC2Init(TIM2, &TIM_OCInitStruct);
    TIM_OC3Init(TIM2, &TIM_OCInitStruct);

    TIM_Cmd(TIM2, ENABLE);
}

注释：

- `GPIO_N_Pin` 和 `GPIO_P_Pin` 定义了电机驱动器的两个GPIO引脚，用于控制电机的方向。
- `setup_GPIO()` 函数配置了GPIO引脚。
- `setup_SPI()` 函数配置了SPI通信接口。在主循环中，芯片状态寄存器和电流传感器值通过SPI通信读取。
- `setup_PWM()` 函数配置了PWM输出，用于控制电机的速度。
- 在主循环中，设置PWM输出的占空比来控制电机的转速。