基于stm32f103zet6控制两路pwm电机代码

以下是基于STM32F103ZET6控制两路PWM电机的示例代码，其中使用了TIM2和TIM3模块来控制两路PWM信号输出：

#include "stm32f10x.h"

void PWM_GPIO_Config(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;
  
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
  
  // 配置PA0和PA1为复用推挽输出，用于PWM输出
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOA, &GPIO_InitStructure); 
}

void PWM_TIM_Config(void)
{
  TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
  TIM_OCInitTypeDef  TIM_OCInitStructure;
  
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 , ENABLE);
  
  // PWM频率为10kHz
  uint16_t PrescalerValue = (uint16_t) (SystemCoreClock / 10000) - 1;
  
  // 配置TIM2为PWM输出模式
  TIM_TimeBaseStructure.TIM_Period = 999;
  TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;
  TIM_TimeBaseStructure.TIM_ClockDivision = 0;
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
  TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
  
  TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
  TIM_OCInitStructure.TIM_Pulse = 0;
  TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
  TIM_OC1Init(TIM2, &TIM_OCInitStructure);
  TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);
  
  // 配置TIM3为PWM输出模式
  TIM_TimeBaseStructure.TIM_Period = 999;
  TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;
  TIM_TimeBaseStructure.TIM_ClockDivision = 0;
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
  TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
  
  TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
  TIM_OCInitStructure.TIM_Pulse = 0;
  TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
  TIM_OC1Init(TIM3, &TIM_OCInitStructure);
  TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
  
  // 启动TIM2和TIM3
  TIM_Cmd(TIM2, ENABLE);
  TIM_Cmd(TIM3, ENABLE);
}

int main(void)
{
  // 初始化PWM GPIO口
  PWM_GPIO_Config();
  
  // 初始化PWM TIM模块
  PWM_TIM_Config();
  
  while(1)
  {
    // 控制电机1的PWM占空比为50%
    TIM_SetCompare1(TIM2, 500);
    
    // 控制电机2的PWM占空比为75%
    TIM_SetCompare1(TIM3, 750);
  }
}

在上述代码中，使用`PWM_GPIO_Config()`函数配置了PA0和PA1为复用推挽输出，用于PWM输出；`PWM_TIM_Config()`函数初始化了TIM2和TIM3模块，并设置了PWM频率为10kHz；在`main()`函数中，通过调用`TIM_SetCompare1()`函数来控制两路PWM信号的占空比，从而控制电机转速。