stm32蓝牙小车hal库PWM控制电机代码

以下是基于HAL库的STM32蓝牙小车PWM控制电机代码，代码中使用了TIM3作为PWM的计数器，使用了TIM3_CH1和TIM3_CH2作为PWM输出引脚，同时使用了UART2作为蓝牙通信口：

#include "main.h"
#include "stm32f1xx_hal.h"

/* 定义PWM周期 */
#define PWM_PERIOD 999

/* 定义电机控制命令 */
#define CMD_FORWARD 'F'
#define CMD_BACKWARD 'B'
#define CMD_LEFT 'L'
#define CMD_RIGHT 'R'
#define CMD_STOP 'S'

/* 定义电机PWM占空比 */
#define PWM_DUTY_MAX 800
#define PWM_DUTY_MIN 200

/* 定义电机PWM输出引脚 */
#define MOTOR_PWM1_PIN GPIO_PIN_6
#define MOTOR_PWM2_PIN GPIO_PIN_7
#define MOTOR_PWM_PORT GPIOA

/* 定义蓝牙通信口 */
#define BT_UART huart2

/* 定义全局变量 */
UART_HandleTypeDef BT_UART;
TIM_HandleTypeDef htim3;

/* 函数声明 */
static void MX_GPIO_Init(void);
static void MX_USART2_UART_Init(void);
static void MX_TIM3_Init(void);
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);

int main(void)
{
  HAL_Init();
  MX_GPIO_Init();
  MX_USART2_UART_Init();
  MX_TIM3_Init();

  /* 启动PWM计数器 */
  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);

  uint8_t rx_data;
  uint16_t pwm_duty1 = 0;
  uint16_t pwm_duty2 = 0;

  while (1)
  {
    /* 接收蓝牙数据 */
    if (HAL_UART_Receive(&BT_UART, &rx_data, 1, 100) == HAL_OK)
    {
      switch (rx_data)
      {
        case CMD_FORWARD:
          pwm_duty1 = PWM_DUTY_MAX;
          pwm_duty2 = PWM_DUTY_MAX;
          break;
        case CMD_BACKWARD:
          pwm_duty1 = PWM_DUTY_MIN;
          pwm_duty2 = PWM_DUTY_MIN;
          break;
        case CMD_LEFT:
          pwm_duty1 = PWM_DUTY_MAX;
          pwm_duty2 = PWM_DUTY_MIN;
          break;
        case CMD_RIGHT:
          pwm_duty1 = PWM_DUTY_MIN;
          pwm_duty2 = PWM_DUTY_MAX;
          break;
        case CMD_STOP:
          pwm_duty1 = 0;
          pwm_duty2 = 0;
          break;
        default:
          break;
      }

      /* 更新PWM占空比 */
      __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_1, pwm_duty1);
      __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_2, pwm_duty2);
    }
  }
}

/* TIM3 init function */
static void MX_TIM3_Init(void)
{
  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};

  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 0;
  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim3.Init.Period = PWM_PERIOD;
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 0;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }
  HAL_TIM_MspPostInit(&htim3);
}

/* USART2 init function */
static void MX_USART2_UART_Init(void)
{
  BT_UART.Instance = USART2;
  BT_UART.Init.BaudRate = 9600;
  BT_UART.Init.WordLength = UART_WORDLENGTH_8B;
  BT_UART.Init.StopBits = UART_STOPBITS_1;
  BT_UART.Init.Parity = UART_PARITY_NONE;
  BT_UART.Init.Mode = UART_MODE_RX;
  BT_UART.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  BT_UART.Init.OverSampling = UART_OVERSAMPLING_16;
  if (HAL_UART_Init(&BT_UART) != HAL_OK)
  {
    Error_Handler();
  }
}

/* GPIO init function */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  __HAL_RCC_GPIOA_CLK_ENABLE();

  /* 配置PWM输出引脚 */
  GPIO_InitStruct.Pin = MOTOR_PWM1_PIN | MOTOR_PWM2_PIN;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
  HAL_GPIO_Init(MOTOR_PWM_PORT, &GPIO_InitStruct);

  /* 配置蓝牙通信口 */
  GPIO_InitStruct.Pin = GPIO_PIN_2 | GPIO_PIN_3;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  __HAL_AFIO_REMAP_USART2_ENABLE();
}

void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if (htim->Instance == TIM3)
  {
    /* TIM3 clock enable */
    __HAL_RCC_TIM3_CLK_ENABLE();

    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**TIM3 GPIO Configuration    
    PA6     ------> TIM3_CH1
    PA7     ------> TIM3_CH2 
    */
    GPIO_InitStruct.Pin = MOTOR_PWM1_PIN | MOTOR_PWM2_PIN;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    HAL_GPIO_Init(MOTOR_PWM_PORT, &GPIO_InitStruct);
  }
}

void Error_Handler(void)
{
  while (1)
  {
    /* 错误处理函数 */
  }
}

请注意，此代码仅供参考，可能需要根据具体的硬件和应用场景进行修改。