写出stm32f103c8t6使用tb6612的代码
时间: 2023-09-30 20:07:20 浏览: 81
stm32f103c8t6代码
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以下是使用STM32F103C8T6控制TB6612电机驱动芯片的示例代码,其中使用了PWM输出来控制电机速度:
```c
#include "stm32f10x.h"
#define LED_PIN GPIO_Pin_13
#define LED_GPIO_PORT GPIOC
#define LED_GPIO_CLK RCC_APB2Periph_GPIOC
#define PWM_FREQ 20000 // PWM输出频率
#define PWM_PERIOD ((SystemCoreClock / PWM_FREQ) - 1) // PWM输出周期
void TIM3_PWM_Init(void);
void Motor_Init(void);
void Motor_SetSpeed(uint8_t motor, int16_t speed);
int main(void)
{
// 初始化LED引脚
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(LED_GPIO_CLK, ENABLE);
GPIO_InitStructure.GPIO_Pin = LED_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(LED_GPIO_PORT, &GPIO_InitStructure);
// 初始化PWM输出
TIM3_PWM_Init();
// 初始化电机控制引脚
Motor_Init();
while(1)
{
// 控制电机1前进
Motor_SetSpeed(1, 1000);
GPIO_SetBits(LED_GPIO_PORT, LED_PIN);
delay_ms(1000);
// 控制电机1停止
Motor_SetSpeed(1, 0);
GPIO_ResetBits(LED_GPIO_PORT, LED_PIN);
delay_ms(1000);
// 控制电机1后退
Motor_SetSpeed(1, -1000);
GPIO_SetBits(LED_GPIO_PORT, LED_PIN);
delay_ms(1000);
// 控制电机1停止
Motor_SetSpeed(1, 0);
GPIO_ResetBits(LED_GPIO_PORT, LED_PIN);
delay_ms(1000);
}
}
void TIM3_PWM_Init(void)
{
// 初始化TIM3时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
// 初始化TIM3的PWM输出引脚
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// 初始化TIM3的PWM输出
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructure.TIM_Period = PWM_PERIOD;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_OCInitTypeDef TIM_OCInitStructure;
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_OC2Init(TIM3, &TIM_OCInitStructure);
TIM_Cmd(TIM3, ENABLE);
}
void Motor_Init(void)
{
// 初始化电机控制引脚
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_10 | GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
// 初始状态下,电机停止
GPIO_ResetBits(GPIOB, GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_10 | GPIO_Pin_11);
}
void Motor_SetSpeed(uint8_t motor, int16_t speed)
{
// 根据电机编号选择对应的引脚
GPIO_TypeDef* gpio;
uint16_t pin1, pin2;
switch(motor)
{
case 1:
gpio = GPIOB;
pin1 = GPIO_Pin_0;
pin2 = GPIO_Pin_1;
break;
case 2:
gpio = GPIOB;
pin1 = GPIO_Pin_10;
pin2 = GPIO_Pin_11;
break;
default:
return;
}
// 根据速度设置电机转动方向和PWM输出
if(speed > 0) // 正转
{
GPIO_SetBits(gpio, pin1);
GPIO_ResetBits(gpio, pin2);
TIM_SetCompare1(TIM3, speed);
}
else if(speed < 0) // 反转
{
GPIO_ResetBits(gpio, pin1);
GPIO_SetBits(gpio, pin2);
TIM_SetCompare2(TIM3, -speed);
}
else // 停止
{
GPIO_ResetBits(gpio, pin1 | pin2);
TIM_SetCompare1(TIM3, 0);
TIM_SetCompare2(TIM3, 0);
}
}
void delay_ms(uint16_t ms)
{
uint32_t count = SystemCoreClock / 1000 / 5 * ms;
while(count--);
}
```
注意,上述代码仅供参考,具体实现可能需要根据实际情况进行修改和调整。
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