基于stm32f103vet6（HAL库）的pwm电机驱动代码

基于STM32F103VET6（ HAL库）的PWM电机驱动代码通常会利用该处理器的高级定时器功能，如TIMx，来生成精确的脉冲宽度调制信号。以下是一个简化版的示例：

#include "stm32f1xx_hal.h"
#include "tim.h"

// 定义电机配置结构体
typedef struct {
   TIM_HandleTypeDef htim;
   GPIO_TypeDef* GPIOx; // GPIO端口地址
   uint16_t PinPWM; // PWM引脚
} MotorConfig;

void motor_PWM_Init(MotorConfig *motor) {
   // 初始化GPIO
   GPIO_InitTypeDef GPIO_InitStruct;
   GPIO_InitStruct.Pin = motor->PinPWM;
   GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
   GPIO_InitStruct.Alternate = GPIO_AF1_TIM8; // 使用TIM8的通道1
   HAL_GPIO_Init(motor->GPIOx, &GPIO_InitStruct);

   // 初始化TIM
   TIM_MasterConfigTypeDef sMasterConfig;
   sMasterConfig.MasterOutputState = ENABLE;
   sMasterConfig.Prescaler = 839; // 根据系统频率调整计数器预分频
   sMasterConfig.ClockDivision = 1;
   sMasterConfig.CounterMode = TIM_COUNTERMODE_UP;

   HAL_TIM_PWM_Init(&motor->htim);
   HAL_TIM_PWM_ConfigChannel(&motor->htim, &sMasterConfig);
   HAL_TIM_PWM_MspInit(&motor->htim); // 配置时钟和中断

   // 开启TIM
   HAL_TIM_PWM_Start_IT(&motor->htim);
}

void motor_PWM_SetDutyCycle(uint16_t dutyCycle, MotorConfig *motor) {
   HAL_TIM_PWM_SetCompare(&motor->htim, motor->htim.Instance->CCR1, (uint16_t)(dutyCycle * motor->htim.Init.Prescaler / 100)); // 调整占空比
}