stm32 pwm电机倒转程序

好的，您想了解如何在STM32平台上控制PWM电机的倒转程序。下面是一个基本的代码示例：

#include "stm32f4xx.h"

#define MOTOR_PIN_A1 GPIO_Pin_12
#define MOTOR_PIN_A2 GPIO_Pin_13
#define MOTOR_PIN_B1 GPIO_Pin_14
#define MOTOR_PIN_B2 GPIO_Pin_15

void GPIO_Configuration(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;

    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);

    GPIO_InitStructure.GPIO_Pin = MOTOR_PIN_A1 | MOTOR_PIN_A2 | MOTOR_PIN_B1 | MOTOR_PIN_B2;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;

    GPIO_Init(GPIOD, &GPIO_InitStructure);

    GPIO_PinAFConfig(GPIOD, GPIO_PinSource12, GPIO_AF_TIM4);
    GPIO_PinAFConfig(GPIOD, GPIO_PinSource13, GPIO_AF_TIM4);
    GPIO_PinAFConfig(GPIOD, GPIO_PinSource14, GPIO_AF_TIM4);
    GPIO_PinAFConfig(GPIOD, GPIO_PinSource15, GPIO_AF_TIM4);
}

void TIM_Configuration(void)
{
    TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
    TIM_OCInitTypeDef TIM_OCInitStruct;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);

    TIM_TimeBaseInitStruct.TIM_Prescaler = 84 - 1;
    TIM_TimeBaseInitStruct.TIM_Period = 1000 - 1;
    TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;

    TIM_TimeBaseInit(TIM4, &TIM_TimeBaseInitStruct);

    TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High;

    TIM_OCInitStruct.TIM_Pulse = 0;
    TIM_OC1Init(TIM4, &TIM_OCInitStruct);
    TIM_OC2Init(TIM4, &TIM_OCInitStruct);
    TIM_OC3Init(TIM4, &TIM_OCInitStruct);
    TIM_OC4Init(TIM4, &TIM_OCInitStruct);

    TIM_Cmd(TIM4, ENABLE);
}

void Motor_Forward(void)
{
    TIM_SetCompare1(TIM4, 500);
    TIM_SetCompare2(TIM4, 0);
    TIM_SetCompare3(TIM4, 500);
    TIM_SetCompare4(TIM4, 0);
}

void Motor_Reverse(void)
{
    TIM_SetCompare1(TIM4, 0);
    TIM_SetCompare2(TIM4, 500);
    TIM_SetCompare3(TIM4, 0);
    TIM_SetCompare4(TIM4, 500);
}

int main(void)
{
    GPIO_Configuration();
    TIM_Configuration();

    while(1)
    {
        Motor_Forward();
        Delay(5000);
        Motor_Reverse();
        Delay(5000);
    }
}

该代码使用TIM4模块控制4个PWM输出通道，以控制电机的正反转。`Motor_Forward()`和`Motor_Reverse()`函数可以分别控制电机的正反转运动。注意，这仅仅是基本示例，您需要根据自己的具体需求进行修改。

希望这对您有所帮助！