STM32和无刷吸尘电机

好的，下面是一个简单的基于STM32的无刷电机控制代码，适用于吸尘电机：

#include "stm32f10x.h"

#define PWM_PERIOD 3999 // PWM周期，对应20KHz

// 定义PWM输出引脚
#define MOTOR_A_H GPIO_Pin_8
#define MOTOR_A_L GPIO_Pin_9
#define MOTOR_B_H GPIO_Pin_10
#define MOTOR_B_L GPIO_Pin_11

// 定义电机转动方向
#define CW 1
#define CCW 2

// 初始化电机控制引脚
void motor_init(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;
  TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
  TIM_OCInitTypeDef TIM_OCInitStructure;

  // 打开GPIO和TIM时钟
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);

  // 配置GPIO为复用推挽输出模式
  GPIO_InitStructure.GPIO_Pin = MOTOR_A_H | MOTOR_A_L | MOTOR_B_H | MOTOR_B_L;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOB, &GPIO_InitStructure);

  // 配置TIM3为PWM模式
  TIM_TimeBaseStructure.TIM_Period = PWM_PERIOD;
  TIM_TimeBaseStructure.TIM_Prescaler = 0;
  TIM_TimeBaseStructure.TIM_ClockDivision = 0;
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
  TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

  // 配置TIM3为PWM输出模式
  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;

  // 配置TIM3通道1为PWM输出
  TIM_OC1Init(TIM3, &TIM_OCInitStructure);
  TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);

  // 配置TIM3通道2为PWM输出
  TIM_OC2Init(TIM3, &TIM_OCInitStructure);
  TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);

  // 配置TIM3通道3为PWM输出
  TIM_OC3Init(TIM3, &TIM_OCInitStructure);
  TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);

  // 配置TIM3通道4为PWM输出
  TIM_OC4Init(TIM3, &TIM_OCInitStructure);
  TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);

  // 启动TIM3
  TIM_Cmd(TIM3, ENABLE);
}

// 设置电机转动方向
void motor_set_direction(uint8_t direction)
{
  switch(direction)
  {
    case CW:
      GPIO_SetBits(GPIOB, MOTOR_A_H);
      GPIO_ResetBits(GPIOB, MOTOR_A_L);
      GPIO_SetBits(GPIOB, MOTOR_B_H);
      GPIO_ResetBits(GPIOB, MOTOR_B_L);
      break;
    case CCW:
      GPIO_ResetBits(GPIOB, MOTOR_A_H);
      GPIO_SetBits(GPIOB, MOTOR_A_L);
      GPIO_ResetBits(GPIOB, MOTOR_B_H);
      GPIO_SetBits(GPIOB, MOTOR_B_L);
      break;
    default:
      break;
  }
}

// 设置电机转速
void motor_set_speed(uint16_t speed)
{
  TIM_SetCompare1(TIM3, speed);
  TIM_SetCompare2(TIM3, speed);
  TIM_SetCompare3(TIM3, speed);
  TIM_SetCompare4(TIM3, speed);
}

int main(void)
{
  // 初始化电机控制引脚
  motor_init();

  // 设置电机转动方向
  motor_set_direction(CW);

  // 设置电机转速
  motor_set_speed(2000);

  while(1)
  {
    // 循环执行
  }
}

注意：上述代码中仅为示例代码，具体的控制方案应根据实际电机参数进行调整。同时，为了保证电机安全运行，建议在正式运行前进行充分的测试和验证。