stm32 a4950电机驱动代码

以下是一个基于STM32的A4950电机驱动代码示例，仅供参考：

#include "stm32f10x.h"

#define PWM_FREQ 20000

void TIM_Configuration(void);
void PWM_Configuration(void);
void A4950_GPIO_Configuration(void);

int main(void)
{
  TIM_Configuration();
  PWM_Configuration();
  A4950_GPIO_Configuration();

  while (1)
  {
    // 循环控制电机运动
    // 此处需要根据具体电机控制方式进行编写
  }
}

void TIM_Configuration(void)
{
  TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;

  // 使能TIM2的时钟
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);

  // 配置TIM2的时基参数
  TIM_TimeBaseInitStruct.TIM_Period = SystemCoreClock / PWM_FREQ - 1;
  TIM_TimeBaseInitStruct.TIM_Prescaler = 0;
  TIM_TimeBaseInitStruct.TIM_ClockDivision = 0;
  TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
  TIM_TimeBaseInitStruct.TIM_RepetitionCounter = 0;
  TIM_TimeBaseInit(TIM2, &TIM_TimeBaseInitStruct);
}

void PWM_Configuration(void)
{
  TIM_OCInitTypeDef TIM_OCInitStruct;

  // 配置TIM2的PWM输出通道1
  TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1;
  TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;
  TIM_OCInitStruct.TIM_Pulse = 0;
  TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High;
  TIM_OCInitStruct.TIM_OCNPolarity = TIM_OCNPolarity_High;
  TIM_OCInitStruct.TIM_OCIdleState = TIM_OCIdleState_Reset;
  TIM_OCInitStruct.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
  TIM_OC1Init(TIM2, &TIM_OCInitStruct);

  // 开始TIM2的计数
  TIM_Cmd(TIM2, ENABLE);
}

void A4950_GPIO_Configuration(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;

  // 使能GPIOB的时钟
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);

  // 配置GPIOB的引脚
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOB, &GPIO_InitStructure);
}

在该代码中，我们使用了STM32的定时器TIM2来生成PWM信号，并且使用了GPIO来控制A4950芯片的控制引脚。需要注意的是，该代码仅提供了基本的硬件配置，并未提供具体的电机控制逻辑，需要根据具体情况进行编写。