stm32舵轮控制代码
时间: 2023-10-28 08:02:12 浏览: 67
Sure! Here's an example code for controlling a steering wheel using STM32 microcontroller:
```c
#include "stm32f4xx.h"
// Configure GPIO pins for steering wheel control
#define STEERING_WHEEL_PIN GPIO_Pin_0
#define STEERING_WHEEL_PORT GPIOD
// Initialize GPIO and PWM for steering wheel control
void SteeringWheel_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
// Enable GPIO clock
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
// Configure GPIO pin as output
GPIO_InitStruct.GPIO_Pin = STEERING_WHEEL_PIN;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(STEERING_WHEEL_PORT, &GPIO_InitStruct);
// Enable PWM clock
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
// Configure TIM4 as PWM output
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
TIM_OCInitTypeDef TIM_OCInitStruct;
TIM_TimeBaseStructInit(&TIM_TimeBaseInitStruct);
TIM_TimeBaseInitStruct.TIM_Prescaler = 83; // Assuming 84 MHz clock, divide by 84 => 1 MHz
TIM_TimeBaseInitStruct.TIM_Period = 19999; // 1 MHz / 20000 = 50 Hz (20 ms)
TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseInitStruct);
TIM_OCStructInit(&TIM_OCInitStruct);
TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStruct.TIM_OCIdleState = TIM_OCIdleState_Reset;
TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStruct.TIM_Pulse = 1500; // Initialize with neutral position (1.5 ms pulse width)
TIM_OC1Init(TIM4, &TIM_OCInitStruct);
TIM_Cmd(TIM4, ENABLE);
}
// Set the steering angle
void SteeringWheel_SetAngle(int angle)
{
int pulseWidth = 1000 + (angle * 5); // Convert angle to pulse width (1000 to 2000 us)
TIM4->CCR1 = pulseWidth; // Set pulse width
}
int main(void)
{
SteeringWheel_Init();
while (1)
{
// Set steering angle to -45 degrees
SteeringWheel_SetAngle(-45);
// Wait for a moment
for (int i = 0; i < 1000000; i++);
// Set steering angle to 45 degrees
SteeringWheel_SetAngle(45);
// Wait for a moment
for (int i = 0; i < 1000000; i++);
}
}
```
This code initializes the necessary GPIO pins and PWM (using TIM4) to control the steering wheel. The `SteeringWheel_SetAngle` function allows you to set the desired angle of the steering wheel.
Please note that this is just a basic example and might need to be adjusted based on your specific hardware configuration. Make sure to consult the datasheet and reference manual of your STM32 microcontroller for accurate pin and timer configurations.
I hope this helps! Let me know if you have any further questions.