STM32串口通信控制电机

要使用STM32串口控制电机，您需要连接电机驱动器到STM32的GPIO端口上，并使用STM32的串口通信功能来发送指令给电机驱动器。

下面是一个简单的示例代码，用于通过STM32的串口控制电机的方向和速度：

#include "stm32f4xx.h"
#include "stdio.h"

#define USARTx USART1
#define BAUDRATE 115200
#define MOTOR_GPIO_PORT GPIOA
#define MOTOR_DIR_PIN GPIO_Pin_0
#define MOTOR_PWM_PIN GPIO_Pin_1
#define MOTOR_TIMER TIM2
#define MOTOR_TIMER_CHANNEL TIM_OCMode_PWM1

void init_USART(void);
void init_motor(void);
void USART_puts(char* str);

int main(void)
{
    init_USART();
    init_motor();

    while(1)
    {
        char cmd[10];
        USART_puts("\nEnter motor command (d/speed): ");
        scanf("%s", cmd);

        if(cmd[0] == 'd')
        {
            if(cmd[1] == 'f')
            {
                GPIO_SetBits(MOTOR_GPIO_PORT, MOTOR_DIR_PIN);
            }
            else if(cmd[1] == 'r')
            {
                GPIO_ResetBits(MOTOR_GPIO_PORT, MOTOR_DIR_PIN);
            }
        }
        else if(cmd[0] == 's')
        {
            uint16_t speed = atoi(cmd+1);
            TIM_SetCompare1(MOTOR_TIMER, speed);
        }
    }
}

void init_USART(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    USART_InitTypeDef USART_InitStructure;

    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_10;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    GPIO_PinAFConfig(GPIOA, GPIO_PinSource9, GPIO_AF_USART1);
    GPIO_PinAFConfig(GPIOA, GPIO_PinSource10, GPIO_AF_USART1);

    USART_InitStructure.USART_BaudRate = BAUDRATE;
    USART_InitStructure.USART_WordLength = USART_WordLength_8b;
    USART_InitStructure.USART_StopBits = USART_StopBits_1;
    USART_InitStructure.USART_Parity = USART_Parity_No;
    USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
    USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
    USART_Init(USARTx, &USART_InitStructure);

    USART_Cmd(USARTx, ENABLE);
}

void init_motor(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;

    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);

    GPIO_InitStructure.GPIO_Pin = MOTOR_DIR_PIN | MOTOR_PWM_PIN;
    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(MOTOR_GPIO_PORT, &GPIO_InitStructure);

    GPIO_PinAFConfig(MOTOR_GPIO_PORT, GPIO_PinSource0, GPIO_AF_TIM2);
    GPIO_PinAFConfig(MOTOR_GPIO_PORT, GPIO_PinSource1, GPIO_AF_TIM2);

    TIM_TimeBaseStructure.TIM_Period = 9999;
    TIM_TimeBaseStructure.TIM_Prescaler = 839;
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(MOTOR_TIMER, &TIM_TimeBaseStructure);

    TIM_OCInitStructure.TIM_OCMode = MOTOR_TIMER_CHANNEL;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_Pulse = 0;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OC1Init(MOTOR_TIMER, &TIM_OCInitStructure);

    TIM_Cmd(MOTOR_TIMER, ENABLE);
}

void USART_puts(char* str)
{
    while(*str)
    {
        while(USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET);
        USART_SendData(USARTx, *str);
        str++;
    }
}

上述代码中，我们使用了USART1作为串口通信接口，并且连接了电机驱动器的方向和PWM输入到GPIOA的第0和第1个引脚上。我们使用了定时器TIM2来控制PWM输出，并且使用了GPIOA的第0个引脚来控制电机的方向。我们使用了scanf函数来读取串口输入的指令，并根据指令来控制电机的方向和速度。

请注意，上述代码仅用于演示目的，实际的电机控制应该根据具体的电机驱动器和电机参数进行调整。