基于STM32，用PWM波控制4个电机代码中如何配置四个电机的引脚代码

在STM32中，使用PWM波控制电机通常需要使用定时器和输出比较功能。以下是一个简单的示例代码，用于配置四个电机的引脚和PWM波参数：

#include "stm32f4xx_hal.h"

// 定义四个电机引脚
#define MOTOR1_PIN1 GPIO_PIN_0
#define MOTOR1_PIN2 GPIO_PIN_1
#define MOTOR2_PIN1 GPIO_PIN_2
#define MOTOR2_PIN2 GPIO_PIN_3
#define MOTOR3_PIN1 GPIO_PIN_4
#define MOTOR3_PIN2 GPIO_PIN_5
#define MOTOR4_PIN1 GPIO_PIN_6
#define MOTOR4_PIN2 GPIO_PIN_7

// 定义定时器和输出比较通道
#define TIM_HANDLE htim2
#define TIM_CHANNEL_1 TIM_CHANNEL_1
#define TIM_CHANNEL_2 TIM_CHANNEL_2
#define TIM_CHANNEL_3 TIM_CHANNEL_3
#define TIM_CHANNEL_4 TIM_CHANNEL_4

// 定义PWM波参数
#define PWM_PERIOD 1000  // PWM周期为1ms
#define PWM_PULSE 500    // PWM脉宽为0.5ms（占空比50%）

// 初始化四个电机引脚和PWM波参数
void motor_init(void)
{
  // 使能GPIO和定时器时钟
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_TIM2_CLK_ENABLE();

  // 配置GPIO引脚为复用模式
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  GPIO_InitStruct.Pin = MOTOR1_PIN1 | MOTOR1_PIN2 | MOTOR2_PIN1 | MOTOR2_PIN2 | 
                        MOTOR3_PIN1 | MOTOR3_PIN2 | MOTOR4_PIN1 | MOTOR4_PIN2;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
  GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  // 配置定时器为PWM模式
  TIM_OC_InitTypeDef sConfigOC = {0};
  TIM_HandleTypeDef TIM_HANDLE = {0};
  TIM_HANDLE.Instance = TIM2;
  TIM_HANDLE.Init.Prescaler = (uint32_t)(SystemCoreClock / PWM_PERIOD) - 1;
  TIM_HANDLE.Init.CounterMode = TIM_COUNTERMODE_UP;
  TIM_HANDLE.Init.Period = PWM_PERIOD - 1;
  TIM_HANDLE.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  HAL_TIM_PWM_Init(&TIM_HANDLE);

  // 配置输出比较通道
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = PWM_PULSE;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
  HAL_TIM_PWM_ConfigChannel(&TIM_HANDLE, &sConfigOC, TIM_CHANNEL_1);
  HAL_TIM_PWM_ConfigChannel(&TIM_HANDLE, &sConfigOC, TIM_CHANNEL_2);
  HAL_TIM_PWM_ConfigChannel(&TIM_HANDLE, &sConfigOC, TIM_CHANNEL_3);
  HAL_TIM_PWM_ConfigChannel(&TIM_HANDLE, &sConfigOC, TIM_CHANNEL_4);

  // 启动PWM输出
  HAL_TIM_PWM_Start(&TIM_HANDLE, TIM_CHANNEL_1);
  HAL_TIM_PWM_Start(&TIM_HANDLE, TIM_CHANNEL_2);
  HAL_TIM_PWM_Start(&TIM_HANDLE, TIM_CHANNEL_3);
  HAL_TIM_PWM_Start(&TIM_HANDLE, TIM_CHANNEL_4);
}

在上面的示例代码中，我们定义了四个电机引脚和定时器输出比较通道，然后使用`motor_init()`函数初始化GPIO和定时器，并启动PWM输出。在实际使用中，您需要根据您的硬件连接方式和电机类型来配置引脚和PWM参数。