BL0939 stm32驱动代码

BL0939是一款电机驱动芯片，可以通过PWM信号控制电机的转速和方向。以下是一个基于STM32 HAL库的BL0939驱动代码示例：

#include "stm32f1xx_hal.h"

/* 定义BL0939相关的引脚 */
#define BL0939_IN1_GPIO_Port    GPIOA
#define BL0939_IN1_Pin         GPIO_PIN_11
#define BL0939_IN2_GPIO_Port    GPIOA
#define BL0939_IN2_Pin         GPIO_PIN_12

/* 定义PWM相关的引脚 */
#define BL0939_PWM_GPIO_Port   GPIOB
#define BL0939_PWM_Pin        GPIO_PIN_0

/* 定义PWM的频率和分辨率 */
#define PWM_FREQUENCY         10000
#define PWM_RESOLUTION        1000

/* 定义PWM的占空比 */
#define PWM_DUTY_CYCLE_MAX     1000
#define PWM_DUTY_CYCLE_MIN     0

/* 定义电机运动方向 */
typedef enum
{
    BL0939_DIRECTION_FORWARD = 1,
    BL0939_DIRECTION_BACKWARD = 2,
} BL0939_DirectionTypeDef;

/* 电机初始化 */
void BL0939_Init(void)
{
    /* 配置BL0939相关的引脚为输出模式 */
    GPIO_InitTypeDef GPIO_InitStruct;
    GPIO_InitStruct.Pin = BL0939_IN1_Pin | BL0939_IN2_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    HAL_GPIO_Init(BL0939_IN1_GPIO_Port, &GPIO_InitStruct);

    /* 配置PWM引脚为复用模式 */
    GPIO_InitStruct.Pin = BL0939_PWM_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    HAL_GPIO_Init(BL0939_PWM_GPIO_Port, &GPIO_InitStruct);

    /* 配置TIM2为PWM输出模式，时钟频率为72MHz */
    TIM_HandleTypeDef htim2;
    TIM_MasterConfigTypeDef sMasterConfig;
    TIM_OC_InitTypeDef sConfigOC;

    htim2.Instance = TIM2;
    htim2.Init.Prescaler = (uint32_t)(SystemCoreClock / PWM_FREQUENCY / PWM_RESOLUTION) - 1;
    htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim2.Init.Period = PWM_RESOLUTION - 1;
    htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    HAL_TIM_Base_Init(&htim2);

    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
    HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig);

    sConfigOC.OCMode = TIM_OCMODE_PWM1;
    sConfigOC.Pulse = 0;
    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(&htim2, &sConfigOC, TIM_CHANNEL_3);
    HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
}

/* 设置电机运动方向 */
void BL0939_SetDirection(BL0939_DirectionTypeDef direction)
{
    switch (direction)
    {
        case BL0939_DIRECTION_FORWARD:
            HAL_GPIO_WritePin(BL0939_IN1_GPIO_Port, BL0939_IN1_Pin, GPIO_PIN_SET);
            HAL_GPIO_WritePin(BL0939_IN2_GPIO_Port, BL0939_IN2_Pin, GPIO_PIN_RESET);
            break;
        case BL0939_DIRECTION_BACKWARD:
            HAL_GPIO_WritePin(BL0939_IN1_GPIO_Port, BL0939_IN1_Pin, GPIO_PIN_RESET);
            HAL_GPIO_WritePin(BL0939_IN2_GPIO_Port, BL0939_IN2_Pin, GPIO_PIN_SET);
            break;
        default:
            break;
    }
}

/* 设置电机转速 */
void BL0939_SetSpeed(uint16_t speed)
{
    if (speed > PWM_DUTY_CYCLE_MAX)
    {
        speed = PWM_DUTY_CYCLE_MAX;
    }

    __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_3, speed);
}

使用示例：

/* 初始化BL0939 */
BL0939_Init();

/* 设置电机方向为正向 */
BL0939_SetDirection(BL0939_DIRECTION_FORWARD);

/* 设置电机转速为50% */
BL0939_SetSpeed(PWM_DUTY_CYCLE_MAX / 2);

需要注意的是，BL0939控制电机转速的方式是通过PWM信号控制的，因此需要在代码中配置PWM输出引脚和PWM的频率和分辨率，同时需要使用HAL库提供的PWM相关函数来控制PWM输出信号的占空比。在控制电机转速之前，需要先设置电机运动的方向。