stm32的a4950电机驱动代码

以下是使用STM32驱动A4950电机的示例代码，仅供参考：

#include "stm32f10x.h"

#define A4950_PWM TIM3
#define A4950_PWM_RCC RCC_APB1Periph_TIM3
#define A4950_PWM_GPIO_RCC RCC_APB2Periph_GPIOA
#define A4950_PWM_GPIO GPIOA
#define A4950_PWM_PIN GPIO_Pin_6

#define A4950_IN1_GPIO_RCC RCC_APB2Periph_GPIOB
#define A4950_IN1_GPIO GPIOB
#define A4950_IN1_PIN GPIO_Pin_12

#define A4950_IN2_GPIO_RCC RCC_APB2Periph_GPIOB
#define A4950_IN2_GPIO GPIOB
#define A4950_IN2_PIN GPIO_Pin_13

void A4950_Init(void)
{
  TIM_TimeBaseInitTypeDef tim;
  TIM_OCInitTypeDef oc;
  GPIO_InitTypeDef gpio;

  RCC_APB1PeriphClockCmd(A4950_PWM_RCC, ENABLE);
  RCC_APB2PeriphClockCmd(A4950_PWM_GPIO_RCC | A4950_IN1_GPIO_RCC | A4950_IN2_GPIO_RCC, ENABLE);

  // PWM GPIO
  gpio.GPIO_Pin = A4950_PWM_PIN;
  gpio.GPIO_Mode = GPIO_Mode_AF_PP;
  gpio.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(A4950_PWM_GPIO, &gpio);

  // IN1 GPIO
  gpio.GPIO_Pin = A4950_IN1_PIN;
  gpio.GPIO_Mode = GPIO_Mode_Out_PP;
  gpio.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(A4950_IN1_GPIO, &gpio);

  // IN2 GPIO
  gpio.GPIO_Pin = A4950_IN2_PIN;
  gpio.GPIO_Mode = GPIO_Mode_Out_PP;
  gpio.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(A4950_IN2_GPIO, &gpio);

  // PWM timer
  tim.TIM_Period = 1000;
  tim.TIM_Prescaler = 72;
  tim.TIM_ClockDivision = 0;
  tim.TIM_CounterMode = TIM_CounterMode_Up;
  TIM_TimeBaseInit(A4950_PWM, &tim);

  oc.TIM_OCMode = TIM_OCMode_PWM1;
  oc.TIM_OutputState = TIM_OutputState_Enable;
  oc.TIM_Pulse = 0;
  oc.TIM_OCPolarity = TIM_OCPolarity_High;
  TIM_OC1Init(A4950_PWM, &oc);

  TIM_Cmd(A4950_PWM, ENABLE);

  GPIO_ResetBits(A4950_IN1_GPIO, A4950_IN1_PIN);
  GPIO_ResetBits(A4950_IN2_GPIO, A4950_IN2_PIN);
}

void A4950_SetSpeed(int speed)
{
  if (speed > 0) {
    GPIO_SetBits(A4950_IN1_GPIO, A4950_IN1_PIN);
    GPIO_ResetBits(A4950_IN2_GPIO, A4950_IN2_PIN);
  } else {
    GPIO_ResetBits(A4950_IN1_GPIO, A4950_IN1_PIN);
    GPIO_SetBits(A4950_IN2_GPIO, A4950_IN2_PIN);
    speed = -speed;
  }

  TIM_SetCompare1(A4950_PWM, speed * 10);
}

这是基于STM32F103C8T6开发板的代码，使用的是TIM3通道作为PWM输出，A4950的IN1和IN2分别连接到GPIOB的12和13号引脚上。需要根据实际电路连接情况进行修改。