单片机采用STM32驱动板采用两个L298N 电源采用12V 驱动四个电机使用PWM波先加速再匀速的完整代码包括配置PWM波 L298N接线应该怎样接

以下是基于STM32驱动L298N控制电机的代码和连接方式，其中使用了TIM2和TIM3作为PWM输出，电机连接方式如下图所示：


代码如下：

#include "stm32f10x.h"

#define PWM_PERIOD 1000
#define PWM_PRESCALER 72

void L298N_GPIO_Config(void);
void PWM_Config(void);
void PWM_output(uint16_t pwm_duty);

int main(void)
{
    L298N_GPIO_Config();
    PWM_Config();
    while(1)
    {
        //加速
        for(int i=0;i<=100;i++)
        {
            uint16_t pwm_duty = i*PWM_PERIOD/100;
            PWM_output(pwm_duty);
            Delay_ms(10);
        }
        //匀速
        PWM_output(PWM_PERIOD/2);
        Delay_ms(2000);
    }
}

void L298N_GPIO_Config(void)
{
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB, ENABLE);
    GPIO_InitTypeDef GPIO_InitStructure;

    //电机1
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    //电机2
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOB, &GPIO_InitStructure);
}

void PWM_Config(void)
{
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3, ENABLE);

    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;

    //TIM2
    TIM_TimeBaseStructure.TIM_Period = PWM_PERIOD - 1;
    TIM_TimeBaseStructure.TIM_Prescaler = PWM_PRESCALER - 1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);

    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;

    TIM_OCInitStructure.TIM_Pulse = 0;
    TIM_OC1Init(TIM2, &TIM_OCInitStructure);
    TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);

    TIM_OCInitStructure.TIM_Pulse = 0;
    TIM_OC2Init(TIM2, &TIM_OCInitStructure);
    TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);

    TIM_Cmd(TIM2, ENABLE);

    //TIM3
    TIM_TimeBaseStructure.TIM_Period = PWM_PERIOD - 1;
    TIM_TimeBaseStructure.TIM_Prescaler = PWM_PRESCALER - 1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;

    TIM_OCInitStructure.TIM_Pulse = 0;
    TIM_OC1Init(TIM3, &TIM_OCInitStructure);
    TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);

    TIM_OCInitStructure.TIM_Pulse = 0;
    TIM_OC2Init(TIM3, &TIM_OCInitStructure);
    TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);

    TIM_Cmd(TIM3, ENABLE);
}

void PWM_output(uint16_t pwm_duty)
{
    TIM_SetCompare1(TIM2, pwm_duty);
    TIM_SetCompare2(TIM2, 0);
    TIM_SetCompare1(TIM3, pwm_duty);
    TIM_SetCompare2(TIM3, 0);

    GPIO_SetBits(GPIOA, GPIO_Pin_0);
    GPIO_ResetBits(GPIOA, GPIO_Pin_1);
    GPIO_SetBits(GPIOB, GPIO_Pin_6);
    GPIO_ResetBits(GPIOB, GPIO_Pin_7);
}

void Delay_ms(uint32_t nCount)
{
    RCC_ClocksTypeDef RCC_Clocks;
    RCC_GetClocksFreq(&RCC_Clocks);
    uint32_t ticks = RCC_Clocks.HCLK_Frequency/10000;
    while(nCount--)
    {
        volatile uint32_t i;
        for(i=0; i<ticks; i++);
    }
}

其中，`L298N_GPIO_Config`函数用于配置L298N接口的GPIO口，包括四个INx引脚。`PWM_Config`函数用于配置PWM输出的TIM2和TIM3，`PWM_output`函数用于设置PWM输出的占空比和L298N的INx引脚状态。`Delay_ms`函数用于延时，单位为毫秒。在`main`函数中，首先调用`L298N_GPIO_Config`和`PWM_Config`函数对GPIO口和PWM进行配置，然后使用`PWM_output`函数逐渐加速电机，最后以匀速运行。