stm32f103以数字总线式通讯方式控制 电机代码
时间: 2023-06-13 10:03:42 浏览: 62
下面是一个使用 STM32F103 控制电机的代码示例,该电机使用数字总线式通讯方式进行控制:
```c
#include "stm32f10x.h"
#include "stm32f10x_gpio.h"
#include "stm32f10x_rcc.h"
#include "stm32f10x_tim.h"
#include "stm32f10x_usart.h"
/* 定义串口通信的波特率 */
#define BAUD_RATE 9600
/* 定义电机地址 */
#define MOTOR_ADDR 0x01
/* 定义电机控制指令 */
#define MOTOR_STOP 0x00
#define MOTOR_FORWARD 0x01
#define MOTOR_BACKWARD 0x02
#define MOTOR_LEFT 0x03
#define MOTOR_RIGHT 0x04
/* 定义电机控制函数 */
void motor_control(uint8_t direction);
int main(void)
{
/* 使能 GPIO 和定时器时钟 */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
/* 配置 PA0 为推挽输出,用于控制电机方向 */
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* 配置 TIM2 为 PWM 输出模式 */
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructure.TIM_Period = 1000 - 1; /* PWM 周期为 1ms */
TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1; /* PWM 频率为 72MHz / 72 = 1MHz */
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 500 - 1; /* 占空比为 50% */
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC2Init(TIM2, &TIM_OCInitStructure); /* 配置 TIM2_CH2 为 PWM 输出 */
TIM_Cmd(TIM2, ENABLE);
/* 配置串口通信 */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
USART_InitTypeDef USART_InitStructure;
USART_InitStructure.USART_BaudRate = BAUD_RATE;
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(USART1, &USART_InitStructure);
USART_Cmd(USART1, ENABLE);
while (1)
{
/* 接收串口数据并进行电机控制 */
while (USART_GetFlagStatus(USART1, USART_FLAG_RXNE) == RESET);
uint8_t data = USART_ReceiveData(USART1);
if (data == MOTOR_STOP || data == MOTOR_FORWARD || data == MOTOR_BACKWARD || data == MOTOR_LEFT || data == MOTOR_RIGHT)
{
motor_control(data);
}
}
}
void motor_control(uint8_t direction)
{
/* 根据指令设置电机方向 */
switch (direction)
{
case MOTOR_STOP:
GPIO_ResetBits(GPIOA, GPIO_Pin_0); /* 停止电机 */
TIM_SetCompare2(TIM2, 0); /* 占空比为 0 */
break;
case MOTOR_FORWARD:
GPIO_SetBits(GPIOA, GPIO_Pin_0); /* 设置电机正转 */
TIM_SetCompare2(TIM2, 500); /* 占空比为 50% */
break;
case MOTOR_BACKWARD:
GPIO_ResetBits(GPIOA, GPIO_Pin_0); /* 设置电机反转 */
TIM_SetCompare2(TIM2, 500); /* 占空比为 50% */
break;
case MOTOR_LEFT:
/* 设置电机左转 */
GPIO_ResetBits(GPIOA, GPIO_Pin_0);
TIM_SetCompare2(TIM2, 250); /* 占空比为 25% */
break;
case MOTOR_RIGHT:
/* 设置电机右转 */
GPIO_SetBits(GPIOA, GPIO_Pin_0);
TIM_SetCompare2(TIM2, 750); /* 占空比为 75% */
break;
default:
/* 无效指令 */
break;
}
}
```
注意:本示例代码仅供参考,具体实现请根据实际需求进行修改。
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