stm32使用双pwm输出控制电机例程
时间: 2023-11-12 16:04:40 浏览: 37
下面是一份使用 STM32 双 PWM 输出控制电机的例程,假设使用的是 STM32F4 系列的芯片,使用的是 TIM3 和 TIM4 两个定时器模块,PWM 频率为 20kHz,占空比范围为 0%~100%:
```c
#include "stm32f4xx.h"
void GPIO_Configuration(void);
void TIM3_Configuration(void);
void TIM4_Configuration(void);
int main(void)
{
// 初始化 GPIO 和定时器模块
GPIO_Configuration();
TIM3_Configuration();
TIM4_Configuration();
// 启动 TIM3 和 TIM4 定时器
TIM_Cmd(TIM3, ENABLE);
TIM_Cmd(TIM4, ENABLE);
while(1)
{
// 此处添加需要执行的程序
}
}
void GPIO_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
// 打开 GPIOB 和 GPIOC 时钟
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB | RCC_AHB1Periph_GPIOC, ENABLE);
// 配置 PB0 和 PB1 为 AF2(TIM3_CH3 和 TIM3_CH4)
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource0, GPIO_AF_TIM3);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource1, GPIO_AF_TIM3);
// 配置 PC6 和 PC7 为 AF2(TIM4_CH1 和 TIM4_CH2)
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOC, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource6, GPIO_AF_TIM4);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource7, GPIO_AF_TIM4);
}
void TIM3_Configuration(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
// 打开 TIM3 时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
// 配置 TIM3 基本定时器
TIM_TimeBaseStructure.TIM_Period = 839; // 20kHz PWM 频率
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
// 配置 TIM3_CH3 和 TIM3_CH4 为 PWM 模式
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC3Init(TIM3, &TIM_OCInitStructure);
TIM_OC4Init(TIM3, &TIM_OCInitStructure);
// 启动 TIM3_CH3 和 TIM3_CH4
TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM3, ENABLE);
}
void TIM4_Configuration(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
// 打开 TIM4 时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
// 配置 TIM4 基本定时器
TIM_TimeBaseStructure.TIM_Period = 839; // 20kHz PWM 频率
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
// 配置 TIM4_CH1 和 TIM4_CH2 为 PWM 模式
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM4, &TIM_OCInitStructure);
TIM_OC2Init(TIM4, &TIM_OCInitStructure);
// 启动 TIM4_CH1 和 TIM4_CH2
TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM4, ENABLE);
}
```
使用 TIM3_CH3 和 TIM3_CH4 及 TIM4_CH1 和 TIM4_CH2 两个 PWM 输出通道,可以控制两个电机的转速。可以根据实际情况修改占空比来调节电机的转速。