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基于stm32f103c8板子的小车的电机驱动源码

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ID:366692 发表于 2018-7-7 10:36 | 只看该作者 回帖奖励 |倒序浏览 |阅读模式
这是基于stm32f103c8板子的小车的电机驱动的keil工程源代码，这里是直流电机，由B6，B7,B8,B9四个管口输出PWM波来控制，前两个管口与B电机相关，后两个与A电机相关，两个口的PWM波占空比不同，产生压差，使电机转动

单片机源程序如下:
  1. #include "PWM.h"
  2. #include "stm32f10x.h"


  5. void TIM4_Init(void)
  6. {
  7.         TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
  8.         GPIO_InitTypeDef GPIO_InitStructure;
  9.         TIM_OCInitTypeDef  TIM_OCInitStructure;
  10.        
  11.         RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOB , ENABLE);
  12.         //GPIO_InitTypeDef GPIO_InitStructure;
  13. //  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_8|GPIO_Pin_9;
  14. //  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  15. //  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
  16. //  GPIO_Init(GPIOB, &GPIO_InitStructure);
  17. //        GPIO_SetBits(GPIOB , GPIO_Pin_6);
  18. //        GPIO_SetBits(GPIOB , GPIO_Pin_7);
  19. //        GPIO_SetBits(GPIOB , GPIO_Pin_8);
  20. //        GPIO_SetBits(GPIOB , GPIO_Pin_9);
  21.        
  22.         GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;//对应BIN2
  23.   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  24.   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  25.   GPIO_Init(GPIOB, &GPIO_InitStructure);
  26.        
  27.         GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;//对应BIN1
  28.   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  29.   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  30.   GPIO_Init(GPIOB, &GPIO_InitStructure);
  31.        
  32.         GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;//对应AIN2
  33.   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  34.   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  35.   GPIO_Init(GPIOB, &GPIO_InitStructure);
  36.        
  37.         GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;//对应AIN1
  38.   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  39.   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  40.   GPIO_Init(GPIOB, &GPIO_InitStructure);
  41.                  
  42.   RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4 , ENABLE);
  43.         //TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
  44.   TIM_TimeBaseStructure.TIM_Prescaler = 0;   
  45.         TIM_TimeBaseStructure.TIM_Period = 5000 ;
  46.   TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1 ;//TIM_CKD_DIV1;          
  47.   TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
  48.   TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);

  50.         //TIM_OCInitTypeDef  TIM_OCInitStructure;
  51.         TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;        
  52.   TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
  53.         TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
  54.   TIM_OCInitStructure.TIM_Pulse =  2500;     
  55.   TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
  56.   TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
  57.   TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
  58.   TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;       
  59.   TIM_OC1Init(TIM4 , &TIM_OCInitStructure);
  60.   TIM_OC1PreloadConfig(TIM4 , TIM_OCPreload_Enable);
  61.   TIM_ARRPreloadConfig(TIM4 , ENABLE);   
  62.         TIM_CtrlPWMOutputs(TIM4 , ENABLE);
  63.         TIM_Cmd(TIM4 , ENABLE);       
  64.        
  65.         TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;        
  66.   TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
  67.         TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
  68.   TIM_OCInitStructure.TIM_Pulse =  0;     
  69.   TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
  70.   TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
  71.   TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
  72.   TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;       
  73.   TIM_OC2Init(TIM4 , &TIM_OCInitStructure);
  74.   TIM_OC2PreloadConfig(TIM4 , TIM_OCPreload_Enable);
  75.   TIM_ARRPreloadConfig(TIM4 , ENABLE);   
  76.         TIM_CtrlPWMOutputs(TIM4 , ENABLE);
  77.         TIM_Cmd(TIM4 , ENABLE);       
  78.        
  79.         TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;        
  80.   TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
  81.         TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
  82.   TIM_OCInitStructure.TIM_Pulse =  2500;     
  83.   TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
  84.   TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
  85.   TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
  86.   TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;       
  87.   TIM_OC3Init(TIM4 , &TIM_OCInitStructure);
  88.   TIM_OC3PreloadConfig(TIM4 , TIM_OCPreload_Enable);
  89.   TIM_ARRPreloadConfig(TIM4 , ENABLE);   
  90.         TIM_CtrlPWMOutputs(TIM4 , ENABLE);
  91.         TIM_Cmd(TIM4 , ENABLE);       
  92.        
  93.         TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;        
  94.   TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
  95.         TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
  96.   TIM_OCInitStructure.TIM_Pulse =  0;     
  97.   TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
  98.   TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
  99.   TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
  100.   TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;       
  101.   TIM_OC4Init(TIM4 , &TIM_OCInitStructure);
  102.   TIM_OC4PreloadConfig(TIM4 , TIM_OCPreload_Enable);
  103.   TIM_ARRPreloadConfig(TIM4 , ENABLE);   
  104.         TIM_CtrlPWMOutputs(TIM4 , ENABLE);
  105.         TIM_Cmd(TIM4 , ENABLE);       
  106.         //TIM1->CCR1 = 200;
  107.        
  108. }

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沙发
ID:394828 发表于 2018-9-8 10:24 | 只看该作者
很不错
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