PWM.C
#include "stm32f10x.h" // Device header
void PWM_Init(void)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
TIM_InternalClockConfig(TIM2);
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInitStructure.TIM_Period = 100 - 1; //ARR
TIM_TimeBaseInitStructure.TIM_Prescaler = 36 - 1; //PSC
TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseInitStructure);
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0; //CCR
TIM_OC3Init(TIM2, &TIM_OCInitStructure);
TIM_OC1Init(TIM2, &TIM_OCInitStructure);
TIM_Cmd(TIM2, ENABLE);
}
void PWM_SetCompare3(uint16_t Compare)
{
TIM_SetCompare3(TIM2, Compare);
}
void PWM_SetCompare1(uint16_t Compare)
{
TIM_SetCompare1(TIM2, Compare);
}
PWM.H
#ifndef __PWM_H
#define __PWM_H
void PWM_Init(void);
void PWM_SetCompare3(uint16_t Compare);
void PWM_SetCompare1(uint16_t Compare);
#endif
Motor.c
#include "stm32f10x.h" // Device header
#include "PWM.h"
void Motor_Init(void)
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode =GPIO_Mode_Out_PP; // 推挽 高低都亮，改OD为开漏 高灭低亮
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA,&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Mode =GPIO_Mode_Out_PP; // 推挽 高低都亮，改OD为开漏 高灭低亮
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB,&GPIO_InitStructure);
PWM_Init();
}
void Motor_SetSpeed(int8_t Speed1,int8_t Speed2)
{
if(Speed1 >= 0)
{
GPIO_SetBits(GPIOA,GPIO_Pin_4);
GPIO_ResetBits(GPIOA,GPIO_Pin_5);
PWM_SetCompare3(Speed1);
}
else
{
GPIO_ResetBits(GPIOA,GPIO_Pin_4);
GPIO_SetBits(GPIOA,GPIO_Pin_5);
PWM_SetCompare3(-Speed1);
}
if(Speed2 >= 0)
{
GPIO_SetBits(GPIOB,GPIO_Pin_13);
GPIO_ResetBits(GPIOB,GPIO_Pin_14);
PWM_SetCompare1(Speed2);
}
else
{
GPIO_ResetBits(GPIOB,GPIO_Pin_13);
GPIO_SetBits(GPIOB,GPIO_Pin_14);
PWM_SetCompare1(-Speed2);
}
}
Motor.h
#ifndef __Motor_H
#define __Motor_H
void Motor_Init(void);
void Motor_SetSpeed(int8_t Speed1,int8_t Speed2);
#endif
main.c
#include "stm32f10x.h" // Device header
#include "Delay.h"
#include "OLED.h"
#include "Motor.h"
#include "Key.h"
uint8_t KeyNum;
int8_t Speed1,Speed2;
int main(void)
{
OLED_Init();
Motor_Init();
Key_Init();
OLED_ShowString(1,1,"Speed1:");
OLED_ShowString(2,1,"Speed2:");
while (1)
{
KeyNum = Key_GetNum();
if(KeyNum == 1)
{
Speed1 += 20;
if(Speed1> 100)
{
Speed1 = 0;
}
}
else if(KeyNum == 2)
{
Speed2 += 20;
if(Speed2> 100)
{
Speed2 = 0;
}
}
Motor_SetSpeed(Speed1,Speed2);
OLED_ShowSignedNum(1,7,Speed1,3);
OLED_ShowSignedNum(2,7,Speed1,3);
}
}
Key.c
#include "stm32f10x.h" // Device header
#include "Delay.H"
void Key_Init(void)
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Pin =GPIO_Pin_1 | GPIO_Pin_11 ;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB,&GPIO_InitStructure);
}
uint8_t Key_GetNum(void)
{
uint8_t Key_GetNum = 0;
uint8_t KeyNum = 0;
if (GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_1) == 0)
{
Delay_ms(20);
while(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_1) == 0);
Delay_ms(20);
KeyNum = 1;
}
return KeyNum;
}
Key.h
#ifndef __KEY_H
#define __KEY_H
void Key_Init(void);
uint8_t Key_GetNum(void);
#endif
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