STM32 TIM1TIM2控制输出8路不同占空比的PWM(实现4个电机的差速控制)源代码 -

#include "stm32f10x.h"
//#include "systick.h" //SysTick定时器被捆绑在NVIC中系统函数
//#include "hardware_conf.h"//所用开发板中硬件外设系统函数
void GPIO_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
//启动GPIO
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA , ENABLE);
//启动AFIO
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
//启动TIM1，功能复用IO时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);//使能或者失能APB1外设时钟,RCC_APB1Periph_TIM2 为TIM2时钟，这里的意思是使能TIM4时钟
//Step2. GPIO做相应设置，为AF输出，使能TIM时钟
//PA.0,1,2,3,8,9,10,11口设置为TIM1的OC1输出口
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1|GPIO_Pin_2|GPIO_Pin_3|GPIO_Pin_8 | GPIO_Pin_9|GPIO_Pin_10 | GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;//复用推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;//端口速率为50Mhz
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* //PB.13/14口设置为TIM1_CH1N和TIM1_CH2N输出口
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure); */
}
//Step3. TIM模块初始化
void TIM_Configuration(void)
{
TIM_TimeBaseInitTypeDef TIM_BaseInitStructure;//初始化TIM的固定格式, 根据TIM_TimeBaseInitStruct中指定的参数初始化//TIMx的时间基数单位
TIM_OCInitTypeDef TIM_OCInitStructure;// 根据TIM_OCInitStruct中指定的参数初始化外设TIMx
TIM_BDTRInitTypeDef TIM_BDTRInitStructure;
//TIM1基本计数器设置（设置PWM频率）
//频率=TIM1_CLK/(ARR+1) 频率为1khz
TIM_BaseInitStructure.TIM_Period = 1000-1;
TIM_BaseInitStructure.TIM_Prescaler = 72-1;
TIM_BaseInitStructure.TIM_ClockDivision = 0;
TIM_BaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_BaseInitStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM1, &TIM_BaseInitStructure);
TIM_ARRPreloadConfig(TIM1, ENABLE);//启用ARR的影子寄存器（直到产生更新事件才更改设置）
TIM_ARRPreloadConfig(TIM2, ENABLE); /* 使能 ARR装载 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
// TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
// TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
// TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
//TIM1_OC1模块设置（设置1通道占空比）
TIM_OCInitStructure.TIM_Pulse = 100;
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);//启用CCR1寄存器的影子寄存器（直到产生更新事件才更改设置）
//TIM1_OC2模块设置（设置2通道占空比）
TIM_OCInitStructure.TIM_Pulse = 300;
TIM_OC2Init(TIM1, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);//启用CCR2寄存器的影子寄存器（直到产生更新事件才更改设置）
//TIM1_OC3模块设置（设置2通道占空比）
TIM_OCInitStructure.TIM_Pulse = 600;
TIM_OC3Init(TIM1, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);//启用CCR3寄存器的影子寄存器（直到产生更新事件才更改设置）
//TIM1_OC3模块设置（设置2通道占空比）
TIM_OCInitStructure.TIM_Pulse = 900;
TIM_OC4Init(TIM1, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable);//启用CCR2寄存器的影子寄存器（直到产生更新事件才更改设置）
//死区设置
TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;
TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_OFF;
TIM_BDTRInitStructure.TIM_DeadTime = 0x90; //这里调整死区大小0-0xff
TIM_BDTRInitStructure.TIM_Break = TIM_Break_Disable;
TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_High;
TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Enable;
TIM_BDTRConfig(TIM1, &TIM_BDTRInitStructure);
//TIM1基本计数器设置（设置PWM频率）
//频率=TIM1_CLK/(ARR+1) 频率为1khz
TIM_BaseInitStructure.TIM_Period = 1000-1;
TIM_BaseInitStructure.TIM_Prescaler = 72-1;
TIM_BaseInitStructure.TIM_ClockDivision = 0;
TIM_BaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_BaseInitStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM2, &TIM_BaseInitStructure);
/* TIM_Pulse用来控制占空比，他实际影响TIM的CCR2寄存器，程序中可随时更改该寄存器的值，可随时更改占空比。占空比=(CCRx/ARR)*100。*/
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; /* 输出模式 */ //其中，TIM_OCMode选择定时器模式，TIM_OCMode_PWM1 ,TIM脉冲宽度调制模式1
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //状态使能
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;//TIM_OCPolarity输出极性,其输出极性为高
TIM_OCInitStructure.TIM_Pulse =100;//TIM_Pulse设置了待装入捕获比较寄存器的脉冲值
TIM_OC1Init(TIM2, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse =300;//TIM_Pulse设置了待装入捕获比较寄存器的脉冲值
TIM_OC2Init(TIM2, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse =600;//TIM_Pulse设置了待装入捕获比较寄存器的脉冲值
TIM_OC3Init(TIM2, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse =900;//TIM_Pulse设置了待装入捕获比较寄存器的脉冲值
TIM_OC4Init(TIM2, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable); //TIM_OC1PreloadConfig使能或者失能TIMx在CCR1上的预装载寄存器
TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable); /* 使能TIM2在CCR2的预装储存器 *///CCR2为捕获/比较寄存器2
TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable); /* 使能TIM2在CCR3的预装储存器 *///CCR3为捕获/比较寄存器2
TIM_OC4PreloadConfig(TIM2, TIM_OCPreload_Enable); /* 使能TIM2在CCR4的预装储存器 *///CCR4为捕获/比较寄存器2
//TIM1,2开启
TIM_Cmd(TIM1, ENABLE);
TIM_Cmd(TIM2, ENABLE);
//TIM1_OC通道输出PWM（一定要加）
TIM_CtrlPWMOutputs(TIM1, ENABLE);
}
main(void)
{
SystemInit(); //系统所有外设初始化
GPIO_Configuration(); //所有端口外设配置初始化
TIM_Configuration();
while (1);
}

复制代码