STM32 直流减速电机控制

程序第一步：设置GPIO，略（输出PWM的管脚用Mode_AF_PP即可）



程序第二步：设置定时器，（保证产生两路PWM即可，我用的是TIM4）



void TIM4_Configuration(void)

{

TIM_TimeBaseInitTypeDef   TIM_TimeBaseInitStructure;

TIM_OCInitTypeDef TIM_OCInitStructure;



//时间基初始化

TIM_TimeBaseInitStructure.TIM_Period=144;   //18K/144=125Hz,这个是电机PWM的频率

TIM_TimeBaseInitStructure.TIM_Prescaler=4000; //72000000/4000=18K

TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;

TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up;

TIM_TimeBaseInitStructure.TIM_RepetitionCounter=0x0000;



TIM_TimeBaseInit(TIM4,&TIM_TimeBaseInitStructure);



//输出比较模式设置,用于4路PWM输出

TIM_OCInitStructure.TIM_OCMode=TIM_OCMode_PWM2; //输出PWM

TIM_OCInitStructure.TIM_OutputState=TIM_OutputState_Enable; //使能正向通道

TIM_OCInitStructure.TIM_OutputNState=TIM_OutputState_Disable; //失能反向通道

TIM_OCInitStructure.TIM_Pulse=PWM_L;    //左轮DIR的占空比

TIM_OCInitStructure.TIM_OCPolarity=TIM_OCPolarity_Low; //输出极性为低电平

TIM_OCInitStructure.TIM_OCNPolarity=TIM_OCPolarity_High;//互补输出极性为高电平

TIM_OCInitStructure.TIM_OCIdleState=TIM_OCIdleState_Set;

TIM_OCInitStructure.TIM_OCNIdleState=TIM_OCNIdleState_Reset;



TIM_OC1Init(TIM4,&TIM_OCInitStructure);    //PWM_L初始化

TIM_OC1PreloadConfig(TIM4,TIM_OCPreload_Disable); //改变点空比后,立即产生效应



TIM_OCInitStructure.TIM_Pulse=PWM_R;    //左轮PWM的占空比

TIM_OC2Init(TIM4,&TIM_OCInitStructure);    //PWM_R初始化

TIM_OC2PreloadConfig(TIM4,TIM_OCPreload_Disable); //改变点空比后,立即产生效应



//使能定时器4

TIM_Cmd(TIM4,ENABLE);

TIM_CtrlPWMOutputs(TIM4,ENABLE);

程序第三步：



在SysTick中断中，读取两个轮子的速度（具体的方法是：每0.1秒读一次，并以此人作为速度的依据），并比较，如果以右轮为基准，则调整左轮的PWM占空比。涉及到关键语句是：TIM_SetCompare1（）；



u16 COUN1=0;

u16 COUN2=0;



volatile u16 Dist_L=0;    //左轮行程脉冲数

volatile u16 Dist_R=0;   //右轮行程脉冲数

void SysTick_Handler(void)

{



　　COUN1=TIM1->CNT;    //左轮在0.1秒里脉冲数

　　COUN2=TIM2->CNT;   //右轮在0.1秒里脉冲数

　　Dist_L=Dist_L+COUN1; //左轮行程脉冲数

　　Dist_R=Dist_R+COUN2; //右轮行程脉冲数

　　if( (COUN1-COUN2)>2)

　　{

    　　  PWM_L= TIM_GetCapture1(TIM4);

    　 　TIM_SetCompare1(TIM4, PWM_L - 4);

　　}

   else if ( (COUN2-COUN1)>2)

   {

       PWM_L= TIM_GetCapture1(TIM4);

       TIM_SetCompare1(TIM4, PWM_L + 4);

   }



  TIM_SetCounter(TIM1, 0);

  TIM_SetCounter(TIM2, 0);



}



关于TIM_SetCompareX（；）这个函数，还是有很多用途的，其中另外一个用途，就是用于产生不同频率的PWM，具体程序如下：



u16 capture = 0;



extern vu16 CCR1_Val;

extern vu16 CCR2_Val;

extern vu16 CCR3_Val;

extern vu16 CCR4_Val;



void TIM2_IRQHandler(void)

{



/* TIM2_CH1 toggling with frequency = 183.1 Hz */

if (TIM_GetITStatus(TIM2, TIM_IT_CC1) != RESET)

{

     TIM_ClearITPendingBit(TIM2, TIM_IT_CC1 );

　　capture = TIM_GetCapture1(TIM2);

　　TIM_SetCompare1(TIM2, capture + CCR1_Val );

}



/* TIM2_CH2 toggling with frequency = 366.2 Hz */

if (TIM_GetITStatus(TIM2, TIM_IT_CC2) != RESET)

{

     TIM_ClearITPendingBit(TIM2, TIM_IT_CC2);

　　capture = TIM_GetCapture2(TIM2);

    TIM_SetCompare2(TIM2, capture + CCR2_Val);

} 



/* TIM2_CH3 toggling with frequency = 732.4 Hz */

if (TIM_GetITStatus(TIM2, TIM_IT_CC3) != RESET)

{

    TIM_ClearITPendingBit(TIM2, TIM_IT_CC3);

　　capture = TIM_GetCapture3(TIM2);

    TIM_SetCompare3(TIM2, capture + CCR3_Val);

}



/* TIM2_CH4 toggling with frequency = 1464.8 Hz */

if (TIM_GetITStatus(TIM2, TIM_IT_CC4) != RESET) 

{

    TIM_ClearITPendingBit(TIM2, TIM_IT_CC4);

　　capture = TIM_GetCapture4(TIM2);

    TIM_SetCompare4(TIM2, capture + CCR4_Val);

}



}