利用PWM驱动四轴电机失败

只看该作者 · 2017-5-20 12:25

本人在学习写PWM,驱动电机。
硬件是crazepony的板子，代码如下
void MotorInit(void)
{
      GPIO_InitTypeDef GPIO_InitStructure;
      TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
      TIM_OCInitTypeDef TIM_OCInitStructure;
      uint16_t PrescalerValue = 0;                                              //用于控制电机PWM频率

      RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);                      //打开GPIOA的时钟
      RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,  ENABLE);                      //打开定时器2时钟

      GPIO_InitStructure.GPIO_Mode =  GPIO_Mode_AF_PP;                         //利用TIM2,所以复用输出
      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1|GPIO_Pin_2|GPIO_Pin_3;  //PA0123
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;                         //搞不懂为什么用2Mhz
      GPIO_Init(GPIOA, &GPIO_InitStructure);

      //复位定时器
      TIM_DeInit(TIM2);

      /*这里配置计时器*/
PrescalerValue = (uint16_t) (SystemCoreClock / 24000000) - 1;             //一秒钟计数多少次，2次

      TIM_TimeBaseStructure.TIM_Period = 999;                                                                               //单次计数个数
      TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;                      //设置预分频系数
      TIM_TimeBaseStructure.TIM_ClockDivision = 0;
      TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;                //向上计数

      TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);

      /*配置TIM2为PWM输出模式*/
      TIM_OCStructInit(&TIM_OCInitStructure);
      TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;                         //设置为PWM1模式
      TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;             //开启OC*输出到对应引脚
      TIM_OCInitStructure.TIM_Pulse = 0;                                                                //CCR1设置为0
      TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;                      //高电平有效

TIM_OC1Init(TIM2,&TIM_OCInitStructure);                                        //初始化指定外设
TIM_OC2Init(TIM2,&TIM_OCInitStructure);
TIM_OC3Init(TIM2,&TIM_OCInitStructure);
TIM_OC4Init(TIM2,&TIM_OCInitStructure);

TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);                                        //使能预装载器
TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_OC4PreloadConfig(TIM2, TIM_OCPreload_Enable);

      TIM_ARRPreloadConfig(TIM2,ENABLE);//使能TIM3在 ARR 上的预装载寄存器。

      //启动定时器
TIM_Cmd(TIM2,ENABLE);
printf("Motor init success...\r\n");
}

初始化完后，是不是修改CCRx中的值就能运行？还是有什么其他的设置。

void MotorPwmFlash(int16_t MOTO1_PWM, int16_t MOTO2_PWM, int16_t MOTO3_PWM, int16_t MOTO4_PWM)
{
      if(MOTO1_PWM>=Moto_PwmMax)       MOTO1_PWM = Moto_PwmMax;
      if(MOTO2_PWM>=Moto_PwmMax)       MOTO2_PWM = Moto_PwmMax;
      if(MOTO3_PWM>=Moto_PwmMax)       MOTO3_PWM = Moto_PwmMax;
      if(MOTO4_PWM>=Moto_PwmMax)       MOTO4_PWM = Moto_PwmMax;
      if(MOTO1_PWM<=0)       MOTO1_PWM = 0;
      if(MOTO2_PWM<=0)       MOTO2_PWM = 0;
      if(MOTO3_PWM<=0)       MOTO3_PWM = 0;
      if(MOTO4_PWM<=0)       MOTO4_PWM = 0;       //限定输入不能小于0，大于999

      TIM2->CCR1 = MOTO1_PWM;
TIM2->CCR2 = MOTO2_PWM;
TIM2->CCR3 = MOTO3_PWM;
TIM2->CCR4 = MOTO4_PWM;                      //对定时器寄存器进行赋值
      printf("TIM->CCR1 %d ", TIM2->CCR1);
      printf("TIM->CCR1 %d ", TIM2->CCR2);
      printf("TIM->CCR1 %d ", TIM2->CCR3);
      printf("TIM->CCR1 %d \n", TIM2->CCR4);
}

我在main函数中调用，并没有成功转起来。请问会是什么没弄好呢？谢谢