当前位置：网站首页>STM32F103 - two circuit PWM control motor
STM32F103 - two circuit PWM control motor
2022-07-02 02:03:00 【SummerLoverQy】
experimental condition
STM32F103 Development board
TB6612 Motor drive module
Reference code ：
#include "car.h"
// Initialize the timer , Realization PWM Output
void PWM_Init(u16 arr,u16 psc){
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //① Enable timer 3 The clock
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC|RCC_APB2Periph_AFIO, ENABLE); //① Can make GPIO and AFIO Multiplexing function clock
GPIO_PinRemapConfig(GPIO_FullRemap_TIM3, ENABLE); //② Remap TIM3_CH2->PB5
// Set this pin to multiplex output function , Output TIM3 CH2 Of PWM Pulse shape GPIOB.5
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7; //TIM_CH2
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; // Multiplexing push pull output
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOC, &GPIO_InitStructure); //① initialization GPIO
// initialization TIM3
TIM_TimeBaseStructure.TIM_Period = arr; // Set at auto reload cycle value
TIM_TimeBaseStructure.TIM_Prescaler =psc; // Set the prescaler value
TIM_TimeBaseStructure.TIM_ClockDivision = 0; // Set the clock split :TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM Upcount mode
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //③ initialization TIMx
// initialization TIM3 Channel2 PWM Pattern
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; // choice PWM Pattern 2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; // Compare output enable
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; // High output polarity
TIM_OC1Init(TIM3, &TIM_OCInitStructure); //④ Initialize peripherals TIM3 OC2
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable); // Enable preload register
TIM_OC2Init(TIM3, &TIM_OCInitStructure); //④ Initialize peripherals TIM3 OC2
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable); // Enable preload register
TIM_Cmd(TIM3, ENABLE); //⑤ Can make TIM3
}
/**************************************************************************
The functionality ： Forward and reverse rotation of motor
Entrance parameters ：mode mode=0 Positive rotation at mode=1 Time reversal mode=2 It's to stop
return value ： nothing
**************************************************************************/
void MOTO(int mode)
{
if(mode==PosMode )// Positive rotation
{
GPIO_SetBits(GPIOB, GPIO_Pin_13); // High level
GPIO_ResetBits(GPIOB, GPIO_Pin_14); // Low level }
GPIO_SetBits(GPIOA, GPIO_Pin_4); // High level
GPIO_ResetBits(GPIOA, GPIO_Pin_5); // Low level
}
if(mode==NegMode)// reverse
{
GPIO_ResetBits(GPIOB, GPIO_Pin_13); // Low level
GPIO_SetBits(GPIOB, GPIO_Pin_14); // High level
GPIO_ResetBits(GPIOA, GPIO_Pin_4); // Low level
GPIO_SetBits(GPIOA, GPIO_Pin_5); // High level
}
if(mode==StopMode)// stop it
{
GPIO_ResetBits(GPIOB, GPIO_Pin_13); // Low level
GPIO_ResetBits(GPIOB, GPIO_Pin_14); // Low level }
GPIO_ResetBits(GPIOA, GPIO_Pin_4); // Low level
GPIO_ResetBits(GPIOA, GPIO_Pin_5); // Low level
}
}
// Initialization required GPIO
void CAR_Gpio_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure; // Defining structure GPIO_InitStructure
RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOB, ENABLE); // Can make PB Port clock
RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA, ENABLE); // Can make PA Port clock
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13| GPIO_Pin_14; //PB4 PB3
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; // push-pull , Increase the current output capacity
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //IO Mouth speed
GPIO_Init(GPIOB, &GPIO_InitStructure); //GBIOB initialization
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4| GPIO_Pin_5; //PB4 PB5
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; // push-pull , Increase the current output capacity
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //IO Mouth speed
GPIO_Init(GPIOA, &GPIO_InitStructure); //GBIOA initialization
}
void CAR_Speed(u16 speed){
TIM_SetCompare1(TIM3,speed);
TIM_SetCompare2(TIM3,speed);
}
Main function reference code ：
#include "stm32f10x.h"
#include "lcd.h"
#include "delay.h"
#include "remote.h"
#include "motor.h"
#include "key.h"
#include "led.h"
#include "usart.h"
#define MAXSPEED 7000
#define MINSPEED 1000
#define FILTERNUM 20
int main(void)
{
u8 Remote_key;// Remote control key value
u8 Key;// Key value
u8 *str=0;// The remote control displays
u16 speed=1000;
u16 PWM=0;
u16 filter=FILTERNUM;
delay_init(); // Delay function initialization
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); // Set up NVIC Interrupt grouping 2:2 Bit preemption priority ,2 Bit response priority
uart_init(115200); // The serial port is initialized to 115200
LCD_Init();// initialization LCD function ; 320*240
Remote_Init(); // Infrared receiving initialization
LED_Init(); //LED Port initialization
//TIM3_PWM_Init(7199,0); // Regardless of the frequency .PWM frequency =72000000/900=80Khz
PWM_Init(7199,0);
KEY_Init();
CAR_Gpio_Init();
LCD_ShowString(30,60,300,16,16,"My RoBot");
LCD_ShowString(30,80,300,16,16,"MOTOR TEST:");
LCD_ShowString(30,100,300,16,16,"PWM: %");
MOTO(PosMode);
CAR_Speed(speed);// set speed
while(1){
Remote_key=Remote_Scan();
Key=KEY_Scan(0);
//TIM_SetCompare2(TIM3,led0pwmval);
if(Remote_key)
{ switch(Remote_key)
{
case 0:str="ERROR";break;
case 162:
str="STOP";
MOTO(StopMode);
break;
case 98:str="UP";break;
case 2:str="PLAY";break;
case 226:
str="Go!";
MOTO(PosMode);
break;
case 194:str="RIGHT";break;
case 34:str="LEFT";break;
case 224:
str="VOL-";
filter--;
if(!filter){
filter=FILTERNUM;
speed-=1000;
if(speed<1000){
speed=MINSPEED;
}
}
break;
case 168:str="DOWN";break;
case 144:
str="VOL+";
filter--;
if(!filter){
filter=FILTERNUM;
speed+=500;
if(speed>7000){
speed=MAXSPEED;
}
}
break;
case 104:str="1";break;
case 152:str="2";break;
case 176:str="3";break;
case 48:str="4";break;
case 24:str="5";break;
case 122:str="6";break;
case 16:str="7";break;
case 56:str="8";break;
case 90:str="9";break;
case 66:str="0";break;
case 82:str="DELETE";break;
}
}else delay_ms(10);
if(Key==KEY0_PRES){// Slow down
speed-=1000;
if(speed<1000){
speed=MINSPEED;
}
}else if(Key==KEY1_PRES){
// Speed up
speed+=500;
if(speed>7000){
speed=MAXSPEED;
}
}
CAR_Speed(speed);
LCD_Fill(30+12*8,80,300,80+16,WHITE); // Clear the previous display
LCD_ShowString(30+12*8,80,300,16,16,str); // Show SYMBOL
PWM=speed*100/7200;
LCD_ShowNum(30+4*8, 100, PWM, 2, 16);
}
}
Pin connection ：
A01—— Motor negative
B01—— Motor positive
PC6——PWMA
PC7——PWMB
AIN1——PB14
AIN2——PB13
BIN1——PA5
BIN2——PA4
TB6612 Logic power supply 、 Enable signal - Depressurize 3V3 Provide
MCU power supply 5V5OUT Connect the step-down source 3V3
Encoder connection ：
PA9—— Right wheel B
PA8—— Right wheel A
PA0—— Left wheel B
PA1—— Left wheel A
Encoder reference code ：
#include "encoder.h"
/**************************************************************************
The functionality ： hold TIM1 Initialize to encoder interface mode
Entrance parameters ： nothing
return value ： nothing
**************************************************************************/
void Encoder_Init_TIM1(void)
{
TIM_TimeBaseInitTypeDef TIM1_TimeBaseStructure;
TIM_ICInitTypeDef TIM1_ICInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA ,ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1,ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8|GPIO_Pin_9; // port configuration
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; // Floating input
GPIO_Init(GPIOA, &GPIO_InitStructure); // Initialize according to the set parameters GPIOA
TIM_TimeBaseStructInit(&TIM1_TimeBaseStructure);
TIM1_TimeBaseStructure.TIM_Prescaler = 0x0; // Preassigned frequency counter
TIM1_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; // Set the counter to automatically reload
TIM1_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;// Select clock division : Regardless of the frequency
TIM1_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;TIM Count up
TIM_TimeBaseInit(TIM1, &TIM1_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM1, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_ICStructInit(&TIM1_ICInitStructure);
TIM1_ICInitStructure.TIM_ICFilter = 10;
TIM_ICInit(TIM1, &TIM1_ICInitStructure);// according to TIM_ICInitStruct The parameter specified in TIM
TIM_ClearFlag(TIM1, TIM_FLAG_Update);// eliminate TIM Update flag bit
TIM_ITConfig(TIM1, TIM_IT_Update, ENABLE); // To enable or disable specified TIM interrupt
TIM_SetCounter(TIM1,0);
TIM_Cmd(TIM1, ENABLE); // Enable or enable TIMx peripherals
}
void Encoder_Init_TIM2(void)
{
NVIC_InitTypeDef NVIC_InitStruct;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);// Enable timer 2 The clock of
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);// Can make PA Port clock
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1; // port configuration PA0 PA1
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; // Floating input
GPIO_Init(GPIOA, &GPIO_InitStructure); // Initialize according to the set parameters GPIOA
NVIC_InitStruct.NVIC_IRQChannel = TIM2_IRQn; // Timer 2 interrupt
NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE; // Can make IRQ passageway
NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1;// preemption 1
NVIC_InitStruct.NVIC_IRQChannelSubPriority = 3; // Response priority 3
NVIC_Init(&NVIC_InitStruct);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // Preassigned frequency counter
TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; // Set the counter to automatically reload
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;// Select clock division ： Regardless of the frequency
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;// Edge count mode
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); // Initialize the timer
TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);// Use encoder mode 3
TIM_ICStructInit(&TIM_ICInitStructure); // hold TIM_ICInitStruct Each parameter in the is filled in by default
TIM_ICInitStructure.TIM_ICFilter = 10; // Set filter length
TIM_ICInit(TIM2, &TIM_ICInitStructure);// according to TIM_ICInitStruct Initialize peripherals with parameters TIMx
TIM_ClearFlag(TIM2, TIM_FLAG_Update);// eliminate TIM Update flag bit
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);// Enable timer interrupt
TIM_SetCounter(TIM2,0);
TIM_Cmd(TIM2, ENABLE); // Enable timer
}
/**************************************************************************
The functionality ： Read encoder count per unit time
Entrance parameters ： Timer
return value ： Speed value
**************************************************************************/
int Read_Velocity(u8 TIMX)
{
int Encoder_TIM;
switch(TIMX)
{
case 1: Encoder_TIM= (short)TIM1 -> CNT; TIM1->CNT=0; break;
case 2: Encoder_TIM= (short)TIM2 -> CNT; TIM2->CNT=0; break;
default: Encoder_TIM=0;
}
return Encoder_TIM;
}
void TIM1_IRQHandler(void)// The interrupt handling function is empty , Clear the interrupt flag and end the interrupt
{
if(TIM_GetFlagStatus(TIM2,TIM_FLAG_Update)==SET)// Overflow interrupt
{
}
TIM_ClearITPendingBit(TIM2,TIM_IT_Update); // Clears the interrupt flag bit
}
void TIM2_IRQHandler(void)// The interrupt handling function is empty , Clear the interrupt flag and end the interrupt
{
if(TIM_GetFlagStatus(TIM2,TIM_FLAG_Update)==SET)// Overflow interrupt
{
}
TIM_ClearITPendingBit(TIM2,TIM_IT_Update); // Clears the interrupt flag bit
}
Refer to the main function ：
#include "stm32f10x.h"
#include "lcd.h"
#include "delay.h"
#include "remote.h"
#include "motor.h"
#include "key.h"
#include "led.h"
#include "usart.h"
#include "encoder.h"
#define MAXSPEED 7000
#define MINSPEED 1000
#define FILTERNUM 20
int main(void)
{
u8 Remote_key;// Remote control key value
u8 Key;// Key value
u8 *str=0;// The remote control displays
u16 speed=1000;
u16 PWM=0;
u16 filter=FILTERNUM;
int Encoder_TIM=0;
delay_init(); // Delay function initialization
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); // Set up NVIC Interrupt grouping 2:2 Bit preemption priority ,2 Bit response priority
uart_init(115200); // The serial port is initialized to 115200
LCD_Init();// initialization LCD function ; 320*240
Remote_Init(); // Infrared receiving initialization
LED_Init(); //LED Port initialization
//TIM3_PWM_Init(7199,0); // Regardless of the frequency .PWM frequency =72000000/900=80Khz
PWM_Init(7199,0);
KEY_Init();
CAR_Gpio_Init();
Encoder_Init_TIM1();
Encoder_Init_TIM2();
LCD_ShowString(30,60,300,16,16,"My RoBot");
LCD_ShowString(30,80,300,16,16,"MOTOR TEST:");
LCD_ShowString(30,100,300,16,16,"PWM: %");
MOTO(PosMode);
CAR_Speed(speed);// set speed
while(1){
Encoder_TIM=Read_Velocity(1);
LCD_ShowxNum(30, 120,Encoder_TIM , 4, 16,0);
USART_SendData(USART2,Encoder_TIM);
//printf("TIM1=%d\n\r",Encoder_TIM);
Encoder_TIM=Rea/d_Velocity(2);
//printf("TIM2=%d\n\r",Encoder_TIM);
USART_SendData(USART2,Encoder_TIM);
LCD_ShowxNum(30, 140,Encoder_TIM , 4, 16,0);
Remote_key=Remote_Scan();
Key=KEY_Scan(0);
//TIM_SetCompare2(TIM3,led0pwmval);
if(Remote_key)
{ switch(Remote_key)
{
case 0:str="ERROR";break;
case 162:
str="STOP";
MOTO(StopMode);
break;
case 98:str="UP";break;
case 2:str="PLAY";break;
case 226:
str="Go!";
MOTO(PosMode);
break;
case 194:str="RIGHT";break;
case 34:str="LEFT";break;
case 224:
str="VOL-";
filter--;
if(!filter){
filter=FILTERNUM;
speed-=1000;
if(speed<1000){
speed=MINSPEED;
}
}
break;
case 168:str="DOWN";break;
case 144:
str="VOL+";
filter--;
if(!filter){
filter=FILTERNUM;
speed+=500;
if(speed>7000){
speed=MAXSPEED;
}
}
break;
case 104:str="1";break;
case 152:str="2";break;
case 176:str="3";break;
case 48:str="4";break;
case 24:str="5";break;
case 122:str="6";break;
case 16:str="7";break;
case 56:str="8";break;
case 90:str="9";break;
case 66:str="0";break;
case 82:str="DELETE";break;
}
}else delay_ms(10);
if(Key==KEY0_PRES){// Slow down
speed-=1000;
if(speed<1000){
speed=MINSPEED;
}
}else if(Key==KEY1_PRES){
// Speed up
speed+=500;
if(speed>7000){
speed=MAXSPEED;
}
}
CAR_Speed(speed);
LCD_Fill(30+12*8,80,300,80+16,WHITE); // Clear the previous display
LCD_ShowString(30+12*8,80,300,16,16,str); // Show SYMBOL
PWM=speed*100/7200;
LCD_ShowNum(30+4*8, 100, PWM, 2, 16);
}
}
边栏推荐
- SQLite 3 of embedded database
- From January 11, 2007 to January 11, 2022, I have been in SAP Chengdu Research Institute for 15 years
- JPM 2021 most popular paper released (with download)
- Electronic Association C language level 1 33, odd even number judgment
- Parted command
- 321. Chessboard segmentation (2D interval DP)
- Construction and maintenance of business websites [15]
- leetcode2310. The one digit number is the sum of integers of K (medium, weekly)
- 剑指 Offer 42. 连续子数组的最大和
- Sword finger offer 31 Stack push in and pop-up sequence
猜你喜欢
How to debug apps remotely and online?
MySQL view concept, create view, view, modify view, delete view
Ar Augmented Reality applicable scenarios
Discussion on the idea of platform construction
开发那些事儿：如何利用Go单例模式保障流媒体高并发的安全性？
MySQL约束与多表查询实例分析
leetcode2311. 小于等于 K 的最长二进制子序列(中等，周赛)
跨域？同源？一次搞懂什么是跨域
How to execute an SQL in MySQL
如何用一款产品推动「品牌的惊险一跃」？
随机推荐
Ubuntu20.04 PostgreSQL 14 installation configuration record
Design and implementation of key value storage engine based on LSM tree
Develop those things: how to use go singleton mode to ensure the security of high concurrency of streaming media?
With the innovation and upgrading of development tools, Kunpeng promotes the "bamboo forest" growth of the computing industry
* and & symbols in C language
Implementation of Weibo system based on SSM
剑指 Offer 42. 连续子数组的最大和
开发那些事儿：如何利用Go单例模式保障流媒体高并发的安全性？
牛客网——华为题库(51~60)
Learn basic K-line diagram knowledge in three minutes
MySQL view concept, create view, view, modify view, delete view
城市选择器组件实现原理
Is the knowledge of University useless and outdated?
Matlab uses audioread and sound to read and play WAV files
Sword finger offer II 031 Least recently used cache
分卷压缩，解压
How to execute an SQL in MySQL
leetcode2309. 兼具大小写的最好英文字母（简单，周赛）
Opengauss database backup and recovery guide
Exception handling of class C in yyds dry goods inventory