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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);
}
}
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