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
- Laravel artisan common commands
- MySQL如何解决delete大量数据后空间不释放的问题
- How does MySQL solve the problem of not releasing space after deleting a large amount of data
- Failed to transform file 'xxx' to match attributes
- 花一个星期时间呕心沥血整理出高频软件测试/自动化测试面试题和答案
- CSDN insertion directory in 1 second
- 开发工具创新升级，鲲鹏推进计算产业“竹林”式生长
- 1218 square or round
- Matlab uses audiorecorder and recordblocking to record sound, play to play sound, and audiobook to save sound
- Bash bounce shell encoding
猜你喜欢
New news, Wuhan Yangluo international port, filled with black technology, refreshes your understanding of the port
leetcode2305. Fair distribution of biscuits (medium, weekly, shaped pressure DP)
How does MySQL solve the problem of not releasing space after deleting a large amount of data
【视频】马尔可夫链原理可视化解释与R语言区制转换MRS实例|数据分享
Golang lock
![[Video] Markov chain Monte Carlo method MCMC principle and R language implementation | data sharing](/img/ba/dcb276768b1a9cc84099f093677d29.png)
[Video] Markov chain Monte Carlo method MCMC principle and R language implementation | data sharing
How to execute an SQL in MySQL
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？
What are the skills of spot gold analysis?
An analysis of circuit for quick understanding
随机推荐
Parted command
734. Energy stone (greed, backpack)
Implementation of Weibo system based on SSM
Openssl3.0 learning XXI provider encoder
np. Where and torch Where usage
There are spaces in the for loop variable in the shell -- IFS variable
The smart Park "ZhongGuanCun No.1" subverts your understanding of the park
城市选择器组件实现原理
The concepts and differences between MySQL stored procedures and stored functions, as well as how to create them, the role of delimiter, the viewing, modification, deletion of stored procedures and fu
Matlab uses resample to complete resampling
Implementation principle of city selector component
D discard the virtual recovery method
"C language programming", 4th Edition, edited by he Qinming and Yan Hui, after class exercise answers Chapter 3 branch structure Exercise 3
This is the form of the K-line diagram (pithy formula)
An analysis of circuit for quick understanding
Post infiltration flow encryption
leetcode2311. Longest binary subsequence less than or equal to K (medium, weekly)
Regular expression learning notes
leetcode2312. Selling wood blocks (difficult, weekly race)
How to build and use redis environment