STM32 直流电机

       要想用定时器输出的PWM控制直流电机，，首先要理解“通道”的概念。。一个定时器可以支持一个PWM，要支持多个，就需要各路PWM周期相同而占空比不同。。利用定时器的通道这一概念就可以实现。STM32单片机定时器有四个通道，每个通道的TIM1——CCRx（x=1、2、3、4）存放一个值。。计数器从0开始计数，此时PWM输出为0。。当计数值达到寄存值时，此时PWM电平发生翻转，输出1。。所以设置四个不同的占空比的值，就可以产生四路PWM波。

      本例程使用高级定时器TIM1输出两路PWM波分别控制左边两个轮子轮和右边两个轮子。TIM1时钟频率是72MHz，如果要输出20KHz的PWM波，，应该把TIM1_Period设为3600-1。具体代码如下所示：

 

void TIM_Configuration(vu16 CCR1,vu16 CCR2)
{ 

     TIM1_TimeBaseInitTypeDef  TIM1_TimeBaseStructure;
    TIM1_OCInitTypeDef  TIM1_OCInitStructure;

   TIM1_CtrlPWMOutputs(DISABLE);
  /* TIM1 Peripheral Configuration */ 
  TIM1_DeInit();

 

  /* Time Base configuration */
  TIM1_TimeBaseStructure.TIM1_Prescaler = 0;
  TIM1_TimeBaseStructure.TIM1_CounterMode = TIM1_CounterMode_Up;
  TIM1_TimeBaseStructure.TIM1_Period = 3599;
  TIM1_TimeBaseStructure.TIM1_ClockDivision = 0;
  TIM1_TimeBaseStructure.TIM1_RepetitionCounter = 0;

  TIM1_TimeBaseInit(&TIM1_TimeBaseStructure);

 

  /* Channel 1, 2,3 and 4 Configuration in PWM mode */
  TIM1_OCInitStructure.TIM1_OCMode = TIM1_OCMode_PWM2; 

  TIM1_OCInitStructure.TIM1_OutputState = TIM1_OutputState_Enable; 
  TIM1_OCInitStructure.TIM1_OutputNState = TIM1_OutputNState_Enable;                  
  TIM1_OCInitStructure.TIM1_Pulse = CCR1; 
  TIM1_OCInitStructure.TIM1_OCPolarity = TIM1_OCPolarity_Low; 
  TIM1_OCInitStructure.TIM1_OCNPolarity = TIM1_OCNPolarity_Low;         
  TIM1_OCInitStructure.TIM1_OCIdleState = TIM1_OCIdleState_Set;
  TIM1_OCInitStructure.TIM1_OCNIdleState = TIM1_OCIdleState_Reset;          
  
  TIM1_OC1Init(&TIM1_OCInitStructure);

 

  TIM1_OCInitStructure.TIM1_Pulse = CCR2;
  TIM1_OC2Init(&TIM1_OCInitStructure);

  /* TIM1 counter enable */
  TIM1_Cmd(ENABLE);

  /* Main Output Enable */
  TIM1_CtrlPWMOutputs(ENABLE);

}

 

   最后可以调用这个函数实现小车的前进，后退，左转，右转。。好的，，今天就写到这里，希望地大家有用。。