STM32F407 直流有刷电机编码器

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已于 2022-12-01 22:35:27 修改 · 788 阅读
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#stm32 #单片机 #arm
于 2022-09-19 20:40:17 首次发布
/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

#include "bsp_delay.h"
#include "bsp_key.h"
//#include "bsp_motor.h"

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim3;

UART_HandleTypeDef huart1;

/* USER CODE BEGIN PV */

uint16_t encoder_update_cnt = 0;

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_TIM1_Init(void);
static void MX_TIM3_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_USART1_UART_Init();
  MX_TIM1_Init();
  MX_TIM3_Init();
  /* USER CODE BEGIN 2 */
	
	delay_init(168);
	
	__IO uint32_t encoder_step;
	
	__HAL_TIM_SET_COUNTER(&htim3, 0);
	__HAL_TIM_CLEAR_FLAG(&htim3, TIM_FLAG_UPDATE);
	__HAL_TIM_ENABLE_IT(&htim3, TIM_IT_UPDATE);
	HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);
	
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
		encoder_step = encoder_update_cnt * htim3.Init.Period + __HAL_TIM_GET_COUNTER(&htim3);
		
		if(KEY1_StateRead()==KEY_DOWN)	/* 停止 */
    {
			HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_1);
			HAL_TIMEx_PWMN_Stop(&htim1, TIM_CHANNEL_1);
			__HAL_TIM_SET_COUNTER(&htim1, 0);
			__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, htim1.Init.Period >> 1);
			HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
			HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_1);
    }
		if (KEY2_StateRead() == KEY_DOWN)
		{
			HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_1);
			HAL_TIMEx_PWMN_Stop(&htim1, TIM_CHANNEL_1);
			__HAL_TIM_SET_COUNTER(&htim1, 0);
			__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, htim1.Init.Period / 6);
			HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
			HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_1);
		}
		if (KEY3_StateRead() == KEY_DOWN)	
		{
			HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_1);
			HAL_TIMEx_PWMN_Stop(&htim1, TIM_CHANNEL_1);
			__HAL_TIM_SET_COUNTER(&htim1, 0);
			__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, htim1.Init.Period / 3);
			HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
			HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_1);
		}
		if (KEY5_StateRead() == KEY_DOWN)	/* 反方向 */
		{
			HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_1);
			HAL_TIMEx_PWMN_Stop(&htim1, TIM_CHANNEL_1);
			__HAL_TIM_SET_COUNTER(&htim1, 0);
			__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, htim1.Init.Period / 4 * 3);
			HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
			HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_1);
		}
		
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_Osc