STM32使用定时器驱动电机

1、对定时器进行初始化配置

1.1、include "encoder.c"文件

#include "encoder.h"void TIM4_Encoder_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef  GPIO_InitStructure;
TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
TIM_ICInitTypeDef  TIM_ICInitStructure;RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);// 使能定时器时钟  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);  //io口使能使用到的捕获编码器AB相借，GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7;;  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;  //浮空输入   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;    GPIO_Init(GPIOB, &GPIO_InitStructure);       //推挽输出 ，IO口速度为50MHz//初始化TIM4的时机单元TIM_TimeBaseStructure.TIM_Period = 899; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值   80KTIM_TimeBaseStructure.TIM_Prescaler =0; //设置用来作为TIMx时钟频率除数的预分频值  不分频TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_timTIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位//配置对应寄存器为编码器接口模式以及配置相关的输入捕获配置  //THE MODE OF ENCODER TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12,TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);  //TIM_ICPolarity_Rising上升沿捕获 TIM_ICStructInit(&TIM_ICInitStructure);TIM_ICInitStructure.TIM_ICFilter=6;TIM_ICInit(TIM4,&TIM_ICInitStructure);     // 其实中断可以不用开，因为硬件自行对计数器进行加减。TIM_Cmd(TIM4, ENABLE);  //使能TIM4   TIM_SetCounter(TIM4,0);}float HF_Get_Encode_TIM4(void)
{float cnt;cnt  = (float)((uint16_t)0x7fff) - (float)((uint16_t)(TIM4->CNT)) ;TIM4->CNT = 0x7fff;return cnt;
}#include "pwm.h"//PWM输出初始化
//arr：自动重装值
//psc：时钟预分频数
void TIM1_PWM_Init(u16 arr,u16 psc)
{  GPIO_InitTypeDef GPIO_InitStructure;TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;TIM_OCInitTypeDef  TIM_OCInitStructure;RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);// 使能timer1的时钟 RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA , ENABLE);  //使能GPIO外设时钟使能RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); //使能port of driver，pb01//电机的两个方向的引脚，一个高电平一个低电平PB01                                                                       GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;  //>PB0 端口配置GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;   //通用推挽输出GPIO_Mode_Out_PP GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;  //IO口速度为50MHz，setbits输出高GPIO_Init(GPIOB, &GPIO_InitStructure); GPIO_SetBits(GPIOB,GPIO_Pin_0);GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;  // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;   //推 PB1GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;  //I GPIO_Init(GPIOB, &GPIO_InitStructure);  // 输出低GPIO_ResetBits(GPIOB,GPIO_Pin_1);//设置该引脚为复用输出功能,输出TIM1 CH1的PWM脉冲波形 PA8GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8; //TIM_CH1GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  //推挽复用输出GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOA, &GPIO_InitStructure);TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值  80KTIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值  不分频TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_timTIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能TIM_OCInitStructure.TIM_Pulse = 0; //设置待装入捕获比较寄存器的脉冲值TIM_OCInitStructure.TIM_OCPolarity =TIM_OCPolarity_Low; //输出极性:TIM输出比较极性高TIM_OC1Init(TIM1, &TIM_OCInitStructure);  //根据TIM_OCInitStruct中指定的参数初始化外设TIMxTIM_CtrlPWMOutputs(TIM1,ENABLE); //MOE 主输出使能 TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);  //CH1预装载使能  TIM_ARRPreloadConfig(TIM1, ENABLE); //使能TIMx在ARR上的预装载寄存器TIM_Cmd(TIM1, ENABLE);  //使能TIM1}

主函数

#include "led.h"
#include "delay.h"
#include "sys.h"
#include "pwm.h"
#include "usart.h"
#include "encoder.h"
#include "delay.h"int main(void){ int cnt;delay_init();       //延时函数初始化 LED_Init();//初始化与LED连接的硬件接口 TIM1_PWM_Init(899,0);//不分频。PWM频率=72000/(899+1)=80Khz . 电机的频率不得小于10KTIM4_Encoder_Init(899,0);while(1){TIM_SetCompare1(TIM1,600);GPIO_ResetBits(GPIOD,GPIO_Pin_2); delay_ms(100);GPIO_SetBits(GPIOD,GPIO_Pin_2); delay_ms(100);GPIO_SetBits(GPIOD,GPIO_Pin_2);//LED1输出高delay_ms(300); GPIO_ResetBits(GPIOD,GPIO_Pin_2);//LED1输出低delay_ms(300);cnt=HF_Get_Encode_TIM4(TIM4); }