stm32 pwm 电调电机

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python 树莓派版本，通俗表现原理。stm32 C语言版本在后面

import RPi.GPIO as GPIO import timemode=2 IN1=11def setup(): GPIO.setwarnings(False) GPIO.setmode(GPIO.BOARD) GPIO.setup(IN1, GPIO.OUT)def set(): print "set" try: print "High" while(1): GPIO.output(IN1,0) time.sleep(0.02-0.002) GPIO.output(IN1,1) time.sleep(0.002) except: print "low" while(1): GPIO.output(IN1,0) time.sleep(0.02-0.001) GPIO.output(IN1,1) time.sleep(0.001)def loop(): print "LOOP" print "run" try: while(1): GPIO.output(IN1,0) time.sleep(0.02-0.001) GPIO.output(IN1,1) time.sleep(0.001) except: while(1): GPIO.output(IN1,0) time.sleep(0.02-0.00199) GPIO.output(IN1,1) time.sleep(0.00199) ''' if(up>=0.018): up=up else: up=up+0.0001 ''' setup() if( mode==1): set() elif(mode==2): loop()

C语言版本

/*********************************************** 功能：输出PWM的定时器2初始化输入参数：无输出:无描述：调用该函数，初始化定时器2为PWM输出模式硬件连接：PA0,PA1，PA2，PA3 ***********************************************/ void MotorInit(void) { GPIO_InitTypeDef GPIO_InitStructure; TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_OCInitTypeDef TIM_OCInitStructure; uint16_t PrescalerValue = 0; //控制电机PWM频率 RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); //打开外设A的时钟和复用时钟 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 ,ENABLE); //打开定时器2时钟 // 设置GPIO功能。 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOA, &GPIO_InitStructure); // 复位定时器。 //TIM_DeInit(TIM2); // 配置计时器。 //PrescalerValue = (uint16_t) (SystemCoreClock / 24000000) - 1; PrescalerValue =71; TIM_TimeBaseStructure.TIM_Period = 19999; //设为50hz TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;//pwm时钟分频 TIM_TimeBaseStructure.TIM_ClockDivision = 0; TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数 TIM_TimeBaseInit(TIM2,&TIM_TimeBaseStructure); // 配置TIM2为PWM输出模式 //TIM_OCStructInit(&TIM_OCInitStructure); TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //TIM_OCInitStructure.TIM_Pulse = 0; //0 TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; TIM_OC1Init(TIM2,&TIM_OCInitStructure); TIM_OC2Init(TIM2,&TIM_OCInitStructure); TIM_OC3Init(TIM2,&TIM_OCInitStructure); TIM_OC4Init(TIM2,&TIM_OCInitStructure); TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable); TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable); TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable); TIM_OC4PreloadConfig(TIM2, TIM_OCPreload_Enable); // 启动计时器。 TIM_Cmd(TIM2,ENABLE); //printf("Motor init success...\r\n"); }//下面是启动方法TIM_SetCompare1(TIM2,999); TIM_SetCompare2(TIM2,999); TIM_SetCompare3(TIM2,999); TIM_SetCompare4(TIM2,999); //先把油门打到最低，即高电平为1ms delay_ms(1800);//等待电机确认 delay_ms(1800); delay_ms(1800); delay_ms(1800); delay_ms(1800); delay_ms(1800); delay_ms(1800); delay_ms(1800); TIM_SetCompare1(TIM2,1800); //再把高电平时间设为1~2ms TIM_SetCompare2(TIM2,1800); TIM_SetCompare3(TIM2,1800); TIM_SetCompare4(TIM2,1800);