STM32+L298N+PID驅動4路PWM波的程序源碼

ID:372082 · 發表于 2018-7-16 14:28

//PB4 LEFT PC4
//PB5 RIGHT PC5
//PB0 FORTH PC0
//PB1 BACK PC1

單片機源程序如下:

#include "sys.h"
#include "l298n.h"
#include "usart.h"
void l298n_TIM3_PWM_init(u16 arr,u16 psc)
//使用TIM3輸出四路pwm波
{
GPIO_InitTypeDef GPIO_InitStructure;//定義結構體
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;//定義初始化結構體
TIM_OCInitTypeDef TIM_OCInitStructure;//定義結構體
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //使能定時器3時鐘
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE);//使能GPIO外設和AFIO復用功能模塊時鐘
GPIO_PinRemapConfig(GPIO_FullRemap_TIM3, ENABLE); //選擇Timer3完全重映像
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable,ENABLE);//禁用JTAG
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_8|GPIO_Pin_9; //使用TIM3下的TIM_CH1/TIM_CH2/TIM_CH3/TIM_CH4
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //復用推挽功能
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOC, &GPIO_InitStructure);//初始化引腳
//初始化TIM3
TIM_TimeBaseStructure.TIM_Period = arr; //自動重裝載寄存器的值
TIM_TimeBaseStructure.TIM_Prescaler =psc; //TIMX預分頻的值
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //時鐘分割
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上計數
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //根據以上功能對定時器進行初始化
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;//選擇定時器模式，TIM脈沖寬度調制模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;//比較輸出使能
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;//輸出比較極性低
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);
//使能預裝載寄存器
TIM_OC1Init(TIM3, &TIM_OCInitStructure);
TIM_OC2Init(TIM3, &TIM_OCInitStructure);
TIM_OC3Init(TIM3, &TIM_OCInitStructure);
TIM_OC4Init(TIM3, &TIM_OCInitStructure);
//根據結構體信息進行初始化
TIM_Cmd(TIM3, ENABLE); //使能定時器TIM3
}