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6-4PWM驱动LED呼吸灯&PWM驱动舵机&PWM驱动直流电机

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本文字数： 9.3k 阅读时长 ≈ 1:18
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void TIM_OC1Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct);
void TIM_OC2Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct);
void TIM_OC3Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct);
void TIM_OC4Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct);

配置输出比较模块，OC意为Output Compare。
有四个输出比较单元，对应四个函数。

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void TIM_OCStructInit(TIM_OCInitTypeDef* TIM_OCInitStruct);

用来给输出比较结构体赋默认值。可以不用手动设置所有的TIM结构体参数。

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void TIM_CtrlPWMOutputs(TIM_TypeDef* TIMx, FunctionalState NewState);

使用高级定时器输出PWM时，需要使能主输出，否则PWM将不能正常输出（仅高级定时器）

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void TIM_ForcedOC1Config(TIM_TypeDef* TIMx, uint16_t TIM_ForcedAction);
void TIM_ForcedOC2Config(TIM_TypeDef* TIMx, uint16_t TIM_ForcedAction);
void TIM_ForcedOC3Config(TIM_TypeDef* TIMx, uint16_t TIM_ForcedAction);
void TIM_ForcedOC4Config(TIM_TypeDef* TIMx, uint16_t TIM_ForcedAction);

配置强制输出模式，暂停输出波形并且强制输出高电平或者低电平。

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void TIM_OC1PreloadConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPreload);
void TIM_OC2PreloadConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPreload);
void TIM_OC3PreloadConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPreload);
void TIM_OC4PreloadConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPreload);

配置CCR寄存器的预装功能（影子寄存器），即写入的值不会立即生效，而是在更新事件后生效。

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void TIM_OC1FastConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCFast);
void TIM_OC2FastConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCFast);
void TIM_OC3FastConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCFast);
void TIM_OC4FastConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCFast);

配置快速使能。

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void TIM_ClearOC1Ref(TIM_TypeDef* TIMx, uint16_t TIM_OCClear);
void TIM_ClearOC2Ref(TIM_TypeDef* TIMx, uint16_t TIM_OCClear);
void TIM_ClearOC3Ref(TIM_TypeDef* TIMx, uint16_t TIM_OCClear);
void TIM_ClearOC4Ref(TIM_TypeDef* TIMx, uint16_t TIM_OCClear);

外部事件时清除REF信号。

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void TIM_OC1PolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPolarity);
void TIM_OC1NPolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCNPolarity);

void TIM_OC2PolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPolarity);
void TIM_OC2NPolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCNPolarity);

void TIM_OC3PolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPolarity);
void TIM_OC3NPolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCNPolarity);

void TIM_OC4PolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPolarity);

单独设置输出比较极性，NPolarity是高级定时器里互补通道的配置。OC4没有互补通道，所以没有OC4N的函数

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void TIM_CCxCmd(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint16_t TIM_CCx);
void TIM_CCxNCmd(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint16_t TIM_CCxN);

单独修改输出使能的。

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void TIM_SelectOCxM(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint16_t TIM_OCMode);

选择输出比较模式，单独修改输出比较模式。

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void TIM_SetCompare1(TIM_TypeDef* TIMx, uint16_t Compare1);
void TIM_SetCompare2(TIM_TypeDef* TIMx, uint16_t Compare2);
void TIM_SetCompare3(TIM_TypeDef* TIMx, uint16_t Compare3);
void TIM_SetCompare4(TIM_TypeDef* TIMx, uint16_t Compare4);

单独更改CCR寄存器值，在运行时修改占空比需要用到。

PWM驱动LED呼吸灯

PWM.C

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#include "stm32f10x.h"                  // Device header

void PWM_Init(void)
{
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
	
//	RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);//使用引脚重映射，需要先使能AFIO
//	GPIO_PinRemapConfig(GPIO_PartialRemap1_TIM2,ENABLE);//引脚重映射，把PA0映射到PA15
//	GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable,ENABLE);
	
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;//使用复用开漏/推挽输出
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	TIM_InternalClockConfig(TIM2);
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
	TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
	TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseInitStructure.TIM_Period = 100 - 1;//ARR
	TIM_TimeBaseInitStructure.TIM_Prescaler = 720 - 1;//PSC
	TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
	TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitStructure);
	
	//输出比较
	TIM_OCInitTypeDef TIM_OCInitStructure;
	TIM_OCStructInit(&TIM_OCInitStructure);//用来给输出比较结构体赋默认值。
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;//设置OC比较的模式
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;//设置输出比较的极性
	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;//设置输出使能
	TIM_OCInitStructure.TIM_Pulse = 0;//设置CCR
	TIM_OC1Init(TIM2,&TIM_OCInitStructure);

	
	TIM_Cmd(TIM2,ENABLE);
	
}

void PWM_SetCompare1(uint16_t Compare)//运行时修改CCR的值
{
	TIM_SetCompare1(TIM2,Compare);
}

main.c

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#include "stm32f10x.h"                  // Device header
#include "Delay.h"
#include "OLED.h"
#include "PWM.h"
uint8_t i;
int main(void)
{
	OLED_Init();
	PWM_Init();//PWM初始化
	while (1)
	{
		for(i = 1 ;i <= 100 ; i++)//CCR的值从1到100变化，再从100到1，LED的占空比不断变化，亮度也不断变化。
		{
			PWM_SetCompare1(i);
			Delay_ms(20);
		}
		for(i = 1 ;i <= 100 ; i++)
		{
			PWM_SetCompare1(100 - i);
			Delay_ms(20);
		}
	}
}

PWM驱动舵机

PWM.C

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#include "stm32f10x.h"                  // Device header

void PWM_Init(void)
{
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
	
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;//使用复用开漏/推挽输出
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	TIM_InternalClockConfig(TIM2);
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
	TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
	TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseInitStructure.TIM_Period = 20000 - 1;//ARR
	TIM_TimeBaseInitStructure.TIM_Prescaler = 72 - 1;//PSC
	TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
	TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitStructure);
	
	TIM_OCInitTypeDef TIM_OCInitStructure;
	TIM_OCStructInit(&TIM_OCInitStructure);
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;//设置OC比较的模式
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;//设置输出比较的极性
	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;//设置输出使能
	TIM_OCInitStructure.TIM_Pulse = 0;//设置CCR，默认先设置成0，之后再改
	TIM_OC2Init(TIM2,&TIM_OCInitStructure);

	TIM_Cmd(TIM2,ENABLE);
	
}

void PWM_SetCompare2(uint16_t Compare)
{
	TIM_SetCompare2(TIM2,Compare);
}

Servo.c

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#include "stm32f10x.h"                  // Device header
#include "PWM.h"

void Servo_init(void)
{
	PWM_Init();
	
}

void Servo_SetAngle(float Angle)
{
	PWM_SetCompare2(Angle / 180 * 2000 + 500);
}

Main.c

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#include "stm32f10x.h"                  // Device header
#include "Delay.h"
#include "OLED.h"
#include "key.h"
#include "Servo.h"
uint8_t KeyNum;
float Angle;
int main(void)
{
	OLED_Init();
	Servo_init();
	KEY_Init();
	
	OLED_ShowString(1,1,"Angle:");
	while(1)
	{
		KeyNum = Key_GetNum();
		if(KeyNum == 1)
		{
			Angle += 30;
			if(Angle > 180)
			{
				Angle = 0;
			}
		}
		Servo_SetAngle(Angle);
		OLED_ShowNum(1,7,Angle,3);
	}
}

PWM驱动直流电机

Motor.c

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#include "stm32f10x.h"                  // Device header
#include "PWM.h"

void Motor_Init(void)//初始化直流电机
{
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;//推挽输出
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	PWM_Init();

}

void Motor_SetSpeed(int8_t Speed)
{
	if(Speed >= 0)//输入的Speed>=0
	{
		GPIO_SetBits(GPIOA,GPIO_Pin_4);//置位PA4，方向
		GPIO_ResetBits(GPIOA,GPIO_Pin_5);//复位PA5，对应方向
		PWM_SetCompare3(Speed);//修改CCR
	}
	else//Speed<0
	{
		GPIO_SetBits(GPIOA,GPIO_Pin_5);
		GPIO_ResetBits(GPIOA,GPIO_Pin_4);
		PWM_SetCompare3(-Speed);//Speed为负数，取反
	}
}

PWM.c

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#include "stm32f10x.h"                  // Device header

void PWM_Init(void)
{
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);

	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	TIM_InternalClockConfig(TIM2);
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
	TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
	TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseInitStructure.TIM_Period = 100 - 1;//ARR
	TIM_TimeBaseInitStructure.TIM_Prescaler = 36 - 1;//PSC
	TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
	TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitStructure);
	
	TIM_OCInitTypeDef TIM_OCInitStructure;
	TIM_OCStructInit(&TIM_OCInitStructure);
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
	TIM_OCInitStructure.TIM_Pulse = 0;
	TIM_OC3Init(TIM2,&TIM_OCInitStructure);

	
	TIM_Cmd(TIM2,ENABLE);
	
}

void PWM_SetCompare3(uint16_t Compare)
{
	TIM_SetCompare3(TIM2,Compare);
}

main.c

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#include "stm32f10x.h"                  // Device header
#include "Delay.h"
#include "OLED.h"
#include "Motor.h"
#include "key.h"

uint8_t KeyNum;
int8_t Speed;
int main(void)
{
	OLED_Init();
	Motor_Init();
	OLED_ShowString(1,1,"Speed:");
	while (1)
	{
		KeyNum = Key_GetNum();
		if(KeyNum == 1)
		{
			Speed += 20;
			if(Speed > 100)
			{
				Speed = -100;
			}
			Motor_SetSpeed(Speed);
			OLED_ShowSignedNum(1,7,Speed,3);
		}
	}
}