學習STM32程式設計——智能小車電機調速子產品的應用開發

關鍵代碼：

timer.c

/**
* @brief Timer1 輸出比較通道 GPIO 端口的功能配置
* @param None
* @retval None
*/
void TIM1_GPIO_Config(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE,ENABLE);
    /* CH1:PE9 | CH2:PE11 | CH3:PE13 | CH4:PE14 */
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;// 複用功能
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9|GPIO_Pin_11| \
    GPIO_Pin_13|GPIO_Pin_14;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_Init(GPIOE,&GPIO_InitStructure);
    /* PE9|PE11|PE13|PE14  複用為 TIM1 外部通道 GPIO */
    GPIO_PinAFConfig(GPIOE,GPIO_PinSource9,GPIO_AF_TIM1);
    GPIO_PinAFConfig(GPIOE,GPIO_PinSource11,GPIO_AF_TIM1);
    GPIO_PinAFConfig(GPIOE,GPIO_PinSource13,GPIO_AF_TIM1);
    GPIO_PinAFConfig(GPIOE,GPIO_PinSource14,GPIO_AF_TIM1);
}

/**
* @brief Timer1  時基和 PWM 輸出功能初始化
* @param arr: 自動重載寄存器值， PSC: 預分頻器分頻系數
* @retval None
*/
void TIM1_PWM_Init(uint16_t arr, uint16_t psc)
{
    TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;
    /* SystemCoreClock = 168000000 */
    uint32_t TimerPeriod = 1/(SystemCoreClock/(psc+1))*(arr+1);
    uint32_t ccr1 = (arr+1) / 2; // 占空比 1/2 = 50%
    uint32_t ccr2 = (arr+1) / 3; // 占空比 1/3 = 33%
    uint32_t ccr3 = (arr+1) / 4; // 占空比 1/4 = 25%
    uint32_t ccr4 = (arr+1) / 5; // 占空比 1/5 = 20%
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1,ENABLE);
    /*  定時器基本初始化 */
    TIM_TimeBaseInitStructure.TIM_Period = arr; // 自動重載寄存器值
    TIM_TimeBaseInitStructure.TIM_Prescaler = psc; // 預分頻系數
    TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;// 死區控制用
    TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;// 遞增計數
    TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;// 重複計數器設定為 0
    TIM_TimeBaseInit(TIM1,&TIM_TimeBaseInitStructure);
    
    /*  定時器輸出比較功能初始化 */
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;// 輸出比較模式為 PWM1
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
    TIM_OCInitStructure.TIM_Pulse = ccr1; // 通道 1 的 TIMx_CCR1 初值
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
    TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
    TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
    TIM_OC1Init(TIM1,&TIM_OCInitStructure); // 通道 1 初始化    
    TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);// 使能預裝載寄存器
    
    TIM_OCInitStructure.TIM_Pulse = ccr2; // 通道 2 的 TIMx_CCR2 初值
    TIM_OC2Init(TIM1,&TIM_OCInitStructure); // 通道 2 初始化    
    TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);// 使能預裝載寄存器
    
    TIM_OCInitStructure.TIM_Pulse = ccr3; // 通道 3 的 TIMx_CCR3 初值
    TIM_OC3Init(TIM1,&TIM_OCInitStructure); // 通道 3 初始化    
    TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);// 使能預裝載寄存器
    
    TIM_OCInitStructure.TIM_Pulse = ccr4; // 通道 4 的 TIMx_CCR4 初值
    TIM_OC4Init(TIM1,&TIM_OCInitStructure); // 通道 4 初始化    
    TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable); // 使能預裝載寄存器
    
    TIM_ARRPreloadConfig(TIM1,ENABLE); //ARPE 使能
    TIM_Cmd(TIM1,ENABLE);  // 使能定時器 1
    /*  進階控制定時器需要配置 TIMx_BDTR 的第 15 位 _MOE ，才可使能主輸出 */
    TIM_CtrlPWMOutputs(TIM1,ENABLE);
}           

motor.c

/**
* @brief 小車前進，電機正轉控制
* @param speed: 前進速度 (TIMx_CCR 值 )
* @retval None
*/
void Car_Forward(int16_t speed)
{
    int16_t backSpeed;
    nSLEEP = 1;
    if(speed > 0) {
        if(speed > 100) speed = 100;
        /*  第一路電機控制 */
        TIM_SetCompare1(TIM1, speed);
        TIM_SetCompare2(TIM1, 0);
        /*  第二路電機控制 */
        TIM_SetCompare3(TIM1, speed);
        TIM_SetCompare4(TIM1, 0);
    }
    else if(speed < 0) {
        if(speed < -100) speed = -100;
        backSpeed = -speed;
        /*  第一路電機控制 */
        TIM_SetCompare1(TIM1, backSpeed);
        TIM_SetCompare2(TIM1, 0);
        /*  第二路電機控制 */
        TIM_SetCompare3(TIM1, backSpeed);
        TIM_SetCompare4(TIM1, 0);
    }
    TIM_CtrlPWMOutputs(TIM1,ENABLE);
}
/**
* @brief 小車後退，電機反轉控制
* @param speed: 後退速度 (TIMx_CCR 值 )
* @retval None
*/
void Car_Backup(int16_t speed)
{
    int16_t backSpeed;
    nSLEEP = 1;
    if(speed > 0) {
        if(speed > 100) speed = 100;
        /*  第一路電機控制 */
        TIM_SetCompare1(TIM1, 0);
        TIM_SetCompare2(TIM1, speed);
        /*  第二路電機控制 */
        TIM_SetCompare3(TIM1, 0);
        TIM_SetCompare4(TIM1, speed);
    }
    else if(speed < 0) {
        if(speed < -100) speed = -100;
        backSpeed = -speed;
        /*  第一路電機控制 */
        TIM_SetCompare1(TIM1, 0);
        TIM_SetCompare2(TIM1, backSpeed);
        /*  第二路電機控制 */
        TIM_SetCompare3(TIM1, 0);
        TIM_SetCompare4(TIM1, backSpeed);
    }
    TIM_CtrlPWMOutputs(TIM1,ENABLE);
}
/**
* @brief 小車停止控制
* @param None
* @retval None
*/
void Car_Stop(void)
{
    nSLEEP = 1;
    /*  第一路電機控制 */
    TIM_SetCompare1(TIM1, 95);
    TIM_SetCompare2(TIM1, 95);
    /*  第二路電機控制 */
    TIM_SetCompare3(TIM1, 95);
    TIM_SetCompare4(TIM1, 95);
    TIM_CtrlPWMOutputs(TIM1,ENABLE);
}           

main.c

int main(void)
{
    delay_init(168); // 延時函數初始化
    LED_Init(); //LED 端口初始化
    Key_Init(); // 按鍵初始化
    EXTIx_Init();  // 外部中斷初始化
    USART1_Init(115200);  //USART1 初始化
    TIM1_GPIO_Config(); // 定時器 1 輸出通道 GPIO 初始化
    /*  定時器 1 PWM 輸出功能初始化 */
    TIM1_PWM_Init(100-1, 12-1);
    printf("System Started!\r\n");
    while(1)
    {
        Key_Process();
        LED1 = ~LED1;
        delay_ms(50);
    }
    return 0;
}
/**
* @brief 按鍵處理流程
* @param None
* @retval None
*/
static void Key_Process(void)
{
    /* Key1_ 上鍵按下，電機正轉，小車前進 */
    if(keyValue == KEY_U_PRESS)
    {
        if(Motor_State == MOTOR_STOP)
        {
            Car_Forward(70); // 電機正轉，小車前進
            Motor_State = MOTOR_FORWARD;
        }
        else if(Motor_State == MOTOR_FORWARD || \
        Motor_State == MOTOR_BACKUP)
        {
            Car_Stop();
            Motor_State = MOTOR_STOP;
        }
        keyValue = 0;
    }
    /* Key2_ 下鍵按下，電機反轉，小車後退 */
    if(keyValue == KEY_D_PRESS)
    {
        if(Motor_State == MOTOR_STOP)
        {
            Car_Backup(70); // 電機反轉，小車後退
            Motor_State = MOTOR_BACKUP;
        }
        else if(Motor_State == MOTOR_FORWARD || \
        Motor_State == MOTOR_BACKUP)
        {
            Car_Stop();
            Motor_State = MOTOR_STOP;
        }
        keyValue = 0;
    }
    /* Key3_ 左鍵按下，減小占空比 */
    if(keyValue == KEY_L_PRESS)
    {
        if(Motor_State == MOTOR_FORWARD)
        {
            newSpeed -= 2;
            if(newSpeed < 0) newSpeed = 0;
            Car_Forward(newSpeed);
        }
        else if(Motor_State == MOTOR_BACKUP)
        {
            newSpeed -= 2;
            if(newSpeed < 0) newSpeed = 0;
            Car_Backup(newSpeed);
        }
        keyValue = 0;
    }
    /* Key4_ 右鍵按下，增大占空比 */
    if(keyValue == KEY_R_PRESS)
    {
        if(Motor_State == MOTOR_FORWARD)
        {
            newSpeed += 2;
            if(newSpeed >= 100) newSpeed = 100;
            Car_Forward(newSpeed);
        }
        else if(Motor_State == MOTOR_BACKUP)
        {
            newSpeed += 2;
            if(newSpeed >= 100) newSpeed = 100;
            Car_Backup(newSpeed);
        }
        keyValue = 0;
    }
}