直流电机正反转，如何配置代码实现自由切换?

linlima · 发表于 2015-9-24 15:13:06

请教大神，STM32F030不用TIM1的刹车功能能不能实现有刷直流电机的正反转切换？如果可以，应该怎么切换？在从正转到反转的切换过程中是否需要刹车？

[mw_shl_code=c,true]#include "time.h" TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_OCInitTypeDef TIM_OCInitStructure; uint16_t TimerPeriod = 0; uint16_t Channel1Pulse = 0, Channel4Pulse = 0; void TIM_Config(void) { GPIO_InitTypeDef GPIO_InitStructure; /* 使能GPIO时钟 */ RCC_AHBPeriphClockCmd( RCC_AHBPeriph_GPIOA, ENABLE); /* 配置GPIO管脚复用*/ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_11; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP ; GPIO_Init(GPIOA, &GPIO_InitStructure); GPIO_ResetBits(GPIOA,GPIO_Pin_8|GPIO_Pin_11); GPIO_PinAFConfig(GPIOA, GPIO_PinSource8, GPIO_AF_2); // GPIO_PinAFConfig(GPIOA, GPIO_PinSource9, GPIO_AF_2); // GPIO_PinAFConfig(GPIOA, GPIO_PinSource10, GPIO_AF_2); GPIO_PinAFConfig(GPIOA, GPIO_PinSource11, GPIO_AF_2); //SD拉高 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP ; GPIO_Init(GPIOA, &GPIO_InitStructure); GPIO_SetBits(GPIOA,GPIO_Pin_12); } void TIM_PWM_Config(void) { /* TIM1 的配置 --------------------------------------------------- TIM1 输入时钟(TIM1CLK) 设置为 APB2 时钟 (PCLK2) => TIM1CLK = PCLK2 = SystemCoreClock TIM1CLK = SystemCoreClock, Prescaler = 0, TIM1 counter clock = SystemCoreClock SystemCoreClock 为48 MHz 我们的目标产生 4 路PWM 信号在17.57 KHz: - TIM1_Period = (SystemCoreClock / 17570) - 1 信道1设置的占空比为 50% 信道2设置的占空比为 37.5% 信道3设置的占空比为 25% 信道4设置的占空比为 12.5% 定时器脉冲的计算方式如下: - ChannelxPulse = DutyCycle * (TIM1_Period - 1) / 100 */ /*计算预定表的值，也就是多少个时钟计数为一个周期*/ TimerPeriod = (SystemCoreClock / 17570 ) - 1; /*计算CCR1 跳转值在占空比为50%时*/ Channel1Pulse = (uint16_t) (((uint32_t) 50 * (TimerPeriod - 1)) / 100); /*计算CCR2 跳转值在占空比为37.5%时*/ // Channel2Pulse = (uint16_t) (((uint32_t) 375 * (TimerPeriod - 1)) / 1000); /*计算CCR3 跳转值在占空比为25%时*/ // Channel3Pulse = (uint16_t) (((uint32_t) 25 * (TimerPeriod - 1)) / 100); /*计算CCR4跳转值在占空比为12.5%时*/ Channel4Pulse = (uint16_t) (((uint32_t) 50 * (TimerPeriod- 1)) / 100); /* TIM1 时钟使能 */ RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1 , ENABLE); /* Time 定时基础设置*/ TIM_TimeBaseStructure.TIM_Prescaler = 0; TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; /* Time 定时设置为上升沿计算模式*/ TIM_TimeBaseStructure.TIM_Period = TimerPeriod; TIM_TimeBaseStructure.TIM_ClockDivision = 0; TIM_TimeBaseStructure.TIM_RepetitionCounter = 0; TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure); /* 频道1，2，3，4的PWM 模式设置 */ TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable; TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low; TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set; TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset; TIM_OCInitStructure.TIM_Pulse = Channel1Pulse;//使能频道1配置 TIM_OC1Init(TIM1, &TIM_OCInitStructure); // TIM_OCInitStructure.TIM_Pulse = Channel2Pulse;//使能频道2配置 // TIM_OC2Init(TIM1, &TIM_OCInitStructure); // TIM_OCInitStructure.TIM_Pulse = Channel3Pulse;//使能频道3配置 // TIM_OC3Init(TIM1, &TIM_OCInitStructure); // TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; // TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; // TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable; // TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; // TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High; // TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set; // TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset; // TIM_OCInitStructure.TIM_Pulse = Channel4Pulse;//使能频道4配置 // TIM_OC4Init(TIM1, &TIM_OCInitStructure); /* TIM1 计算器使能*/ TIM_Cmd(TIM1, ENABLE); /* TIM1 主输出使能 */ TIM_CtrlPWMOutputs(TIM1, ENABLE); } void Motor_Forward(void) { GPIO_ResetBits(GPIOA,GPIO_Pin_8); GPIO_PinLockConfig(GPIOA,GPIO_Pin_8); } void Motor_Reverse(void) { GPIO_ResetBits(GPIOA,GPIO_Pin_11); GPIO_PinLockConfig(GPIOA,GPIO_Pin_11); } [/mw_shl_code]