代码收藏家技术教程 2024-09-11

江科大STM32定时器PWM输出比较功能详解

定时器输出比较功能（PWM）

1、LED呼吸灯

2、PWM驱动舵机

3、PWM驱动电机

定时器输出比较功能标准库编程的编程接口：

1、LED呼吸灯

①PWM.c文件的代码如下：

#include "stm32f10x.h"                  // Device header

/*
	使用定时器TIM2，通过通道CH1(PA0)输出PWM波
*/
void PWM_Init(void)
{
	//1.使能时钟
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);
	
	//2.选择内部时钟
	TIM_InternalClockConfig(TIM2);
	
	//3.对时基单元进行配置
	TIM_TimeBaseInitTypeDef TIM_TimeInitStruct;
	TIM_TimeInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;//时钟源分频
	TIM_TimeInitStruct.TIM_CounterMode = TIM_CounterMode_Up;//向上计数
	TIM_TimeInitStruct.TIM_Period = 100 - 1;//计数器
	TIM_TimeInitStruct.TIM_Prescaler = 7200 - 1;//预分频器
	TIM_TimeInitStruct.TIM_RepetitionCounter = 0;//重复计数器
	
	TIM_TimeBaseInit(TIM2,&TIM_TimeInitStruct);
	
	//4.对输出比较单元进行配置
	TIM_OCInitTypeDef TIM_OCInitStruct;
	TIM_OCStructInit(&TIM_OCInitStruct);//给结构体默认初始值
	TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1;//选择PWM1模式
	TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High;//选择正极性
	TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;//通道使能
	TIM_OCInitStruct.TIM_Pulse = 0;//CCR的初始值
	
	TIM_OC1Init(TIM2, &TIM_OCInitStruct);
	
	//5.配置CH1通道对应的引脚PA0
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
	GPIO_InitTypeDef GPIOInitStruct;
	GPIOInitStruct.GPIO_Mode = GPIO_Mode_AF_PP;//复用推挽输出
	GPIOInitStruct.GPIO_Pin = GPIO_Pin_0;
	GPIOInitStruct.GPIO_Speed = GPIO_Speed_2MHz;
	
	GPIO_Init(GPIOA,&GPIOInitStruct);
	
	//6.使能定时器
	TIM_Cmd(TIM2,ENABLE);
}

②PWM.h文件的代码如下：

#ifndef __PWM_H
#define __PWM_H
#include "stm32f10x.h"                  // Device header

void PWM_Init(void);

#endif

③主程序文件的代码如下：

/*
	LED呼吸灯，LED正极接PA0引脚，负极接GND。
*/

#include "stm32f10x.h"                 
#include "PWM.h"
#include "Delay.h"

uint16_t i;
int main(void)
{
	PWM_Init();
	
	while(1)
	{
		for(i = 0;i <= 100 ;i++)
		{
			TIM_SetCompare1(TIM2,i);//改变CH1通道的CCR的值
			Delay_ms(10);
		}
		
		for(i = 0;i <= 100 ;i++)
		{
			TIM_SetCompare1(TIM2,100 - i);
			Delay_ms(10);
		}
	}
}

2、PWM驱动舵机

①PWM.c文件的代码如下：

#include "stm32f10x.h"                  // Device header

/*
	使用定时器TIM2，通过通道CH1(PA0)输出PWM波
*/
void PWM_Init(void)
{
	//1.使能时钟
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);
	
	//2.选择内部时钟
	TIM_InternalClockConfig(TIM2);
	
	//3.对时基单元进行配置
	TIM_TimeBaseInitTypeDef TIM_TimeInitStruct;
	TIM_TimeInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;//时钟源分频
	TIM_TimeInitStruct.TIM_CounterMode = TIM_CounterMode_Up;//向上计数
	TIM_TimeInitStruct.TIM_Period = 20000 - 1;//计数器，周期为20ms
	TIM_TimeInitStruct.TIM_Prescaler = 72 - 1;//预分频器，分辨率为0.001ms 
	TIM_TimeInitStruct.TIM_RepetitionCounter = 0;//重复计数器
	
	TIM_TimeBaseInit(TIM2,&TIM_TimeInitStruct);
	
	//4.对输出比较单元进行配置
	TIM_OCInitTypeDef TIM_OCInitStruct;
	TIM_OCStructInit(&TIM_OCInitStruct);//给结构体默认初始值
	TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1;//选择PWM1模式
	TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High;//选择正极性
	TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;//通道使能
	TIM_OCInitStruct.TIM_Pulse = 0;//CCR的初始值
	
	TIM_OC1Init(TIM2, &TIM_OCInitStruct);
	
	//5.配置CH1通道对应的引脚PA0
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
	GPIO_InitTypeDef GPIOInitStruct;
	GPIOInitStruct.GPIO_Mode = GPIO_Mode_AF_PP;//复用推挽输出
	GPIOInitStruct.GPIO_Pin = GPIO_Pin_0;
	GPIOInitStruct.GPIO_Speed = GPIO_Speed_2MHz;
	
	GPIO_Init(GPIOA,&GPIOInitStruct);
	
	//6.使能定时器
	TIM_Cmd(TIM2,ENABLE);
}

②PWM.h文件的代码如下：

#ifndef __PWM_H
#define __PWM_H
#include "stm32f10x.h"                  // Device header

void PWM_Init(void);

#endif

③Servo.c文件的代码如下：

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

void Servo_Init(void)
{
	PWM_Init();
}
/*
	  角度—— CCR

		 0度 --- 500
		45度 --- 1000
	  90度 --- 1500
	 135度 --- 2000
	 180度 --- 2500
*/

void Set_Angle(float Angle)
{
	uint16_t compare = Angle / 180 * 2000 + 500;
	TIM_SetCompare1(TIM2,compare);
}

④Servo.h文件的代码如下：

#ifndef __Servo_H
#define __Servo_H
#include "stm32f10x.h"                  // Device header

void Servo_Init(void);
void Set_Angle(float Angle);

#endif

⑤主程序文件的代码如下：

/*
	PWM驱动舵机，通过按键改变PWM的占空比
*/

#include "stm32f10x.h" 
#include "OLED.h"
#include "Key.h"
#include "Servo.h"

float Angle = 0;
int main(void)
{
	OLED_Init();
	OLED_Clear();
	Servo_Init();
	Key_Init();
	OLED_ShowString(1,1,"Angle:");
	while(1)
	{	
		if(Key_Num() == 1)//按键按下
		{
			Angle += 30;
			if(Angle > 180)
			{
				Angle = 0;	
			}
		Set_Angle(Angle);
		OLED_ShowNum(1,7,Angle,3);
		}
	}
}

3、PWM驱动电机

使用的是TB6612模块驱动电机。

PWM.c文件代码如下：

#include "stm32f10x.h"                  // Device header

/*
	使用定时器TIM2，通过通道CH1(PA0)输出PWM波
*/
void PWM_Init(void)
{
	//1.使能时钟
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);
	
	//2.选择内部时钟
	TIM_InternalClockConfig(TIM2);
	
	//3.对时基单元进行配置
	TIM_TimeBaseInitTypeDef TIM_TimeInitStruct;
	TIM_TimeInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;//时钟源分频
	TIM_TimeInitStruct.TIM_CounterMode = TIM_CounterMode_Up;//向上计数
	TIM_TimeInitStruct.TIM_Period = 100 - 1;//计数器，周期为20ms
	TIM_TimeInitStruct.TIM_Prescaler = 36 - 1;//预分频器
	TIM_TimeInitStruct.TIM_RepetitionCounter = 0;//重复计数器
	
	TIM_TimeBaseInit(TIM2,&TIM_TimeInitStruct);
	
	//4.对输出比较单元进行配置
	TIM_OCInitTypeDef TIM_OCInitStruct;
	TIM_OCStructInit(&TIM_OCInitStruct);//给结构体默认初始值
	TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1;//选择PWM1模式
	TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High;//选择正极性
	TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;//通道使能
	TIM_OCInitStruct.TIM_Pulse = 0;//CCR的初始值
	
	TIM_OC1Init(TIM2, &TIM_OCInitStruct);
	
	//5.配置CH1通道对应的引脚PA0
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
	GPIO_InitTypeDef GPIOInitStruct;
	GPIOInitStruct.GPIO_Mode = GPIO_Mode_AF_PP;//复用推挽输出
	GPIOInitStruct.GPIO_Pin = GPIO_Pin_0;
	GPIOInitStruct.GPIO_Speed = GPIO_Speed_2MHz;
	
	GPIO_Init(GPIOA,&GPIOInitStruct);
	
	//6.使能定时器
	TIM_Cmd(TIM2,ENABLE);
}

②Motor.c文件代码如下：

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


void Motor_Init(void)
{
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
	GPIO_InitTypeDef GPIOInitStruct;
	GPIOInitStruct.GPIO_Mode = GPIO_Mode_Out_PP;
	GPIOInitStruct.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5;//AIN1和AIN2引脚
	GPIOInitStruct.GPIO_Speed = GPIO_Speed_2MHz;
	GPIO_Init(GPIOA,&GPIOInitStruct);
	
	PWM_Init();
}

void Motor_SetSpeed(int8_t Speed)
{
	if(Speed > 0)//正转
	{
		GPIO_WriteBit(GPIOA,GPIO_Pin_4,Bit_RESET);
		GPIO_WriteBit(GPIOA,GPIO_Pin_5,Bit_SET);
		TIM_SetCompare1(TIM2,Speed);
	}
	if(Speed == 0)
	{
		GPIO_WriteBit(GPIOA,GPIO_Pin_4,Bit_RESET);
		GPIO_WriteBit(GPIOA,GPIO_Pin_5,Bit_RESET);
		TIM_SetCompare1(TIM2,Speed);
	}
	if(Speed < 0)
	{
		GPIO_WriteBit(GPIOA,GPIO_Pin_4,Bit_SET);
		GPIO_WriteBit(GPIOA,GPIO_Pin_5,Bit_RESET);
		TIM_SetCompare1(TIM2,-Speed);
	}
}

③Motor.h文件代码如下：

#ifndef __Motor_H
#define __Motor_H
#include "stm32f10x.h"                  // Device header

void Motor_Init(void);
void Motor_SetSpeed(int8_t Speed);

#endif

④主程序文件代码如下：

/*
	PWM驱动电机，通过按键改变PWM的占空比
*/

#include "stm32f10x.h" 
#include "OLED.h"
#include "Key.h"
#include "Motor.h"

int8_t Speed = 0;
int main(void)
{
	OLED_Init();
	OLED_Clear();
	Motor_Init();
	Key_Init();
	OLED_ShowString(1,1,"Speed:");

	while(1)
	{	
		if(Key_Num() == 1)//按键按下
		{
			Speed += 20;
			if(Speed > 100)
			{
				Speed = -100;	
			}
			Motor_SetSpeed(Speed);
		}
		OLED_ShowSignedNum(1,7,Speed,3);
	}
}

作者：浅陌pa