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PA0RCC_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 headervoid 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20msTIM_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PA0RCC_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 headervoid PWM_Init(void);#endif
③Servo.c文件的代码如下：
#include "stm32f10x.h" // Device header
#include "PWM.h" // Device headervoid Servo_Init(void)
{PWM_Init();
}
/*角度—— CCR0度 --- 50045度 --- 100090度 --- 1500135度 --- 2000180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 headervoid 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20msTIM_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PA0RCC_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 headervoid 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 headervoid 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);}
}
