STM32+L298N+PWM可调速小车(四驱)

2024-01-13 23:00| 来源: 网络整理| 查看: 265

完整工程代码已放到百度网盘，链接如下：

链接：https://pan.baidu.com/s/16zcnfLt2iYlrDdN-N6tKbA 提取码：dn54 一、L298N电机驱动板

在这里插入图片描述电源引脚

VCC 外接直流电源引脚，电压范围在5~35V之间 GND GND是接地引脚，连接到电源负极 5V 驱动芯片内部逻辑供电引脚，如果安装了5V跳帽，则此引脚可输出5V电压，为微控板或其他电路提供电力供给，如果拔掉5V跳帽，则需要独立外接5V电源

控制引脚

IN1 & IN2 电机驱动器A的输入引脚，控制电机A转动及旋转角度 IN1输入高电平HIGH，IN2输入低电平LOW，对应电机A正转 IN1输入低电平LOW，IN2输入高电平HIGH，对应电机A反转 IN1、IN2同时输入高电平HIGH或低电平LOW，对应电机A停止转动调速就是改变IN1、IN2高电平的占空比（需拔掉ENA处跳帽）

IN3 & IN4 电机驱动器B的输入引脚，控制电机B转动及旋转角度 IN3输入高电平HIGH，IN4输入低电平LOW，对应电机B正转 IN3输入低电平LOW，IN4输入高电平HIGH，对应电机B反转 IN3、IN4同时输入高电平HIGH或低电平LOW，对应电机B停止转动调速就是改变IN3、IN4高电平的占空比（需拔掉ENB处跳帽）

输出引脚

OUT1 & OUT2 电机驱动器A的输出引脚，接直流电机A或步进电机的A+和A-OUT3 & OUT3 电机驱动器B的输出引脚，接直流电机B或步进电机的B+和B-

调速控制引脚

ENA 电机A调速开关引脚，拔掉跳帽，使用PWM对电机A调速，插上电机A高速运行ENB 电机B调速开关引脚，拔掉跳帽，使用PWM对电机B调速，插上电机B高速运行

OUT1、OUT2和OUT3、OUT4之间分别接两个直流电机Motor1、Motor2，IN1、IN2、IN3、IN4引脚从单片机接入控制电平，控制电机的正反转，ENA、ENB接控制使能端，控制电机调速，L298N控制逻辑关系图如下：在这里插入图片描述

二、STM32的PWM输出

1、通用定时器（TIM2 ~ TIM5）每个定时都有 4个独立通道作为输出在这里插入图片描述 2、高级控制定时器（TIM1 & TIM8）该款定时器可产生7路 PWM输出： 3.STM32F1的TIM3输出引脚本文用到STM32F1的TIM3的通道1~4，下面对TIM3的引脚作简要介绍：本实验选择没有重映像的四个引脚，即PA6、PA7、PB0、PB1（有无重映像会在TIM3初始化部分的代码有所体现）

三、硬件连接

本设计用到两个L298N驱动板，四个小黄电机，一块STM32F103ZET6开发板第一块L298N接左前电机和左后电机： ENA—PA6，ENB—PA7 左前电机：IN1—PB7，IN2—PB6 左后电机：IN3—PB9，IN4—PB2

第二块L298N接右前电机和右后电机： ENA—PB0，ENB—PB1 左前电机：IN1—PB13，IN2—PB12 左后电机：IN3—PB15，IN4—PB14

四、主要代码

timer.c

#include "timer.h" #include "led.h" #include "usart.h" void TIM3_Int_Init(u16 arr,u16 psc) { TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; NVIC_InitTypeDef NVIC_InitStructure; RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); TIM_TimeBaseStructure.TIM_Period = arr; TIM_TimeBaseStructure.TIM_Prescaler =psc; TIM_TimeBaseStructure.TIM_ClockDivision = 0; TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); TIM_ITConfig(TIM3,TIM_IT_Update,ENABLE ); TIM_Cmd(TIM3, ENABLE); } //TIM3 PWM部分初始化 //PWM输出初始化 //arr:自动重装值 //psc:时钟预分频数 void TIM3_PWM_Init(u16 arr,u16 psc) { GPIO_InitTypeDef GPIO_InitStructure; TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_OCInitTypeDef TIM_OCInitStructure; RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE); //GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE); //这句话是正点原子官方例程“PWM输出实验”中给的，目的是Timer3部分重映射，将TIM3_CH2->PB5。本实验不用重映像 //设置PA6和PA7为复用输出功能，输出TIM3 CH1和TIM3 CH2的PWM脉冲波形 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7 |GPIO_Pin_6; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;//复用推挽输出 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOA, &GPIO_InitStructure); //设置PB0和PB1为复用输出功能，输出TIM3 CH3和TIM3 CH4的PWM脉冲波形 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 |GPIO_Pin_1; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;//复用推挽输出 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOB, &GPIO_InitStructure); //初始化TIM3 TIM_TimeBaseStructure.TIM_Period = arr; TIM_TimeBaseStructure.TIM_Prescaler =psc; TIM_TimeBaseStructure.TIM_ClockDivision = 0; TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //初始化TIM3 Channel 1 PWM TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; TIM_OC1Init(TIM3, &TIM_OCInitStructure); TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable); //初始化TIM3 Channel 2 PWM TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; TIM_OC2Init(TIM3, &TIM_OCInitStructure); TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable); //初始化TIM3 Channel 3 PWM TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; TIM_OC3Init(TIM3, &TIM_OCInitStructure); TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable); //初始化TIM3 Channel 4 PWM TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; TIM_OC4Init(TIM3, &TIM_OCInitStructure); TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable); TIM_ARRPreloadConfig(TIM3,ENABLE);//使能自动重装载寄存器，arr的预装载 TIM_Cmd(TIM3, ENABLE);//使能TIM3 }

timer.h

#ifndef __TIMER_H #define __TIMER_H #include "sys.h" void TIM3_Int_Init(u16 arr,u16 psc); void TIM3_PWM_Init(u16 arr,u16 psc); #endif

MTR_GPIO.c（电机驱动部分）

#include "MTR_GPIO.h" //刹车 void MTR_CarBrakeAll(void){ MTR1_BRAKE; MTR2_BRAKE; MTR3_BRAKE; MTR4_BRAKE; } //右转 void MTR_CarRight(void){ MTR1_CW; MTR2_CW; MTR3_CCW; MTR4_CCW; } //左转 void MTR_CarLeft(void){ MTR1_CCW; MTR2_CCW; MTR3_CW; MTR4_CW; } //后退 void MTR_CarBack(void){ MTR1_CCW; MTR2_CCW; MTR3_CCW; MTR4_CCW; } //前进 void MTR_CarForward(void){ MTR1_CW; MTR2_CW; MTR3_CW; MTR4_CW; } void MTR_GPIOInit(void){ GPIO_InitTypeDef GPIO_InitStructure; RCC_APB2PeriphClockCmd(MTR1_GPIO_CLK|MTR2_GPIO_CLK|MTR3_GPIO_CLK|MTR4_GPIO_CLK,ENABLE); GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //电机1 GPIO_InitStructure.GPIO_Pin = MTR1_GPIO_PIN; GPIO_Init(MTR1_GPIO_PORT, &GPIO_InitStructure); //电机2 GPIO_InitStructure.GPIO_Pin = MTR2_GPIO_PIN; GPIO_Init(MTR2_GPIO_PORT, &GPIO_InitStructure); //电机3 GPIO_InitStructure.GPIO_Pin = MTR3_GPIO_PIN; GPIO_Init(MTR3_GPIO_PORT, &GPIO_InitStructure); //电机4 GPIO_InitStructure.GPIO_Pin = MTR4_GPIO_PIN; GPIO_Init(MTR4_GPIO_PORT, &GPIO_InitStructure); }

MTR_GPIO.h

#ifndef __MTR_GPIO_H #define __MTR_GPIO_H #include "stm32f10x.h" #define MTR1_GPIO_PORT GPIOB #define MTR1_GPIO_CLK RCC_APB2Periph_GPIOB #define MTR1_GPIO_PIN GPIO_Pin_6|GPIO_Pin_7 #define MTR1_CW {GPIO_ResetBits(MTR1_GPIO_PORT,GPIO_Pin_6);GPIO_SetBits(MTR1_GPIO_PORT,GPIO_Pin_7);} #define MTR1_CCW {GPIO_SetBits(MTR1_GPIO_PORT,GPIO_Pin_6);GPIO_ResetBits(MTR1_GPIO_PORT,GPIO_Pin_7);} #define MTR1_BRAKE GPIO_ResetBits(MTR1_GPIO_PORT,MTR1_GPIO_PIN); #define MTR2_GPIO_PORT GPIOB #define MTR2_GPIO_CLK RCC_APB2Periph_GPIOB #define MTR2_GPIO_PIN GPIO_Pin_2|GPIO_Pin_9 #define MTR2_CW {GPIO_ResetBits(MTR2_GPIO_PORT,GPIO_Pin_2);GPIO_SetBits(MTR2_GPIO_PORT,GPIO_Pin_9);} #define MTR2_CCW {GPIO_SetBits(MTR2_GPIO_PORT,GPIO_Pin_2);GPIO_ResetBits(MTR2_GPIO_PORT,GPIO_Pin_9);} #define MTR2_BRAKE GPIO_ResetBits(MTR2_GPIO_PORT,MTR2_GPIO_PIN); #define MTR3_GPIO_PORT GPIOB #define MTR3_GPIO_CLK RCC_APB2Periph_GPIOB #define MTR3_GPIO_PIN GPIO_Pin_12|GPIO_Pin_13 #define MTR3_CW {GPIO_ResetBits(MTR3_GPIO_PORT,GPIO_Pin_12);GPIO_SetBits(MTR3_GPIO_PORT,GPIO_Pin_13);} #define MTR3_CCW {GPIO_SetBits(MTR3_GPIO_PORT,GPIO_Pin_12);GPIO_ResetBits(MTR3_GPIO_PORT,GPIO_Pin_13);} #define MTR3_BRAKE GPIO_ResetBits(MTR3_GPIO_PORT,MTR3_GPIO_PIN); #define MTR4_GPIO_PORT GPIOB #define MTR4_GPIO_CLK RCC_APB2Periph_GPIOB #define MTR4_GPIO_PIN GPIO_Pin_14|GPIO_Pin_15 #define MTR4_CW {GPIO_ResetBits(MTR4_GPIO_PORT,GPIO_Pin_14);GPIO_SetBits(MTR4_GPIO_PORT,GPIO_Pin_15);} #define MTR4_CCW {GPIO_SetBits(MTR4_GPIO_PORT,GPIO_Pin_14);GPIO_ResetBits(MTR4_GPIO_PORT,GPIO_Pin_15);} #define MTR4_BRAKE GPIO_ResetBits(MTR4_GPIO_PORT,MTR4_GPIO_PIN); void MTR_CarBrakeAll(void); void MTR_CarRight(void); void MTR_CarLeft(void); void MTR_CarBack(void); void MTR_CarForward(void); void MTR_GPIOInit(void); #endif

main.c

#include "delay.h" #include "key.h" #include "sys.h" #include "usart.h" #include "timer.h" #include "MTR_GPIO.h" //主函数改编自正点原子“PWM输出实验”，驱动四个电机输出PWM信号即电机转速可变 int main(void) { u16 led0pwmval=0; u8 dir=1; delay_init(); NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); uart_init(115200); TIM3_PWM_Init(899,0); //不分频，PWM频率=72000000/900=80Khz MTR_GPIOInit(); while(1) { delay_ms(10); if(dir)led0pwmval++; else led0pwmval--; MTR_CarForward(); if(led0pwmval>800)dir=0; if(led0pwmval==0)dir=1; TIM_SetCompare1(TIM3,led0pwmval); TIM_SetCompare2(TIM3,led0pwmval); TIM_SetCompare3(TIM3,led0pwmval); TIM_SetCompare4(TIM3,led0pwmval); } }

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