dcmotor.c=dcmotor.h==20220327

Go_Viola

 关注

阅读 9

2022-03-30


#include "htimx.h"
#include "dcmotor.h"

void DCMotor1Init(void)
{
    GPIO_InitTypeDef   GPIO_InitStructure; 
   
   RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);//使能 GPIOd 时钟 
   //GPIOF9,F10 初始化设置 
   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11| GPIO_Pin_10;//LED0 和 LED1 对应 IO 口 
   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;//普通输出模式 
   GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出 
   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz 
   GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉 
   GPIO_Init(GPIOD, &GPIO_InitStructure);//初始化 GPIO 
    GPIO_SetBits(GPIOD,GPIO_Pin_11 | GPIO_Pin_10);//GPIOF9,F10 设置高，灯灭
}

//*****************************++++++++++++++++..............motor2
//e11  pwm-tim1-ch2-----
//d0
//d1
void DCMotor2Init(void)
{
    GPIO_InitTypeDef   GPIO_InitStructure; 
   
   RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);//使能 GPIOd 时钟 
   //GPIOF9,F10 初始化设置 
   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_14| GPIO_Pin_15;//LED0 和 LED1 对应 IO 口 
   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;//普通输出模式 
   GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出 
   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz 
   GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉 
   GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化 GPIO 

    GPIO_SetBits(GPIOB,GPIO_Pin_14 | GPIO_Pin_15);//GPIOF9,F10 设置高，灯灭

    //TIM1_PWM_Init(arr,psc);//设定pwm的频率是500--4k   
}




//************************************************************  motor3
void DCMotor3Init(void)
{
    GPIO_InitTypeDef   GPIO_InitStructure; 
   
   RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);//使能 GPIOd 时钟 
   //GPIOF9,F10 初始化设置 
   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3;//LED0 和 LED1 对应 IO 口 
   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;//普通输出模式 
   GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出 
   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz 
   GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉 
   GPIO_Init(GPIOD, &GPIO_InitStructure);//初始化 GPIO 

    GPIO_SetBits(GPIOD,GPIO_Pin_2| GPIO_Pin_3);//GPIOF9,F10 设置高，灯灭

}
//**************************************************motor4
void DCMotor4Init(void)
{
    GPIO_InitTypeDef   GPIO_InitStructure; 
   RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);//使能 GPIOd 时钟 
   //GPIOF9,F10 初始化设置 
   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0| GPIO_Pin_1;//LED0 和 LED1 对应 IO 口 
   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;//普通输出模式 
   GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出 
   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz 
   GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉 
   GPIO_Init(GPIOD, &GPIO_InitStructure);//初始化 GPIO 

    GPIO_SetBits(GPIOD,GPIO_Pin_0 | GPIO_Pin_1);//GPIOF9,F10 设置高，灯灭
}


 void set_clockwise_rotate(u8 whichmotor)
{
   switch(whichmotor)
   {
      case 1:
         Motor1_set_clockwise_rotate();
      break;
      
      case 2:
          Motor2_set_clockwise_rotate();
      break;
      
      case 3:        
         Motor3_set_clockwise_rotate();
      break;
      
      case 4:
         Motor4_set_clockwise_rotate();
      break;
      
   }
   
}

 void set_anticlockwise_rotate(u8 whichmotor)
{
   
   switch(whichmotor)
   {
      case 1:
         Motor1_set_anticlockwise_rotate();
      break;
      
      case 2:  
         Motor2_set_anticlockwise_rotate();
      break;
      
      case 3:
         Motor3_set_anticlockwise_rotate();
      break;
      
      case 4:
         Motor4_set_anticlockwise_rotate();
      break;
      
   }
}

void set_stop_rotate(u8 whichmotor)
{
switch(whichmotor)
   {
      case 1:
         Motor1_set_stop_rotate();
      break;
      
      case 2:
            Motor2_set_stop_rotate();
      break;
      
      case 3:
               Motor3_set_stop_rotate();
      break;
      
      case 4:
               Motor4_set_stop_rotate();
      break;
      
   }
}


void SetDCmotorPwmDuty(u8 whichmotor,float DutyTemp)
{
   u32 cnx=0;
   if(DutyTemp < 0 || DutyTemp > Global_Timer1_Arr)
   {
      return; /*只能是0~100*/
   }
   cnx=DutyTemp*Global_Timer1_Arr;
   switch(whichmotor)
   {
      case 1:
            TIM_SetCompare3(TIM1,cnx);
      //Motor1_set_rotatePWM(TIM1,pwm);
         break;
   case 2:
         TIM_SetCompare4(TIM1,cnx);
         break;
         
   case 3:
            TIM_SetCompare1(TIM1,cnx);
         break;
   case 4:
            TIM_SetCompare2(TIM1,cnx);
         break;
   }
   
}

void set_pwm(u8 whichmotor,int pwm)
{
   if(pwm < 0 || pwm > Global_Timer1_Arr)
   {
      return; /*只能是0~100*/
   }
   
   switch(whichmotor)
   {
      case 1:
            TIM_SetCompare3(TIM1,pwm);
      //Motor1_set_rotatePWM(TIM1,pwm);
         break;
   case 2:
         TIM_SetCompare4(TIM1,pwm);
         break;
         
   case 3:
            TIM_SetCompare1(TIM1,pwm);
         break;
   case 4:
            TIM_SetCompare2(TIM1,pwm);
         break;
   }

}

void set_motor_rotate(u8 whichmotor,int pwm)
{
   switch(whichmotor)
   {
      case 1:  
               if(pwm > 0)
            {
               set_pwm(1,pwm);
               // set_pwm(1,pwm);
               set_clockwise_rotate(1);
            }
            else if(pwm < 0)
            {
               set_pwm(1,-pwm);
               // set_pwm(1,-pwm);
               set_anticlockwise_rotate(1);
            }
            else
            {
               set_pwm(1,0);
               set_stop_rotate(1);
            }
         break;
      
      
      case 2:
               if(pwm > 0)
            {
               set_pwm(2,pwm);
               // set_pwm(1,pwm);
               set_clockwise_rotate(2);
            }
            else if(pwm < 0)
            {
               set_pwm(2,-pwm);
               // set_pwm(1,-pwm);
               set_anticlockwise_rotate(2);
            }
            else
            {
               set_pwm(2,0);
               set_stop_rotate(2);
            }
      
         break;
      
      case 3:
               if(pwm > 0)
            {
               set_pwm(3,pwm);
               set_clockwise_rotate(3);
            }
            else if(pwm < 0)
            {
               set_pwm(3,-pwm);
               set_anticlockwise_rotate(3);
            }
            else
            {
               set_pwm(3,0);
               set_stop_rotate(3);
            }
         break;

      case 4:
               if(pwm > 0)
            {
               set_pwm(4,pwm);
               set_clockwise_rotate(4);
            }
            else if(pwm < 0)
            {
               set_pwm(4,-pwm);
               set_anticlockwise_rotate(4);
            }
            else
            {
               set_pwm(4,0);
               set_stop_rotate(4);
            }  
         break;

   }
   
   TIM_Cmd(TIM1, ENABLE);  //使能TIM1
   TIM_CtrlPWMOutputs(TIM1, ENABLE);  
   
}

void SetDCmotor_rotate(u8 whichmotor,float pwm)
{
   switch(whichmotor)
   {
      case 1:  
               if(pwm > 0)
            {
               SetDCmotorPwmDuty(1,pwm);
               // set_pwm(1,pwm);
               set_clockwise_rotate(1);
            }
            else if(pwm < 0)
            {
               SetDCmotorPwmDuty(1,-pwm);
               // set_pwm(1,-pwm);
               set_anticlockwise_rotate(1);
            }
            else
            {
               SetDCmotorPwmDuty(1,0);
               set_stop_rotate(1);
            }
         break;
      
      
      case 2:
               if(pwm > 0)
            {
               SetDCmotorPwmDuty(2,pwm);
               // set_pwm(1,pwm);
               set_clockwise_rotate(2);
            }
            else if(pwm < 0)
            {
               SetDCmotorPwmDuty(2,-pwm);
               // set_pwm(1,-pwm);
               set_anticlockwise_rotate(2);
            }
            else
            {
               SetDCmotorPwmDuty(2,0);
               set_stop_rotate(2);
            }
      
         break;
      
      case 3:
               if(pwm > 0)
            {
               SetDCmotorPwmDuty(3,pwm);
               set_clockwise_rotate(3);
            }
            else if(pwm < 0)
            {
               SetDCmotorPwmDuty(3,-pwm);
               set_anticlockwise_rotate(3);
            }
            else
            {
               SetDCmotorPwmDuty(3,0);
               set_stop_rotate(3);
            }
         break;

      case 4:
               if(pwm > 0)
            {
               SetDCmotorPwmDuty(4,pwm);
               set_clockwise_rotate(4);
            }
            else if(pwm < 0)
            {
               SetDCmotorPwmDuty(4,-pwm);
               set_anticlockwise_rotate(4);
            }
            else
            {
               SetDCmotorPwmDuty(4,0);
               set_stop_rotate(4);
            }  
         break;

   }
   
   TIM_Cmd(TIM1, ENABLE);  //使能TIM1
   TIM_CtrlPWMOutputs(TIM1, ENABLE);  
}

**

dcmotor.h

**

/*
明确目的：控制四路直流电机
定时器1，产生PWM
控制正转，反转，以及速度
速度用PWM的占空比控制
方向用01 10 11 00控制，类似LED灯控制高低电平
主要是这个作为应用层，封装要贴合工程的应用，使用方便，修改方便，维护方便
*/

#ifndef __DCMOTOR_H 
#define __DCMOTOR_H 

#include "sys.h" 
//直流电机端口定义 
//是定时器器1的设置，用定时器1产生PWM，控制直流电机
//设置的说明：设置定时器的计时滴答是1us,由于是控制直流电机，所以可以设置PWM频率是10K左右；
//PWM2模式(注意，如果是PWM1模式，是从1电平翻转到0电平，如果PMW2,就是0电平翻转到1电平)
//经过测试，是调到PWM2模式，不然就是相反状态，用逻辑分析仪进行观察波形
//按照原理图，利用的是GPIO引脚
//PE9--T1CH1---P3接线端口---D2/D3
//PE11-T1CH2---P4接线端口---D0/D1
//PE13-T1CH3---P1接线端口---D11/D10
//PE14-T1CH4---P2接线端口---B14/B15

//e13 pwm-tim1-ch3-----------接口端子的P1口，M-5V-B7-B6-GND-M--tim4
//d11
//d10...正交编码使用定时器4
#define DCMotor1    1
#define M1PIN0      PDout(11)  // DS0 
#define M1PIN1      PDout(10)// DS1  


//e14 pwm-tim1-ch4-----------接口端子的P2口，M-5V-A1-A0-GND-M--tim5
//b14
//b15=====使用定时器5
#define DCMotor2 2
#define M2PIN0 PBout(15)  // DS0 
#define M2PIN1 PBout(14)// DS1   
//电机1的 e9 端口定义 D2 D3------接口端子的P3口，M-5V-B3-A15-GND-M--
//============使用定时器2
#define DCMotor3 3
#define M3PIN0 PDout(3)  // DS0 
#define M3PIN1 PDout(2)// DS1   

//e11  pwm-tim1-ch2-----------接口端子的P4口，M-5V-B5-B4-GND-M---tim3
//d0
//d1==========使用定时器3
#define DCMotor4 4
#define M4PIN0 PDout(0)  // DS0 
#define M4PIN1 PDout(1)// DS1   

#define Motor1_set_clockwise_rotate() {M1PIN0=1;M1PIN1=0;}//电机1正转
#define Motor2_set_clockwise_rotate() {M2PIN0=1;M2PIN1=0;}//电机2正转
#define Motor3_set_clockwise_rotate() {M3PIN0=1;M3PIN1=0;}//电机3正转
#define Motor4_set_clockwise_rotate() {M4PIN0=1;M4PIN1=0;}//电机4正转

#define Motor1_set_anticlockwise_rotate() {M1PIN0=0;M1PIN1=1;}//电机1反转
#define Motor2_set_anticlockwise_rotate() {M2PIN0=0;M2PIN1=1;}//电机2反转
#define Motor3_set_anticlockwise_rotate() {M3PIN0=0;M3PIN1=1;}//电机3反转
#define Motor4_set_anticlockwise_rotate() {M4PIN0=0;M4PIN1=1;}//电机4反转

#define Motor1_set_stop_rotate() {M1PIN0=0;M1PIN1=0;}//电机停止
#define Motor2_set_stop_rotate() {M2PIN0=0;M2PIN1=0;}//电机停止
#define Motor3_set_stop_rotate() {M3PIN0=0;M3PIN1=0;}//电机停止
#define Motor4_set_stop_rotate() {M4PIN0=0;M4PIN1=0;}//电机停止

#define Motor1_set_rotatePWM   TIM_SetCompare3   //电机
#define Motor2_set_rotatePWM   TIM_SetCompare4   //电机
#define Motor3_set_rotatePWM   TIM_SetCompare1   //电机
#define Motor4_set_rotatePWM   TIM_SetCompare2   //电机


void DCMotor1Init(void);
void DCMotor2Init(void);
void DCMotor3Init(void);
void DCMotor4Init(void);

void set_clockwise_rotate(u8 whichmotor);
void set_anticlockwise_rotate(u8 whichmotor);
void set_stop_rotate(u8 whichmotor);
void set_pwm(u8 whichmotor,int pwm);

void SetDCmotorPwmDuty(u8 whichmotor,float DutyTemp);

//主要函数使用
//whichmotor: =1,电机1，=2，电机2；=3电机3，=4电机4
//pwm:PWM:-100  - 100之间，小于0反转，等于0停止，大于0正转
void set_motor_rotate(u8 whichmotor,int pwm);

void SetDCmotor_rotate(u8 whichmotor,float pwm);

#endif



相关推荐

[H3C] 什么是H3C Anchor-AC?

SDKB英文 61 0 0

【C primer Plus】执行过程、.c 、.h ？

柠檬的那个酸_2333 51 0 0

C 标准库 - ＜errno.h＞和＜float.h＞详解

夕颜合欢落 51 0 0

H3C 笔记整理

zidea 105 0 0

C 标准库 - ＜string.h＞

东言肆语 28 0 0

H3C IRF 配置

女侠展昭 144 0 0

策略路由(H3C)

贵州谢高低 82 0 0

H3C端口汇聚

覃榜言 160 0 0

C 标准库 - ＜setjmp.h＞

c一段旅程c 64 0 0

strongSwan对接H3C

非衣所思 77 0 0

精彩评论（0）

0 0 举报