stm32f407四电机输出

include “pwm.h”

include “TIM.h”

include “usart.h”

//TIM4 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 TIM4_PWM_Init(u32 arr,u32 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4,ENABLE);     //TIM4时钟使能    
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);   //使能PORTB时钟 

GPIO_PinAFConfig(GPIOB,GPIO_PinSource6,GPIO_AF_TIM4); //GPIOB6、B7、B8、B9复用为定时器4
GPIO_PinAFConfig(GPIOB,GPIO_PinSource7,GPIO_AF_TIM4);
GPIO_PinAFConfig(GPIOB,GPIO_PinSource8,GPIO_AF_TIM4);
GPIO_PinAFConfig(GPIOB,GPIO_PinSource9,GPIO_AF_TIM4);

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_8|GPIO_Pin_9;           //GPIOF9
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;        //复用功能
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;  //速度100MHz
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;      //推挽复用输出
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;        //上拉
GPIO_Init(GPIOB,&GPIO_InitStructure);              //初始化PB6、PB7、PB8、PB9

TIM_TimeBaseStructure.TIM_Prescaler=psc;  //定时器分频
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up; //向上计数模式
TIM_TimeBaseStructure.TIM_Period=arr;   //自动重装载值
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1; 

TIM_TimeBaseInit(TIM4,&TIM_TimeBaseStructure);//初始化定时器4

//初始化TIM4 Channel1、2、3、4 PWM模式   
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //选择定时器模式:TIM脉冲宽度调制模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //输出极性:TIM输出比较极性低

TIM_OC1Init(TIM4, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM4OC1
TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);  //使能TIM4在CCR1上的预装载寄存器

TIM_OC2Init(TIM4, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM4OC2
TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);  //使能TIM4在CCR1上的预装载寄存器

TIM_OC3Init(TIM4, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM4OC3
TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);  //使能TIM4在CCR1上的预装载寄存器

TIM_OC4Init(TIM4, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM4OC4
TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable);  //使能TIM4在CCR1上的预装载寄存器

TIM_ARRPreloadConfig(TIM4,ENABLE);//ARPE使能

TIM_Cmd(TIM4, ENABLE);  //使能TIM4

}

//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(u32 arr,u32 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);     //TIM3时钟使能    
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);   //使能PORTC时钟 

GPIO_PinAFConfig(GPIOB,GPIO_PinSource4,GPIO_AF_TIM3); //GPIOB4、B5、C8、C9复用为定时器3
GPIO_PinAFConfig(GPIOB,GPIO_PinSource5,GPIO_AF_TIM3);
GPIO_PinAFConfig(GPIOC,GPIO_PinSource8,GPIO_AF_TIM3);
GPIO_PinAFConfig(GPIOC,GPIO_PinSource9,GPIO_AF_TIM3);

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4|GPIO_Pin_5;           //GPIOB4、B5
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;        //复用功能
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;  //速度100MHz
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;      //推挽复用输出
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;        //上拉
GPIO_Init(GPIOB,&GPIO_InitStructure);              //初始化PB4、PB5

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8|GPIO_Pin_9;           //GPIOC8、C9
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;        //复用功能
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;  //速度100MHz
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;      //推挽复用输出
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;        //上拉
GPIO_Init(GPIOC,&GPIO_InitStructure);              //初始化PC8、PC9

TIM_TimeBaseStructure.TIM_Prescaler=psc;  //定时器分频
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up; //向上计数模式
TIM_TimeBaseStructure.TIM_Period=arr;   //自动重装载值
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1; 

TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStructure);//初始化定时器3

//初始化TIM3 Channel1、2、3、4 PWM模式   
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //选择定时器模式:TIM脉冲宽度调制模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //输出极性:TIM输出比较极性低

TIM_OC1Init(TIM3, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM3OC1
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);  //使能TIM4在CCR1上的预装载寄存器

TIM_OC2Init(TIM3, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM3OC2
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);  //使能TIM3在CCR1上的预装载寄存器

TIM_OC3Init(TIM3, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM3OC3
TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);  //使能TIM3在CCR1上的预装载寄存器

TIM_OC4Init(TIM3, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM3OC4
TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);  //使能TIM3在CCR1上的预装载寄存器

TIM_ARRPreloadConfig(TIM3,ENABLE);//ARPE使能

TIM_Cmd(TIM3, ENABLE);  //使能TIM3

}