基于STM32 HD01双H桥高功率C车模车驱动板 程序设计

HD01双H桥高功率赛车驱动板

HD01高功率驱动高速小车

• 高功率驱动板主要提供车的速度

• 虽然方向上有些偏差，但后续可以通过 硬件加编码器 软件PID算法解决小车差速问题

驱动参数

先看看我们驱动的参数

一般情况下驱动电流决定了小车的速度
驱动17A 完全碾压L298N
这里推荐新手如果不是缺钱的话 最好买一个好点车模 和驱动

引脚分配

然后我们看他的操作引脚

引脚性能

• VM GND M+ M- 这个没什么好说的

• DIR控制方向

• SLP控制开关

• PWM控制速度

• 而FLP CS 作为检测

• 可以用读取IO口作为FLP的状态读取 就和按键差不多

• 用ADC采集样本

• 首先我们分配引脚

STM32驱动代码

• 然后我们根据我们要写的功能写一个基本控制的初始化

初始化代码

#include "motor_control.h"
#include "led.h"

uint16_t PrescalerValue = 0;  //20ms


void Montor_Init(void)
{
     
  
 TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
 TIM_OCInitTypeDef  TIM_OCInitStructure;

 GPIO_InitTypeDef GPIO_InitStructure;  
 RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);

  /* GPIOA and GPIOB clock enable */
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);
 	
 RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB|RCC_APB2Periph_GPIOC, ENABLE);	 
	
	
 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;				 
 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; 		
 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
 GPIO_Init(GPIOB, &GPIO_InitStructure);				
 if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_5)==0)LED_warning();					 //ELT ¶ÁÈ¡¹ÊÕÏ PB5
	
 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;				 
 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; 		
 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
 GPIO_Init(GPIOB ,&GPIO_InitStructure);				
 GPIO_ResetBits(GPIOB,GPIO_Pin_7);					 //PB7 CS  µçѹ²âËÙ
	
 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;				 
 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; 		
 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
 GPIO_Init(GPIOB, &GPIO_InitStructure);				
 GPIO_SetBits(GPIOB,GPIO_Pin_3);					 //PB3 SLP ¸ßµçƽ´ò¿ª  
 
 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;				 
 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; 		
 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
 GPIO_Init(GPIOC, &GPIO_InitStructure);				
 GPIO_SetBits(GPIOC,GPIO_Pin_10);					 //PC10 DIR ¸ßµçƽ´ÓÕýµ½¸ºÊý  

 
  /* System Clocks Configuration */
  /* TIM3 clock enable */
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);

  /* GPIOA and GPIOB clock enable */
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);

  /* GPIOA and GPIOB clock enable */
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);

  /* GPIO Configuration */
    /*GPIOB Configuration: TIM3 channel1, 2, 3 and 4 */
  GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_8;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

  GPIO_Init(GPIOB, &GPIO_InitStructure);
}

电机控制代码

然后再编写一下PWM模块 PWM有两组 一组是舵机控制
采用的20ms 周期
一种是电机控制 他们推荐我们使用的20KHZ

控制频率参数

代码如下

#include "mypwm.h"
uint16_t DUOJI =62;//0-125
uint16_t TIAOSU =62;
void TIM3_PWM_Init(void)
{
     
 uint16_t PrescalerValue = 0;

 TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
 TIM_OCInitTypeDef  TIM_OCInitStructure;
 GPIO_InitTypeDef GPIO_InitStructure;   
  /* System Clocks Configuration */
  /* TIM3 clock enable */
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);

  /* GPIOA and GPIOB clock enable */
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);

  /* GPIO Configuration */
    /*GPIOB Configuration: TIM3 channel1, 2, 3 and 4 */	\
  GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_7;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

  GPIO_Init(GPIOA, &GPIO_InitStructure);


  /* -----------------------------------------------------------------------
    TIM3 Configuration: generate 4 PWM signals with 4 different duty cycles:
    The TIM3CLK frequency is set to SystemCoreClock (Hz), to get TIM3 counter
    clock at 24 MHz the Prescaler is computed as following:
     - Prescaler = (TIM3CLK / TIM3 counter clock) - 1
    SystemCoreClock is set to 72 MHz for Low-density, Medium-density, High-density
    and Connectivity line devices and to 24 MHz for Low-Density Value line and
    Medium-Density Value line devices

    The TIM3 is running at 36 KHz: TIM3 Frequency = TIM3 counter clock/(ARR + 1)
                                                  = 24 MHz / 666 = 36 KHz
    TIM3 Channel1 duty cycle = (TIM3_CCR1/ TIM3_ARR)* 100 = 50%
    TIM3 Channel2 duty cycle = (TIM3_CCR2/ TIM3_ARR)* 100 = 37.5%
    TIM3 Channel3 duty cycle = (TIM3_CCR3/ TIM3_ARR)* 100 = 25%
    TIM3 Channel4 duty cycle = (TIM3_CCR4/ TIM3_ARR)* 100 = 12.5%
  ----------------------------------------------------------------------- */
  /* Compute the prescaler value */
  PrescalerValue = (uint16_t) (SystemCoreClock / 24000000) - 1;
  /* Time base configuration */
  TIM_TimeBaseStructure.TIM_Period = 125;
  TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;
  TIM_TimeBaseStructure.TIM_ClockDivision = 0;
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;

  TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

  /* PWM1 Mode configuration: Channel1 */
  TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
  TIM_OCInitStructure.TIM_Pulse = TIAOSU;
  TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;

  TIM_OC2Init(TIM3, &TIM_OCInitStructure);

  TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);

  TIM_ARRPreloadConfig(TIM3, ENABLE);

  /* TIM3 enable counter */
  TIM_Cmd(TIM3, ENABLE);

}
void TIM2_PWM_Init(void)
{
     
 uint16_t PrescalerValue = 0;
 uint16_t CCR1_Val = 400;
 TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
 TIM_OCInitTypeDef  TIM_OCInitStructure;
 GPIO_InitTypeDef GPIO_InitStructure;   
  /* System Clocks Configuration */
  /* TIM3 clock enable */
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);

  /* GPIOA and GPIOB clock enable */
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);

  /* GPIO Configuration */
    /*GPIOB Configuration: TIM3 channel1, 2, 3 and 4 */
  GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_1;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

  GPIO_Init(GPIOA, &GPIO_InitStructure);


  /* -----------------------------------------------------------------------
    TIM3 Configuration: generate 4 PWM signals with 4 different duty cycles:
    The TIM3CLK frequency is set to SystemCoreClock (Hz), to get TIM3 counter
    clock at 24 MHz the Prescaler is computed as following:
     - Prescaler = (TIM3CLK / TIM3 counter clock) - 1
    SystemCoreClock is set to 72 MHz for Low-density, Medium-density, High-density
    and Connectivity line devices and to 24 MHz for Low-Density Value line and
    Medium-Density Value line devices

    The TIM3 is running at 36 KHz: TIM3 Frequency = TIM3 counter clock/(ARR + 1)
                                                  = 24 MHz / 666 = 36 KHz
    TIM3 Channel1 duty cycle = (TIM3_CCR1/ TIM3_ARR)* 100 = 50%
    TIM3 Channel2 duty cycle = (TIM3_CCR2/ TIM3_ARR)* 100 = 37.5%
    TIM3 Channel3 duty cycle = (TIM3_CCR3/ TIM3_ARR)* 100 = 25%
    TIM3 Channel4 duty cycle = (TIM3_CCR4/ TIM3_ARR)* 100 = 12.5%
  ----------------------------------------------------------------------- */
  /* Compute the prescaler value */
  PrescalerValue = (uint16_t) (SystemCoreClock / 24000000) - 1;
  /* Time base configuration */
  TIM_TimeBaseStructure.TIM_Period = 125;
  TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;
  TIM_TimeBaseStructure.TIM_ClockDivision = 0;
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;

  TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);

  /* PWM1 Mode configuration: Channel1 */
  TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
  TIM_OCInitStructure.TIM_Pulse = DUOJI     ;
  TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;

  TIM_OC2Init(TIM2, &TIM_OCInitStructure);

  TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);

  TIM_ARRPreloadConfig(TIM2, ENABLE);

  /* TIM3 enable counter */
  TIM_Cmd(TIM2, ENABLE);

}