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如题所描述，我执行以下步骤
1、编译代码
2、将代码烧录至机器中
3、观察机器，可以看到机器左右轮都在正常转动。
4、断电。
5、给机器供电。
6、机器只有左边电机可以转动，右边电机不转。
附上写的代码。
mian:
```
#include "main.h"
void vSpeedComputation(void)
{
static uint32_t pre_time = 0;
static uint32_t print_time_tick = 0;
static float left_speed,right_speed;
System_TimeTick_t cur_time;
cur_time = TIMETICK_BASE;
if(pre_time == 0)
{
pre_time = cur_time.uwSystem_TimeTick_m;
return;
}
if(cur_time.uwSystem_TimeTick_m - pre_time >= 5)
{
int leftcount,rightcount;
pre_time = cur_time.uwSystem_TimeTick_m;
leftcount = -vEncoder_ReadSpeed(LEFT_PULSECONTER);
rightcount = -vEncoder_ReadSpeed(RIGHT_PULSECONTER);
left_speed = leftcount * WHEEL_PULSECOUNT_TO_SPEED;
right_speed = rightcount * WHEEL_PULSECOUNT_TO_SPEED;
}
if(cur_time.uwSystem_TimeTick_s > print_time_tick + 5)
{
print_time_tick = cur_time.uwSystem_TimeTick_s;
printf("l_speed = %f, r_speed = %f\r\n",left_speed,right_speed);
}
}
int PWM = 5000;
int main(void)
{
vUart_init(DEBUG_USART_BAUDRATE);
//vSysTick_Init();
vMotor_Init();
//vEncoder_init();
MOTOR_LEFT_PWMSET(PWM);
MOTOR_RIGHT_PWMSET(PWM);
MOTOR_LEFT_FRONT;
MOTOR_RIGHT_FRONT;
printf("Hello World!\r\n");
while(1)
{
//vSpeedComputation();
}
}
```
motor.c:
```
#include "bsp_motor.h"
static void vMotor_GPIO_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
// 右轮PWM输出GPIO初始化
RCC_APB2PeriphClockCmd(MOTOR_TIM_RIGHT_GPIO_CLK, ENABLE);
GPIO_InitStructure.GPIO_Pin = MOTOR_TIM_RIGHT_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(MOTOR_TIM_RIGHT_PORT, &GPIO_InitStructure);
// 右轮方向控制信号输出GPIO初始化
RCC_APB2PeriphClockCmd(MOTOR_DIR_RIGHT_GPIO_CLK, ENABLE);
GPIO_InitStructure.GPIO_Pin = MOTOR_DIR_RIGHT_PIN1 | MOTOR_DIR_RIGHT_PIN2;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(MOTOR_DIR_RIGHT_PORT, &GPIO_InitStructure);
// 左轮PWM输出GPIO初始化
RCC_APB2PeriphClockCmd(MOTOR_TIM_LEFT_GPIO_CLK, ENABLE);
GPIO_InitStructure.GPIO_Pin = MOTOR_TIM_LEFT_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(MOTOR_TIM_LEFT_PORT, &GPIO_InitStructure);
// 左轮方向控制信号输出GPIO初始化
RCC_APB2PeriphClockCmd(MOTOR_DIR_LEFT_GPIO_CLK, ENABLE);
GPIO_InitStructure.GPIO_Pin = MOTOR_DIR_LEFT_PIN1 | MOTOR_DIR_LEFT_PIN2;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(MOTOR_DIR_LEFT_PORT, &GPIO_InitStructure);
MOTOR_RIGHT_DISABLE;
MOTOR_LEFT_DISABLE;
}
static void vMotor_TIM_Config(void)
{
// 开启定时器时钟,即内部时钟CK_INT=72M
MOTOR_TIM_APBxClock_FUN(MOTOR_TIM_CLK,ENABLE);
/*--------------------时基结构体初始化-------------------------*/
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
// 自动重装载寄存器的值，累计TIM_Period+1个频率后产生一个更新或者中断
TIM_TimeBaseStructure.TIM_Period = MOTOR_TIM_PERIOD;
// 驱动CNT计数器的时钟 = Fck_int/(psc+1)
TIM_TimeBaseStructure.TIM_Prescaler = MOTOR_PSC;
// 时钟分频因子 ，配置死区时间时需要用到
TIM_TimeBaseStructure.TIM_ClockDivision= TIM_CKD_DIV1;
// 计数器计数模式，设置为向上计数
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up;
// 重复计数器的值，没用到不用管
TIM_TimeBaseStructure.TIM_RepetitionCounter=0;
// 初始化定时器
TIM_TimeBaseInit(MOTOR_TIM, &TIM_TimeBaseStructure);
/*--------------------输出比较结构体初始化-------------------*/
TIM_OCInitTypeDef TIM_OCInitStructure;
// 配置为PWM模式1
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
// 输出使能
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
// 设置占空比大小
TIM_OCInitStructure.TIM_Pulse = MOTOR_TIM_PULSE;
// 输出通道电平极性配置
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
// 输出通道空闲电平极性配置
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
// 初始化外设
TIM_OC1Init(MOTOR_TIM, &TIM_OCInitStructure);
TIM_OC4Init(MOTOR_TIM, &TIM_OCInitStructure);
// 预装载
TIM_OC1PreloadConfig(MOTOR_TIM, TIM_OCPreload_Enable);
TIM_OC4PreloadConfig(MOTOR_TIM, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(MOTOR_TIM, ENABLE); //使能TIMx在ARR上的预装载寄存器
// 使能计数器
TIM_Cmd(MOTOR_TIM, ENABLE);
}
void vMotor_Init(void)
{
vMotor_GPIO_Config();
vMotor_TIM_Config();
}
```
motor.h
```
#ifndef _BSP_MOTOR_H
#define _BSP_MOTOR_H
#include "stm32f10x.h"
#include "sysconfig.h"
/************高级定时器TIM参数定义，只限TIM1和TIM8************/
// 当使用不同的定时器的时候，对应的GPIO是不一样的，这点要注意
// 这里我们使用高级控制定时器TIM1
#define MOTOR_TIM TIM1
#define MOTOR_TIM_APBxClock_FUN RCC_APB2PeriphClockCmd
#define MOTOR_TIM_CLK RCC_APB2Periph_TIM1
// PWM 信号的频率 F = TIM_CLK/{(ARR+1)*(PSC+1)}
#define MOTOR_TIM_PERIOD 7199
#define MOTOR_PSC 0
#define MOTOR_TIM_PULSE 0
#define MOTOR_TIM_IRQ TIM1_UP_IRQn
#define MOTOR_TIM_IRQHandler TIM1_UP_IRQHandler
// TIM1 左轮输出通道
#define MOTOR_TIM_LEFT_GPIO_CLK RCC_APB2Periph_GPIOA
#define MOTOR_TIM_LEFT_PORT GPIOA
#define MOTOR_TIM_LEFT_PIN GPIO_Pin_8
// DIR 左轮输出通道
#define MOTOR_DIR_LEFT_GPIO_CLK RCC_APB2Periph_GPIOB
#define MOTOR_DIR_LEFT_PORT GPIOB
#define MOTOR_DIR_LEFT_PIN1 GPIO_Pin_14
#define MOTOR_DIR_LEFT_PIN2 GPIO_Pin_15
// TIM1 右轮输出通道
#define MOTOR_TIM_RIGHT_GPIO_CLK RCC_APB2Periph_GPIOA
#define MOTOR_TIM_RIGHT_PORT GPIOA
#define MOTOR_TIM_RIGHT_PIN GPIO_Pin_11
// DIR 右轮输出通道
#define MOTOR_DIR_RIGHT_GPIO_CLK RCC_APB2Periph_GPIOB
#define MOTOR_DIR_RIGHT_PORT GPIOB
#define MOTOR_DIR_RIGHT_PIN1 GPIO_Pin_12
#define MOTOR_DIR_RIGHT_PIN2 GPIO_Pin_13
// 电机控制API
#define MOTOR_RIGHT_PWMSET(x) {if(x>=7199) x=7199;if(x<=0) x=0;MOTOR_TIM->CCR4 = x;}
#define MOTOR_RIGHT_FRONT {PBOUT(15)=1,PBOUT(14)=0;}
#define MOTOR_RIGHT_BACK {PBOUT(15)=0,PBOUT(14)=1;}
#define MOTOR_RIGHT_BREAK {PBOUT(15)=1,PBOUT(14)=1;}
#define MOTOR_RIGHT_DISABLE {PBOUT(15)=0,PBOUT(14)=0;}
#define MOTOR_LEFT_PWMSET(x) {if(x>=7199) x=7199;if(x<=0) x=0;MOTOR_TIM->CCR1 = x;}
#define MOTOR_LEFT_FRONT {PBOUT(13)=1,PBOUT(12)=0;}
#define MOTOR_LEFT_BACK {PBOUT(13)=0,PBOUT(12)=1;}
#define MOTOR_LEFT_BREAK {PBOUT(13)=1,PBOUT(12)=1;}
#define MOTOR_LEFT_DISABLE {PBOUT(13)=0,PBOUT(12)=0;}
/**************************函数声明********************************/
void vMotor_Init(void);
#endif
```
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发表于 2023-5-21 19:11:15
楼主