驅動板：從外部引入高電壓，控制電機驅動

電源部分

VM：電機驅動電源輸入，輸入電壓范圍建議為3.7～12V

GND：邏輯電源和電機驅動電源的公共地

VCC：邏輯電源輸入，輸入電壓為

2.7-5.5V

電機接口

A0 B0可以接兩個電機

電機控制端口

PWMA? B分別為兩個電機控制的使能端

(可使用PWM調速)

AIN1\AIN2；BIN1\BIN2

STBY

使能引腳

IN1

IN2

PWM

STBY

O1

O2

H

H

H/L

H

L

L

制動

L

H

H

H

L

H

反轉

L

H

L

H

L

L

制動

H

L

H

H

H

L

正轉

H

L

L

H

L

L

制動

L

L

H

H

OFF

-

停止

H/L

H/L

H/L

L

OFF

-

待機

main.c

#include "stm32f10x.h"

#include "led.h"

#include "usart.h"

#include "delay.h"

#include "oled.h"

#include "Motor.h"

#include "key.h"

int key = 0;

int key_state = 0;

int main(void)

{ SystemInit();//系統時鐘為72M??

????? delay_init(72);

????? LED_Init();

????? LED_On();

????? MOTOR_Init();

USART1_Config();//串口初始化

????? Key_Init();

????? OLED_Init();

????? printf("Start \n");

????? delay_ms(1000);

?????

OLED_Clear();//顯示電機轉速

OLED_ShowChinese(0,0,0,16,1);

OLED_ShowChinese(16,0,1,16,1);

OLED_ShowChinese(32,0,2,16,1);

OLED_ShowChinese(48,0,3,16,1);

OLED_ShowChar(64,0,':',16,1);

? while (1)

? {key = Key_GetData();

?????????? if(key)

???????????????? key_state++;

?????????? if(key_state%4==1)

?????????? {Motor_SetSpeed(60);

OLED_ShowNum(56,24,1,1,16,1);

?????????? }if(key_state%4==2)

?????????? {Motor_SetSpeed(80);

OLED_ShowNum(56,24,2,1,16,1);}

?????????? if(key_state%4==3)

?????????? {Motor_SetSpeed(100);

OLED_ShowNum(56,24,3,1,16,1);}

?????????? if(key_state%4==0)

?????????? {Motor_SetSpeed(0); OLED_ShowNum(56,24,0,1,16,1);?????? //0}}}

Motor.c

#include "Motor.h"

void MOTOR_Init(void)

{

????? GPIO_InitTypeDef GPIO_InitStructure;

????? RCC_APB2PeriphClockCmd(MOTOR_CLK, ENABLE ); //配置時鐘

????? GPIO_InitStructure.GPIO_Pin = MOTOR_AIN1_GPIO_PIN;

????? GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

????? GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;

????? GPIO_Init(MOTOR_AIN1_GPIO_PORT,&GPIO_InitStructure);

????? GPIO_InitStructure.GPIO_Pin = MOTOR_AIN2_GPIO_PIN;

????? GPIO_Init(MOTOR_AIN2_GPIO_PORT,&GPIO_InitStructure);

????? PWM_Init();

}

void PWM_Init(void)

{

????? RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);

????? RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);??? //開啟GPIOA的時鐘

/*GPIO初始化*/

????? GPIO_InitTypeDef GPIO_InitStructure;

????? GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;

????? GPIO_InitStructure.GPIO_Pin = MOTOR_PWMA_GPIO_PIN;

????? GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

????? GPIO_Init(MOTOR_PWMA_GPIO_PORT, &GPIO_InitStructure);??????????? ???????????????? //將PA1和PA2引腳初始化為推挽輸出

????? TIM_InternalClockConfig(TIM2);//配置實際單元

????? TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;

????? TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;????????? //時鐘分頻

????? TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;?????????? //計數模式

????? TIM_TimeBaseInitStructure.TIM_Period = 100 - 1;?????????????? //自動重裝ARR????? 分辨率

????? TIM_TimeBaseInitStructure.TIM_Prescaler = 36 - 1;????? //預分頻PSC???

????? TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;

????? TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitStructure);

????? TIM_OCInitTypeDef TIM_OCInitStructure;

????? TIM_OCStructInit(&TIM_OCInitStructure);??????? //給結構體賦予初值

????? TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;

????? TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;

????? TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;

????? TIM_OCInitStructure.TIM_Pulse = 0;?????????????? //CCR

????? TIM_OC3Init(TIM2,&TIM_OCInitStructure);

????? TIM_Cmd(TIM2,ENABLE);}?

void PWM_SetCompare3(uint16_t compare)

{TIM_SetCompare3(TIM2,compare);

}void Motor_SetSpeed(int8_t Speed)

{if(Speed >= 0)

????? {

????? GPIO_SetBits(MOTOR_AIN1_GPIO_PORT,MOTOR_AIN1_GPIO_PIN);

????? GPIO_ResetBits(MOTOR_AIN2_GPIO_PORT,MOTOR_AIN2_GPIO_PIN);

????? PWM_SetCompare3(Speed);

????? }else{

????? GPIO_ResetBits(MOTOR_AIN1_GPIO_PORT,MOTOR_AIN1_GPIO_PIN);

????? GPIO_SetBits(MOTOR_AIN2_GPIO_PORT,MOTOR_AIN2_GPIO_PIN);

?????????? PWM_SetCompare3(-Speed);}}

Motor.h

#ifndef __MOTOR_H

#define??? __MOTOR_H

#include "stm32f10x.h"

#include "delay.h"

#include "sys.h"

/***************根據自己需求更改****************/

// TB6612FNG電機驅動模塊 GPIO宏定義

#define??? MOTOR_CLK??????????? ????? ?????????? RCC_APB2Periph_GPIOA

#define MOTOR_AIN1_GPIO_PIN ?????????????????? GPIO_Pin_0

#define MOTOR_AIN2_GPIO_PIN ?????????????????? GPIO_Pin_1

#define MOTOR_AIN1_GPIO_PORT ??????????????????? GPIOA

#define MOTOR_AIN2_GPIO_PORT ??????????????????? GPIOA

#define MOTOR_PWMA_GPIO_PIN ??????????????????? GPIO_Pin_2

#define MOTOR_PWMA_GPIO_PORT ???????????????????? GPIOA

/*********************END**********************/

void MOTOR_Init(void);

void PWM_Init(void);

void Motor_SetSpeed(int8_t Speed);

#endif