使用L298N电机驱动器和STM32实现PWM控制

L298n模块

L298n电机驱动板

7V~12VVCC：接入7V—12V的电源。
GND：接地。注：当单片机与驱动不是同一电源时要供地。
5V输出：可以输出5V的电源。
电机A/B：接入电机。
IN1~IN4：控制电机正反转，转速信号接口。
电机A/B使能：通过跳帽控制是否使能电机。

控制方式

1.直接给高低电平

通过引脚的高低搭配，控制电机的正反转和停止，速度最大不可调。

2.PWM方式控制

通过快速的改变其中一个引脚的高低电平，使电机的开关不停的来回切换从而改变电机的转速。

3.改变电机A/B的使能

去掉A/B电机使能跳帽，另接到单片机引脚上，通过pwm迅速使能失能A/B电机的开关，来改变转速。

代码详解

以电机A为例
IN1=PA1; IN2=PA2; ENA=PA0;

1…第一种控制方式

引脚初始化

void Motor_Init(void)
{
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
	
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1| GPIO_Pin_2;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
}

电机运行函数

void run()
{
		GPIO_SetBits(GPIOA, GPIO_Pin_1);
		GPIO_ResetBits(GPIOA, GPIO_Pin_2);
}

void back()
{		
		GPIO_SetBits(GPIOA, GPIO_Pin_2);
		GPIO_ResetBits(GPIOA, GPIO_Pin_1);
}

void stop()
{		
		GPIO_ResetBits(GPIOA, GPIO_Pin_1);
		GPIO_ResetBits(GPIOA, GPIO_Pin_2);
}

2.第二种控制方式

pwm初始化

void PWM_Init(void)
{
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
	
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1|GPIO_Pin_2;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	                                                                                                                  
	TIM_InternalClockConfig(TIM2);
	
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
	TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
	TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseInitStructure.TIM_Period = 100 - 1;		//ARR
	TIM_TimeBaseInitStructure.TIM_Prescaler = 36 - 1;		//PSC
	TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
	TIM_TimeBaseInit(TIM2, &TIM_TimeBaseInitStructure);
	

	
	TIM_OCInitTypeDef TIM_OCInitStructure;
	TIM_OCStructInit(&TIM_OCInitStructure);
	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);//通道2
	
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
	TIM_OCInitStructure.TIM_Pulse = 0;		//CCR	
	TIM_OC3Init(TIM2, &TIM_OCInitStructure);//通道3
	
	TIM_Cmd(TIM2, ENABLE);
}

设置占空比函数

void MOTO_SetCompare2(uint16_t Compare) //PA1 PWM最大100
{
	TIM_SetCompare2(TIM2, Compare);
}
void MOTO_SetCompare3(uint16_t Compare)//PA2
{
	TIM_SetCompare3(TIM2, Compare);
}

电机运行函数

void moto(int i,int j) //i=0反转 i=1正转 j为转速 最大100
{
	if(i==1)
	{
	MOTO_SetCompare2(J);
	GPIO_ResetBits(GPIOA, GPIO_Pin_2);
	}
	if(i==0)
	{
	MOTO_SetCompare3(J);
	GPIO_ResetBits(GPIOA, GPIO_Pin_1);
	}
}

3.第三种控制方式

ENA 初始化

void ENA_PWMInit(void)
{
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
	
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	                                                                                                                  
	TIM_InternalClockConfig(TIM2);
	
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
	TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
	TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseInitStructure.TIM_Period = 100 - 1;		//ARR
	TIM_TimeBaseInitStructure.TIM_Prescaler = 36 - 1;		//PSC
	TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
	TIM_TimeBaseInit(TIM2, &TIM_TimeBaseInitStructure);
		
	TIM_OCInitTypeDef TIM_OCInitStructure;
	TIM_OCStructInit(&TIM_OCInitStructure);
	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);
}

引脚初始化

void Motor_Init(void)
{
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
	
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1| GPIO_Pin_2;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
}

设置占空比函数

void MOTO_SetCompare1(uint16_t Compare) //PA0 PWM最大100
{
	TIM_SetCompare1(TIM2, Compare);
}

电机运行函数

void moto(int i,int j) //i=0反转 i=1正转 j为转速 最大100
{
	if(i==1)
	{
	    MOTO_SetCompare1(J);
		GPIO_SetBits(GPIOA, GPIO_Pin_1 );
		GPIO_ResetBits(GPIOA, GPIO_Pin_2);
	
	}
	if(i==0)
	{
     	MOTO_SetCompare1(J);
		GPIO_SetBits(GPIOA, GPIO_Pin_2);
		GPIO_ResetBits(GPIOA, GPIO_Pin_1);
	}
}