HD01雙H橋高功率賽車驅動板

HD01高功率驅動高速小車

高功率驅動板主要提供車的速度

雖然方向上有些偏差，但后續可以通過硬體加編碼器軟體PID演算法解決小車差速問題

驅動引數

先看看我們驅動的引數

一般情況下驅動電流決定了小車的速度
驅動17A 完全碾壓L298N
這里推薦新手如果不是缺錢的話最好買一個好點車模和驅動

引腳分配

然后我們看他的操作引腳

引腳性能

VM GND M+ M- 這個沒什么好說的
DIR控制方向
SLP控制開關
PWM控制速度
而FLP CS 作為檢測
可以用讀取IO口作為FLP的狀態讀取就和按鍵差不多
用ADC采集樣本
首先我們分配引腳

STM32驅動代碼

然后我們根據我們要寫的功能寫一個基本控制的初始化

初始化代碼

#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?1ê?? 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  μ??12a?ù
	
 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 ??μ???′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 ??μ???′ó?yμ??oêy  

 
  /* 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);
}

電機控制代碼

然后再撰寫一下PWM模塊 PWM有兩組一組是舵機控制
采用的20ms 周期
一種是電機控制他們推薦我們使用的20KHZ

控制頻率引數

代碼如下

#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);

}

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