STM32 HAL库PID控制电机 第二章 TB6612FNG芯片驱动GB37-520电机
STM32 HAL库PID控制电机
第二章 TB6612FNG芯片驱动GB37-520电机(HAL库)
1 电路图
2 TB6612简介
TB6612是双驱动,可同时驱动两个电机
STBY:接单片机的IO口清零电机全部停止,置1通过AIN1 AIN2,BIN1,BIN2 来控制正反转
VM:建议接10V以内电源( 瞬间上电12V可能会有尖峰电压击穿器件 )
VCC:接5V电源
GND:接电源负极
PWMA:接单片机的PWM口 ,控制转速
PWMB:接单片机的PWM口 ,控制转速
AO1、AO2:接电机1的两个脚
BO1、BO2:接电机2的两个脚
赋值 | 停止 | 正转 | 反转 |
---|---|---|---|
AIN1 | 0 | 0 | 1 |
AIN2 | 0 | 1 | 0 |
BIN1 | 0 | 0 | 1 |
BIN2 | 0 | 1 | 0 |
所连接引脚如下表:
引脚号 | 定时器通道 | 备注 |
---|---|---|
PA11 | TIM1_CH4 | PWMA |
PB12 | AIN2 | |
PB13 | AIN1 | |
PB14 | BIN1 | |
PB15 | BIN2 | |
PA8 | TIM1_CH1 | PWMB |
3 STM32CubeMX配置
3.1 配置PWM输出引脚
有电路图知PWM产生于PA11、PA8引脚,对应分别为TIM1_CH4、TIM1_CH1通道,所以在cubemx在左栏的Timers中选择TIM1,Clock Source选择内部时钟Internal Clock,然后选择打开通道1与通道4的PWM输出模式,在下方的参数设置中填入预分频数(psc)和自动重装载值(arr),输出的PWM频率:
PWM输出频率(计数器溢出频率)=计数器的时钟输入(预分频器的时钟输出)ARR+1=预分频器的输入时钟(内部时钟,一般为72MHz)(PSC+1)(ARR+1)PWM输出频率(计数器溢出频率)=\\frac{计数器的时钟输入(预分频器的时钟输出)}{ARR+1} \\\\=\\frac{预分频器的输入时钟(内部时钟,一般为72MHz)}{(PSC+1)(ARR+1)} PWM输出频率(计数器溢出频率)=ARR+1计数器的时钟输入(预分频器的时钟输出)=(PSC+1)(ARR+1)预分频器的输入时钟(内部时钟,一般为72MHz)
在本次测试中,根据使用的减速电机,设置PWM的输出频率为18KHz,根据上述公式可以计算得到,并将两个通道都设置为PWM模式:
18,000=72,000,000/(3+1)*(999+1)
解释:
ARR:自动重装载值,arr是计数,从0到设定值,然后返回至0重新开始计数(也可以看成pwm的机械周期:将一个pwm周期分为多少份)
PSC:预分频器的值,psc是预分频系数,决定一次计数的时间。公式:一次计数时间(也是一个脉冲输出时间)=(psc+1)/主频。计数周期(也是一个pwm周期)=(psc+1)*(arr+1)/主频。
PWM的频率是指每秒钟信号从高电平到低电平再回到高电平的次数。
3.2 配置正反转控制引脚
配置用于控制电机正反转的两组引脚,分别为AIN1和AIN2、BIN1和BIN2,对应单片机引脚为PB13、PB12、PB14、PB15配置为GPIO_Output模式。
3.3 修改标签
为了方便管理和移植,我们对应TB6612芯片修改相应的标签。
(1)修改GPIO
(2)修改TIM
3.4 生成代码
4 编写电机驱动程序
4.1 新建motor文件夹
(1)右击新建source folder,文件名icode,用于存放自写库函数。
(2)在icode文件夹下新建motor文件,再motor文件下新建header file:motor.h和source file:motor.c文件。
4.2 编写驱动程序
motor.h
/ motor.h Created on: Apr 4, 2023* Author: 77454*/#ifndef MOTOR_MOTOR_H_
#define MOTOR_MOTOR_H_#include "main.h"
#include "tim.h"void MotorControl(char motorDirection,int leftMotorPWM, int rightMotorPWM);#endif /* MOTOR_MOTOR_H_ */
motor.c
/ motor.c Created on: Apr 4, 2023* Author: 77454*/
#include "motor.h"
/* @brief 控制电机进行正转、反转、停止* @param None* @retval None*/
void LeftMotor_Go() //左电机正转 AIN输出相反电平 BIN也输出相反电平
{HAL_GPIO_WritePin(AIN1_GPIO_Port, AIN1_Pin, GPIO_PIN_SET);HAL_GPIO_WritePin(AIN2_GPIO_Port, AIN2_Pin, GPIO_PIN_RESET);
}
void LeftMotor_Back() //左电机反转
{HAL_GPIO_WritePin(AIN1_GPIO_Port, AIN1_Pin, GPIO_PIN_RESET);HAL_GPIO_WritePin(AIN2_GPIO_Port, AIN2_Pin, GPIO_PIN_SET);
}
void LeftMotor_Stop() //左电机停止 AIN和BIN输出相同电平
{HAL_GPIO_WritePin(AIN1_GPIO_Port, AIN1_Pin, GPIO_PIN_RESET);HAL_GPIO_WritePin(AIN2_GPIO_Port, AIN2_Pin, GPIO_PIN_RESET);
}
void RightMotor_Go() //右电机正转 AIN输出相反电平 BIN也输出相反电平
{HAL_GPIO_WritePin(BIN1_GPIO_Port, BIN1_Pin, GPIO_PIN_SET);HAL_GPIO_WritePin(BIN2_GPIO_Port, BIN2_Pin, GPIO_PIN_RESET);
}
void RightMotor_Back() //右电机反转
{HAL_GPIO_WritePin(BIN1_GPIO_Port, BIN1_Pin, GPIO_PIN_RESET);HAL_GPIO_WritePin(BIN2_GPIO_Port, BIN2_Pin, GPIO_PIN_SET);
}
void RightMotor_Stop() //右电机停止 AIN和BIN输出相同电平
{HAL_GPIO_WritePin(BIN1_GPIO_Port, BIN1_Pin, GPIO_PIN_RESET);HAL_GPIO_WritePin(BIN2_GPIO_Port, BIN2_Pin, GPIO_PIN_RESET);
}/* @brief 控制电机进行速度控制* @param 运动方向,左右电机的PWM值* @retval None*/
void MotorControl(char motorDirection, int leftMotorPWM, int rightMotorPWM) {switch (motorDirection) {case 0:LeftMotor_Go();RightMotor_Go();__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_4, leftMotorPWM);__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, rightMotorPWM);break;case 1:LeftMotor_Back();RightMotor_Back();__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_4, leftMotorPWM);__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, rightMotorPWM);break;case 2:LeftMotor_Stop();RightMotor_Stop();__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_4, 0);__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, 0);break;default:break;}
}
main.c
/* USER CODE BEGIN Header */
/* @file : main.c* @brief : Main program body* @attention Copyright (c) 2023 STMicroelectronics.* All rights reserved. This software is licensed under terms that can be found in the LICENSE file* in the root directory of this software component.* If no LICENSE file comes with this software, it is provided AS-IS./
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "rtc.h"
#include "tim.h"
#include "gpio.h"/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "../../icode/motor/motor.h"
/* USER CODE END Includes *//* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD *//* USER CODE END PTD *//* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD *//* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM *//* USER CODE END PM *//* Private variables ---------------------------------------------------------*//* USER CODE BEGIN PV *//* USER CODE END PV *//* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP *//* USER CODE END PFP *//* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 *//* USER CODE END 0 *//* @brief The application entry point.* @retval int*/
int main(void) {/* USER CODE BEGIN 1 *//* USER CODE END 1 *//* MCU Configuration--------------------------------------------------------*//* Reset of all peripherals, Initializes the Flash interface and the Systick. */HAL_Init();/* USER CODE BEGIN Init *//* USER CODE END Init *//* Configure the system clock */SystemClock_Config();/* USER CODE BEGIN SysInit *//* USER CODE END SysInit *//* Initialize all configured peripherals */MX_GPIO_Init();MX_RTC_Init();MX_TIM1_Init();/* USER CODE BEGIN 2 */HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_4);HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);/* USER CODE END 2 *//* Infinite loop *//* USER CODE BEGIN WHILE */while (1) {/* USER CODE END WHILE *//* USER CODE BEGIN 3 */MotorControl(0, 5000, 5000); //直行HAL_Delay(2000);MotorControl(2, 0, 0); //停止HAL_Delay(2000);MotorControl(1, 500, 500); //后退HAL_Delay(2000);MotorControl(0, 0, 200); //前进左转HAL_Delay(2000);MotorControl(0, 200, 0); //前进右转HAL_Delay(2000);MotorControl(1, 0, 200); //左转退回HAL_Delay(2000);MotorControl(1, 200, 0); //右转退回HAL_Delay(2000);}/* USER CODE END 3 */
}/* @brief System Clock Configuration* @retval None*/
void SystemClock_Config(void) {RCC_OscInitTypeDef RCC_OscInitStruct = { 0 };RCC_ClkInitTypeDef RCC_ClkInitStruct = { 0 };RCC_PeriphCLKInitTypeDef PeriphClkInit = { 0 };/ Initializes the RCC Oscillators according to the specified parameters* in the RCC_OscInitTypeDef structure.*/RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI| RCC_OSCILLATORTYPE_HSE;RCC_OscInitStruct.HSEState = RCC_HSE_ON;RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;RCC_OscInitStruct.HSIState = RCC_HSI_ON;RCC_OscInitStruct.LSIState = RCC_LSI_ON;RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {Error_Handler();}/ Initializes the CPU, AHB and APB buses clocks*/RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK| RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) {Error_Handler();}PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_RTC;PeriphClkInit.RTCClockSelection = RCC_RTCCLKSOURCE_LSI;if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) {Error_Handler();}
}/* USER CODE BEGIN 4 *//* USER CODE END 4 *//* @brief This function is executed in case of error occurrence.* @retval None*/
void Error_Handler(void) {/* USER CODE BEGIN Error_Handler_Debug *//* User can add his own implementation to report the HAL error return state */__disable_irq();while (1) {}/* USER CODE END Error_Handler_Debug */
}#ifdef USE_FULL_ASSERT
/* @brief Reports the name of the source file and the source line number* where the assert_param error has occurred.* @param file: pointer to the source file name* @param line: assert_param error line source number* @retval None*/
void assert_failed(uint8_t *file, uint32_t line)
{/* USER CODE BEGIN 6 *//* User can add his own implementation to report the file name and line number,ex: printf("Wrong parameters value: file %s on line %d\\r\\n", file, line) *//* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */