[ARM] STM32_PWM, Driver(Motor)

1.  PWM

 

(2) :  TIM3 CH1, CH2 setup

• Prescaler 설정 : 100-1 → 100MHz / 100 : 1MHz
• ARR(Auto Reload Register)
  • Counter Period 조절하여 주파수 조절 (top 값)
  • 1MHz → 1 count = 1us
  • @ ARR=1000-1) 0 ~ 999 count하고 overflow → 1kHz
• CCR (Channel Compare Register) : Pulse 값 조절하여 duty rate 조절
• PWM mode : mode 1) CNT < CCR → 출력 High(시작 High) / mode 2) CNT > CCR → 출력 High(시작 Low)
• Output compare preload : Enable → CCR 값 변경시 다음 주기부터 변경 적용 / Disable → CCR 값 변경시 바로 적용(오류 가능성 있음)
• CH Polarity 조절하여 시작을 LOW or HIGH

 

⇒ TIME 1개로 여러개의 모터(TIM Channel) 제어 가능

 

 

---

1-1.  PWM 사용하여 LED 제어

 

	__HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_1, 50);
	__HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_2, 50);
	HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
	HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);

`__HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_1, 500)` : CCR Register 설정 할 수 있는 매크로

⇒ CCR 0 ~ 999 중 50으로 설정

 

 

---

2.  Motor Driver

 

 

// 헤더 파일
/*
 * Motor.h
 *
 *  Created on: Apr 25, 2024
 *      Author: k1min
 */

#ifndef DRIVER_MOTOR_MOTOR_H_
#define DRIVER_MOTOR_MOTOR_H_

#include "stm32f4xx_hal.h"


typedef struct{
	TIM_HandleTypeDef *htim;
	uint32_t Channel;
	GPIO_TypeDef *Dir1_GPIO;
	uint16_t Dir1_GPIO_Pin;
	GPIO_TypeDef *Dir2_GPIO;
	uint16_t Dir2_GPIO_Pin;
}Motor_t;


void Motor_init(Motor_t *Motor,
			TIM_HandleTypeDef *htim,
			uint32_t Channel,
			GPIO_TypeDef *Dir1_GPIO, uint16_t Dir1_GPIO_Pin,
			GPIO_TypeDef *Dir2_GPIO, uint16_t Dir2_GPIO_Pin);
void Motor_Stop(Motor_t *Motor);
void Motor_Forward(Motor_t *Motor);
void Motor_Backward(Motor_t *Motor);
void Motor_SetSpeed(Motor_t *Motor, int speedVal);


#endif /* DRIVER_MOTOR_MOTOR_H_ */



// 소스 파일
/*
 * Motor.c
 *
 *  Created on: Apr 25, 2024
 *      Author: k1min
 */

#include "Motor.h"

void Motor_init(Motor_t *Motor,
			TIM_HandleTypeDef *htim,
			uint32_t Channel,
			GPIO_TypeDef *Dir1_GPIO, uint16_t Dir1_GPIO_Pin,
			GPIO_TypeDef *Dir2_GPIO, uint16_t Dir2_GPIO_Pin)
{
	Motor->htim = htim;
	Motor->Channel = Channel;
	Motor->Dir1_GPIO = Dir1_GPIO;
	Motor->Dir1_GPIO_Pin = Dir1_GPIO_Pin;
	Motor->Dir2_GPIO = Dir2_GPIO;
	Motor->Dir2_GPIO_Pin = Dir2_GPIO_Pin;

}
void Motor_Stop(Motor_t *Motor)
{
	HAL_TIM_PWM_Stop(Motor->htim, Motor->Channel);
}
void Motor_Forward(Motor_t *Motor)
{
	HAL_GPIO_WritePin(Motor->Dir1_GPIO, Motor->Dir1_GPIO_Pin, RESET);
	HAL_GPIO_WritePin(Motor->Dir2_GPIO, Motor->Dir2_GPIO_Pin, SET);
  HAL_TIM_PWM_Start(Motor->htim, Motor->Channel);
}
void Motor_Backward(Motor_t *Motor)
{
	HAL_GPIO_WritePin(Motor->Dir1_GPIO, Motor->Dir1_GPIO_Pin, SET);
	HAL_GPIO_WritePin(Motor->Dir2_GPIO, Motor->Dir2_GPIO_Pin, RESET);
  HAL_TIM_PWM_Start(Motor->htim, Motor->Channel);
}
void Motor_SetSpeed(Motor_t *Motor, int speedVal)
{
	__HAL_TIM_SET_COMPARE(Motor->htim, Motor->Channel, speedVal);
}

 

전체 코드

GitHub - k1minseok/STM32_Motor_Driver_0425

 

 

 

---

 

 

 

 

 

 

Made By Minseok KIM