直流电机驱动,TIMER口配置

电机的电压输出能力和频率有关？？？

修改前：---------------------------------------------------------------------------------------------------------------------------------------------

void MX_TIM4_Init(void)
{
TIM_MasterConfigTypeDef sMasterConfig;
TIM_OC_InitTypeDef sConfigOC;

htim4.Instance = TIM4;
htim4.Init.Prescaler = 1; //72/2 = 36Mhz 
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 3000; //邓工讨论时说,不能设置为3000,3000的话电机的驱动能力太弱, 
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
{
Error_Handler();
}

sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}

sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}

if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}

if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}

if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}

HAL_TIM_MspPostInit(&htim4);

}

修改后：---------------------------------------------------------------------------------------------------------------------------------------------

void MX_TIM4_Init(void)
{
TIM_MasterConfigTypeDef sMasterConfig;
TIM_OC_InitTypeDef sConfigOC;

htim4.Instance = TIM4;
htim4.Init.Prescaler = 5; //72/6 = 12Mhz 
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 1000; //邓工讨论时说,不能设置为3000,3000的话电机的驱动能力太弱, 
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
{
Error_Handler();
}

sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}

sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}

if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}

if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}

if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}

HAL_TIM_MspPostInit(&htim4);

}