HB-M09 电机驱动模块

void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(timHandle->Instance==TIM3)
  {
    /* TIM3 GPIO Configuration
    PB0     ------> TIM3_CH3
    PB1     ------> TIM3_CH4 */
    __HAL_RCC_GPIOB_CLK_ENABLE();

    GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
  }
}

TIM_HandleTypeDef htim3;

void MX_TIM3_Init(void)
{
  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};

  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 71;           // 预分频器 72MHz/72 = 1MHz
  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim3.Init.Period = 999;               // 周期 1MHz/1000 = 1kHz PWM
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  HAL_TIM_Base_Init(&htim3);

  sConfigOC.OCMode = TIM_OCMODE_PWM1;       // PWM模式1
  sConfigOC.Pulse = 0;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; // 高电平有效
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3);
  HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4);

  HAL_TIM_MspPostInit(&htim3);
}

while (1)
{
  if(HAL_GetTick() - Time_Now >= 500)  // 500ms定时
  {
    period++;  // 周期计数器递增

    // 反转 30% 速度
    if(period == 1) {
      speed = 30;
      __HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_3,1000);
      __HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_4,(100-speed)*10);
    }
    // 停止
    if(period == 3) {
      __HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_3,1000);
      __HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_4,1000);
    }
    // ... 更多速度档位 ...
    
    // OLED显示方向和速度
    OLED_Clear();
    if(period < 10)
      OLED_CenterPrintf(12, "反转");
    else
      OLED_CenterPrintf(12, "正转");
    OLED_CenterPrintf(36, "速度:%d%%", speed);
    OLED_Update();

    Time_Now = HAL_GetTick();
  }
}