使用STM32F4做主控、A5驱动控制交流伺服电机

        选用定时器的主从模式，TIM2为主，TIM4为从。TIM2 输出PWM，TIM4记录脉冲数；选用PA3做为方向控制接线引脚。

关键代码如下：

//定时器2主模式,定时器4从模式
//PWM输出
/*设置PA3引脚，使用PA3作为方向控制信号的控制脚*/
void DIR_config(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;//GPIO设置，创建结构体
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA,ENABLE);

	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;       //控制电机运动方向
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
	GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;
	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;	
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	GPIO_SetBits(GPIOA,GPIO_Pin_3);

}

/*打开定时器2，并把TIM2设定为主定时器，*/
void TIM2_config(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;//GPIO设置，创建结构体
    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;//定时器设置结构体
    TIM_OCInitTypeDef  TIM_OCInitStructure; //pwm波对应设置结构体
	
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA,ENABLE);
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);
   
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; //TIM_CH1和T
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
	GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;
	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;             //复用推挽输出
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);
    GPIO_PinAFConfig(GPIOA,GPIO_PinSource2,GPIO_AF_TIM2);
		//固定预分频值为5，通过改变重装载值的大小改变转速，当前转速为每分钟3000转
		//3000x3200=9600000(每分钟需要的脉冲数),9600000/60=160000(单位时间脉冲速)， 
        //84000000/160000=525=5x105;	
    TIM_TimeBaseStructure.TIM_Period = Speed-1;                                                   
    TIM_TimeBaseStructure.TIM_Prescaler =(5-1);  //设置用来作为TIMx时钟//频率除数的预分频值                                                     
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//设置时钟分割：TDTS= Tck_tim            
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
		TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;  
    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);                                       
 
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;//选择定时器模式：TIM脉冲宽度调制模式1       
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
    TIM_OCInitStructure.TIM_Pulse = 0;                    //设置待装入捕获寄存器的脉冲值                                   
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;      //输出极性  	
	TIM_CtrlPWMOutputs(TIM2, ENABLE);
		
    TIM_OC3Init(TIM2, &TIM_OCInitStructure);   //通道      
    TIM_SelectMasterSlaveMode(TIM2, TIM_MasterSlaveMode_Enable);
    TIM_SelectOutputTrigger(TIM2, TIM_TRGOSource_Update);
    
    TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable);                              
    TIM_ARRPreloadConfig(TIM2, ENABLE);  

    TIM_Cmd(TIM2, ENABLE);
}
 
/***定时器4从模式***/
void TIM4_config(void)
{
    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;//TIMx初始化结构体
    NVIC_InitTypeDef NVIC_InitStructure; //NVIC结构体
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4,ENABLE);

    TIM_TimeBaseStructure.TIM_Period = 3200-1; //设置自动重装载周期值
    TIM_TimeBaseStructure.TIM_Prescaler =0;    
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;     
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseStructure.TIM_RepetitionCounter=0;//tim1必须加这句不然没反应
    TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);   //      
    

	TIM_SelectInputTrigger(TIM4, TIM_TS_ITR1); //对应上面的定时器主从匹配表
    TIM4->SMCR|=0x07;                                  //设置从模式寄存器        
    TIM_ITConfig(TIM4,TIM_IT_Update,ENABLE);

    NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;        
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;     
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; 
    NVIC_Init(&NVIC_InitStructure); 

	IM_Cmd(TIM4,ENABLE);
    
}
//每完成一个设定周期（3200）进入中断，在在中断里进行相应的操作
void TIM4_IRQHandler(void) 
{ 
    if (TIM_GetITStatus(TIM4, TIM_IT_Update) != RESET)     // TIM_IT_CC1
    { 
			
			 TIM_ClearITPendingBit(TIM4, TIM_IT_Update); // 清除中断标志位 
			 TIM_SetCounter(TIM4,0);
			 Now_Turns++;	                         //旋转圈数加一
			 LCD_ShowxNum(130,200,Now_Turns,4,24,0); //显示在LCD屏上
			if(Now_Turns%2==1)
			{
//				beep();	//测试用						
			}
			if(Now_Turns%2==0)
			{
//				Shine_LED();	//测试用
			}
			if(Now_Turns>=Target_Turns)
			{
				Run_Flag=1;
				TIM_CtrlPWMOutputs(TIM2, DISABLE);  //主输出失能
				TIM_Cmd(TIM2, DISABLE); // 关闭定时器 
				TIM_Cmd(TIM4, DISABLE); // 关闭定时器 
				TIM_ITConfig(TIM4, TIM_IT_Update, DISABLE); //关闭  
			
			}		
			
    } 
} 

A5驱动器的关键引脚接线

 光耦电路图

细节后续优化.............