STM32 DC Motor Driver

A lightweight and efficient DC motor driver implementation for STM32 microcontrollers, designed for precise and smooth control of DC motors using PWM. This project is specially designed to work with IBT2 Motor Drivers as well as L298N, DRV8871, or other similar H-Bridge motor driver circuits.

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Features

• Multiple Motor Control: Supports controlling multiple DC motors independently.
• Smooth Speed Adjustment: Implements gradual acceleration and deceleration for smooth motor operation.
• Direction Control: Forward and reverse direction functionality.
• PWM-Based Speed Control: Utilizes PWM (Pulse Width Modulation) signals for precise speed control.
• Compatibility with Popular Motor Drivers:
  • IBT2 Motor Driver.
  • L298N, DRV8871, and similar H-Bridge motor driver circuits.
• Flexible Timer Configuration: Works with configurable prescaler and period values for timers to achieve custom PWM frequencies.

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Wiring Diagram

Below is the wiring diagram for connecting the STM32 microcontroller, IBT2 motor driver, DC motor, and power source:

Wiring Details:

1. STM32 Board:

   • Connect PWM1 (e.g., PA8, TIM1 Channel 1) to RPWM on the IBT2 driver.
   • Connect PWM2 (e.g., PA9, TIM1 Channel 2) to LPWM on the IBT2 driver.
   • Ensure the STM32's ground (GND) is connected to the IBT2's ground.

2. IBT2 Motor Driver:

   • RPWM: Input for controlling the motor's forward direction.
   • LPWM: Input for controlling the motor's reverse direction.
   • Connect the motor's terminals to OUT1 and OUT2.
   • Provide sufficient power to the IBT2 via the +12V and GND terminals.

3. Power Source:

   • A 12V LiPo battery is used as the power source for the motor and the IBT2 driver.
   • Ensure the battery's ground is shared with the STM32 and IBT2.

4. DC Motor:

   • The motor is connected to the IBT2's output terminals (OUT1 and OUT2).

This wiring allows for bidirectional control of the DC motor using the STM32's PWM signals.

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Project Overview

This code is implemented using STM32 HAL libraries and is tailored for projects requiring smooth motor control. It is suitable for:

• Robotics projects.
• Industrial automation.
• Embedded systems requiring precise DC motor control.

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Usage

Hardware Requirements

1. STM32 Microcontroller: Compatible with STM32F103 or other STM32 devices.
2. Motor Driver Circuit:
   • Recommended: IBT2 Motor Driver, L298N, DRV8871, or similar H-Bridge motor driver.
3. DC Motors: For testing and demonstration.
4. Power Supply: Ensure the motor driver and microcontroller have an adequate power source.

Software Requirements

• STM32CubeIDE or compatible IDE.
• STM32 HAL drivers.

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How to Use

1. Clone the repository:

   git clone https://github.com/yourusername/STM32-DC-Motor-Driver.git

2. Import the project into STM32CubeIDE.

3. Configure the hardware as shown in the wiring diagram above.

4. Set up the PWM timer:

   • Goal: Achieve a PWM frequency of 1 kHz.
   • Formula for PWM frequency:

     f_PWM = f_timer / ((Prescaler + 1) × (Counter Period + 1))
     

   • For an internal clock of 72 MHz, use:
     • Prescaler: 72-1 → Divides the timer clock by 72, resulting in a 1 MHz timer frequency.
     • Counter Period: 1000-1 → Divides the 1 MHz timer frequency by 1000, resulting in a PWM frequency of 1 kHz.

5. Modify the motor driver functions as needed:

   • Use the Motor_Init function to initialize each motor.
   • Use Motor_SetSpeed to control speed and direction:

     Motor_SetSpeed(&motor1, 500);  // Forward with speed = 500
     Motor_SetSpeed(&motor1, -500); // Reverse with speed = 500
     Motor_SetSpeed(&motor1, 0);    // Stop the motor

6. Build and flash the code to your STM32 device.

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Example Code

Here’s an example of initializing and controlling a motor:

// Initialize Motor
motor motor1 = Motor_Init(&htim1, TIM_CHANNEL_1, TIM_CHANNEL_2);

// Start PWM
HAL_TIM_PWM_Start(motor1.tim, motor1.ch1);
HAL_TIM_PWM_Start(motor1.tim, motor1.ch2);

// Set Motor Speed
Motor_SetSpeed(&motor1, 500);  // Forward at 50% speed
HAL_Delay(2000);
Motor_SetSpeed(&motor1, -500); // Reverse at 50% speed
HAL_Delay(2000);
Motor_SetSpeed(&motor1, 0);    // Stop the motor

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Supported Motor Drivers

This code is compatible with the following motor driver circuits:

• IBT2 Motor Driver (ideal for high-current motors).
• L298N H-Bridge Motor Driver (commonly used in hobbyist projects).
• DRV8871 Motor Driver (compact and efficient for low-current motors).
• Other similar motor driver circuits.

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Contributing

Contributions are welcome! If you’d like to improve the code, add features, or report issues, feel free to open an issue or submit a pull request.

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License

This project is licensed under the MIT License. See the LICENSE file for more details.

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Acknowledgments

• Thanks to the STM32 HAL library for providing a robust API for embedded programming.
• Special thanks to the embedded systems community for their continuous support and inspiration.

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