初始化时钟：在 STM32 的程序中，初始化系统时钟，一般会使用 RCC（Reset and Clock Control）相关函数来配置时钟。例如，对于 STM32F103 系列，可能会使用 RCC_APB2PeriphClockCmd 函数来使能 GPIO 和电机驱动芯片相关的时钟。
初始化 GPIO 引脚：配置连接到电机驱动芯片的 GPIO 引脚为输出模式。
电机正转控制：通过设置 GPIO 引脚的电平来控制电机正转。
电机反转控制：改变方向控制端的电平，使电机反转。
电机停止控制：关闭电机驱动芯片的使能端，使电机停止转动。

代码如下：

/* USER CODE BEGIN Header */
/********************************************************************************* @file           : main.c* @brief          : Main program body******************************************************************************* @attention** <h2><center>&copy; Copyright (c) 2025 STMicroelectronics.* All rights reserved.</center></h2>** This software component is licensed by ST under BSD 3-Clause license,* the "License"; You may not use this file except in compliance with the* License. You may obtain a copy of the License at:*                        opensource.org/licenses/BSD-3-Clause********************************************************************************/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes *//* USER CODE END Includes *//* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
#include "stdio.h"
/* USER CODE END PTD *//* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD *//* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM *//* USER CODE END PM *//* Private variables ---------------------------------------------------------*/TIM_HandleTypeDef htim3;UART_HandleTypeDef huart1;/* USER CODE BEGIN PV *//* USER CODE END PV *//* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM3_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_NVIC_Init(void);
/* USER CODE BEGIN PFP */#if 1
#pragma import(__use_no_semihosting)             
//标准库需要的支持函数                 
struct __FILE 
{ int handle; }; FILE __stdout;       
//定义_sys_exit()以避免使用半主机模式    
void _sys_exit(int x) 
{ x = x; 
} 
//重定义fputc函数 int fputc(int ch, FILE *f)
{uint8_t temp[1] = {ch};HAL_UART_Transmit(&huart1, temp, 1, 1000);  // huart1是串口1，如果使用其他串口需要更改这个变量return ch;
}
#endif 
/* USER CODE END PFP *//* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */uint16_t  SinWave[1000];uint16_t index_test = 0;/* USER CODE END 0 *//*** @brief  The application entry point.* @retval int*/
int main(void)
{/* USER CODE BEGIN 1 *//* USER CODE END 1 *//* MCU Configuration--------------------------------------------------------*//* Reset of all peripherals, Initializes the Flash interface and the Systick. */HAL_Init();/* USER CODE BEGIN Init *//* USER CODE END Init *//* Configure the system clock */SystemClock_Config();/* USER CODE BEGIN SysInit *//* USER CODE END SysInit *//* Initialize all configured peripherals */MX_GPIO_Init();MX_TIM3_Init();MX_USART1_UART_Init();/* Initialize interrupts */MX_NVIC_Init();/* USER CODE BEGIN 2 */printf("init hal pwm test.");int i = 0;for(uint16_t i=0;i<1000;i++){SinWave[i]=500*sin(2*3.1415926f*i/1000)+500;}//设置占空比 for(uint16_t i=0;i<1000;i++){TIM3->CCR1=500;TIM3->CCR2=500;HAL_Delay(1);}	HAL_GPIO_WritePin(GPIOA,GPIO_PIN_7,GPIO_PIN_SET);HAL_GPIO_WritePin(GPIOA,GPIO_PIN_6,GPIO_PIN_RESET);HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);  //使能定时器4通道1HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);  //使能定时器4通道2while(1){index_test++;if(index_test < 1000){HAL_TIM_PWM_Stop(&htim3, TIM_CHANNEL_1);  //使能定时器4通道1HAL_TIM_PWM_Stop(&htim3, TIM_CHANNEL_2);  //使能定时器4通道1HAL_GPIO_WritePin(GPIOA,GPIO_PIN_7,GPIO_PIN_RESET);HAL_GPIO_WritePin(GPIOA,GPIO_PIN_6,GPIO_PIN_SET);HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);  //使能定时器4通道1HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);  //使能定时器4通道2HAL_Delay(1);			printf("反转");}		else {if(index_test == 2000){index_test =0;}HAL_TIM_PWM_Stop(&htim3, TIM_CHANNEL_1);  //使能定时器4通道1HAL_TIM_PWM_Stop(&htim3, TIM_CHANNEL_2);  //使能定时器4通道1HAL_GPIO_WritePin(GPIOA,GPIO_PIN_7,GPIO_PIN_SET);HAL_GPIO_WritePin(GPIOA,GPIO_PIN_6,GPIO_PIN_RESET);HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);  //使能定时器4通道1HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);  //使能定时器4通道2HAL_Delay(1);printf("正转");}}		/* USER CODE END 2 *//* Infinite loop *//* USER CODE BEGIN WHILE *///  for(index = 0; index < 10; index++)
//  {/* USER CODE END WHILE *//* USER CODE BEGIN 3 */
//  }//#include "string.h"
//while(1)
//{//	printf("TIM3= %d\r\n",TIM3->CNT);
//	
//	
//}printf("done");/* USER CODE END 3 */
}/*** @brief System Clock Configuration* @retval None*/
void SystemClock_Config(void)
{RCC_OscInitTypeDef RCC_OscInitStruct = {0};RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};/** Supply configuration update enable*/HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);/** Configure the main internal regulator output voltage*/__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}/** Initializes the RCC Oscillators according to the specified parameters* in the RCC_OscInitTypeDef structure.*/RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;RCC_OscInitStruct.HSEState = RCC_HSE_ON;RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;RCC_OscInitStruct.PLL.PLLM = 1;RCC_OscInitStruct.PLL.PLLN = 100;RCC_OscInitStruct.PLL.PLLP = 2;RCC_OscInitStruct.PLL.PLLQ = 2;RCC_OscInitStruct.PLL.PLLR = 2;RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;RCC_OscInitStruct.PLL.PLLFRACN = 0;if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK){Error_Handler();}/** Initializes the CPU, AHB and APB buses clocks*/RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2|RCC_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2;RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV2;RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK){Error_Handler();}PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART1;PeriphClkInitStruct.Usart16ClockSelection = RCC_USART16CLKSOURCE_D2PCLK2;if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK){Error_Handler();}
}/*** @brief NVIC Configuration.* @retval None*/
static void MX_NVIC_Init(void)
{/* TIM3_IRQn interrupt configuration */HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);HAL_NVIC_EnableIRQ(TIM3_IRQn);
}/*** @brief TIM3 Initialization Function* @param None* @retval None*/
static void MX_TIM3_Init(void)
{/* USER CODE BEGIN TIM3_Init 0 *//* USER CODE END TIM3_Init 0 */TIM_ClockConfigTypeDef sClockSourceConfig = {0};TIM_MasterConfigTypeDef sMasterConfig = {0};TIM_OC_InitTypeDef sConfigOC = {0};/* USER CODE BEGIN TIM3_Init 1 *//* USER CODE END TIM3_Init 1 */htim3.Instance = TIM3;htim3.Init.Prescaler = 400-1;htim3.Init.CounterMode = TIM_COUNTERMODE_UP;htim3.Init.Period = 1000-1;htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;if (HAL_TIM_Base_Init(&htim3) != HAL_OK){Error_Handler();}sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK){Error_Handler();}if (HAL_TIM_OC_Init(&htim3) != HAL_OK){Error_Handler();}sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK){Error_Handler();}sConfigOC.OCMode = TIM_OCMODE_TOGGLE;sConfigOC.Pulse = 0;sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;if (HAL_TIM_OC_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK){Error_Handler();}sConfigOC.OCPolarity = TIM_OCPOLARITY_LOW;if (HAL_TIM_OC_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK){Error_Handler();}/* USER CODE BEGIN TIM3_Init 2 *//* USER CODE END TIM3_Init 2 */HAL_TIM_MspPostInit(&htim3);}/*** @brief USART1 Initialization Function* @param None* @retval None*/
static void MX_USART1_UART_Init(void)
{/* USER CODE BEGIN USART1_Init 0 *//* USER CODE END USART1_Init 0 *//* USER CODE BEGIN USART1_Init 1 *//* USER CODE END USART1_Init 1 */huart1.Instance = USART1;huart1.Init.BaudRate = 115200;huart1.Init.WordLength = UART_WORDLENGTH_8B;huart1.Init.StopBits = UART_STOPBITS_1;huart1.Init.Parity = UART_PARITY_NONE;huart1.Init.Mode = UART_MODE_TX_RX;huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;huart1.Init.OverSampling = UART_OVERSAMPLING_16;huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;huart1.Init.ClockPrescaler = UART_PRESCALER_DIV1;huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;if (HAL_UART_Init(&huart1) != HAL_OK){Error_Handler();}if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK){Error_Handler();}if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK){Error_Handler();}if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK){Error_Handler();}/* USER CODE BEGIN USART1_Init 2 *//* USER CODE END USART1_Init 2 */}/*** @brief GPIO Initialization Function* @param None* @retval None*/
static void MX_GPIO_Init(void)
{GPIO_InitTypeDef GPIO_InitStruct = {0};/* GPIO Ports Clock Enable */__HAL_RCC_GPIOH_CLK_ENABLE();__HAL_RCC_GPIOA_CLK_ENABLE();/*Configure GPIO pin Output Level */HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_RESET);/*Configure GPIO pin : PA0 */GPIO_InitStruct.Pin = GPIO_PIN_0;GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;GPIO_InitStruct.Pull = GPIO_NOPULL;GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);/*Configure GPIO pin : PA4 */GPIO_InitStruct.Pin = GPIO_PIN_4;GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;GPIO_InitStruct.Pull = GPIO_NOPULL;GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);}/* USER CODE BEGIN 4 */
//void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
//{
//	if(huart->Instance == USART1)
//	{
//		HAL_UART_Receive_IT(&huart1,(uint8_t*)&rx,sizeof(rx));
//	}
//}
/* USER CODE END 4 *//*** @brief  This function is executed in case of error occurrence.* @retval None*/
void Error_Handler(void)
{/* USER CODE BEGIN Error_Handler_Debug *//* User can add his own implementation to report the HAL error return state *//* USER CODE END Error_Handler_Debug */
}#ifdef  USE_FULL_ASSERT
/*** @brief  Reports the name of the source file and the source line number*         where the assert_param error has occurred.* @param  file: pointer to the source file name* @param  line: assert_param error line source number* @retval None*/
void assert_failed(uint8_t *file, uint32_t line)
{/* USER CODE BEGIN 6 *//* User can add his own implementation to report the file name and line number,tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) *//* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT *//************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/