STM32 HAL 驱动有刷直流电机和无刷直流电机

（有刷）直流电机和无刷直流电机的机电结构不同，（有刷）直流电机通过两根线供电，由这两根线的电压方向控制电机轴转动的方向，调节额定范围内的电压可控制转动的速度，在驱动电压一定的条件下就存在对应的最大速度，还可以通过在电压线上提供PWM波形调节速度，采用PWM波形会比恒定电压供电时速度降低，因此恒定电压驱动时也叫做全速。

无刷直流电机则由驱动器向其输出相位驱动信号，并接收霍尔反馈信号，不断调整相位驱动信号输出，进行驱动控制。对于驱动器而言，其控制无刷直流电机转动方向是通过换向相位的控制，控制无刷直流电机速度则是由检测反馈相位和驱动换向的速度决定，此速度固定后，无刷直流电机的全速也就确定了。

STM32驱动有刷直流电机方式

有刷直流电机需要的供电常常高于MCU的供电，因此STM32驱动更高电压供电的有刷直流电机时，可以通过直流电机驱动模块，实际上就是P沟道MOS和N沟道MOS构成的PUSH-PULL电路，而涉及到需要换向的操作，则用H桥的模块。

有刷直流电机的转动速度受驱动电压影响，在驱动电压固定后，由驱动PWM波形占空比决定转速。

STM32驱动无刷直流电机方式

无刷直流电机有驱动模块内置（如BLDC-38SRZ-S）和驱动模块外置的类型区别。STM32通过驱动模块控制无刷直流电机，这种情况下，STM32面对的就不是要做换向信号输出，而是通过输出PWM波形由驱动模块控制无刷直流电机的速度，且通过方向信号线的高低电平控制无刷直流电机的转向。并通过刹车信号线控制无刷直流电机停止。实际上，驱动模块接收STM32发来的方向信号电平，PWM波形里的高电平时间，以及刹车信号控制向无刷直流电机相位驱动信号的输出。

需要注意的事项：

驱动模块有FG的接线，对于不同的无刷直流电机定义不同，有的无刷直流电机，这根线是接STM32的GND作为共地线（如型号为BLDC-38SRZ-S的无刷直流电机）；有的无刷直流电机，这根线是作为转速反馈信号线（如型号为22H893F010的无刷直流电机），这种情况下，通常需要将驱动模块供电的GND和STM32端供电的GND连接。
驱动模块接收一定频率范围内的PWM输入，而由PWM内的占空比决定无刷直流电机的速度。也就是说输入频率为1KHz和10KHz的PWM波形，单个周期内的占空比相同如都是30%，则单位时间内的高电平时间还是相同的，所以控制的无刷直流电机转速相同。实际上驱动模块在输入的PWM波形高电平时间内进行对无刷直流电机的换向驱动，反之则不输出换向信号。
不同的驱动模块，在其连接STM32接口的设计有不同，有的输入端口有上拉，因此STM32按照Open Drain方式输出。而有的输入端口有反相器重驱，这种情况下，要将STM32原本要输出的信号先做反相，才能反反为正，得到正确的响应。
无刷直流电机的转动速度不受供电电压影响（能正常带载情况下），只受换向驱动速度影响。在换向速度固定后，由外部输入的PWM波形高电平决定转速。

STM32驱动有刷直流电机范例（HAL）

这里以STM32F401CCU6开发板和STM32CUBEIDE开发环境构建范例环境。可以通过TIM输出PWM波形（输出波形更稳定），或者通过延时控制输出PWM波形的方式（容易调整），实现对驱动模块的控制。这里介绍通过延时控制输出PWM波形的方式，采用的延时函数参考 STM32 HAL us delay（微秒延时）的指令延时实现方式及优化。

首先建立工程并设置时钟系统：

然后设置2个GPIO为输出如PA0和PA1，连接到驱动模块的IN1, IN2输入端，而驱动模块的对应输出端连接到有刷直流电机的两端。

保存并生成初始工程代码：

范例代码(main.c)实现定时切换有刷直流电机的速度和方向：

/* USER CODE BEGIN Header */
/********************************************************************************* @file           : main.c* @brief          : Main program body******************************************************************************* @attention** Copyright (c) 2022 STMicroelectronics.* All rights reserved.** This software is licensed under terms that can be found in the LICENSE file* in the root directory of this software component.* If no LICENSE file comes with this software, it is provided AS-IS.********************************************************************************/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes *//* USER CODE END Includes *//* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
float usDelayBase;
void PY_usDelayTest(void)
{uint32_t firstms, secondms;uint32_t counter = 0;firstms = HAL_GetTick()+1;secondms = firstms+1;while(uwTick!=firstms) ;while(uwTick!=secondms) counter++;usDelayBase = ((float)counter)/1000;
}void PY_Delay_us_t(uint32_t Delay)
{uint32_t delayReg;uint32_t usNum = (uint32_t)(Delay*usDelayBase);delayReg = 0;while(delayReg!=usNum) delayReg++;
}
void PY_usDelayOptimize(void)
{uint32_t firstms, secondms;float coe = 1.0;firstms = HAL_GetTick();PY_Delay_us_t(1000000) ;secondms = HAL_GetTick();coe = ((float)1000)/(secondms-firstms);usDelayBase = coe*usDelayBase;
}
void PY_Delay_us(uint32_t Delay)
{uint32_t delayReg;uint32_t msNum = Delay/1000;uint32_t usNum = (uint32_t)((Delay%1000)*usDelayBase);if(msNum>0) HAL_Delay(msNum);delayReg = 0;while(delayReg!=usNum) delayReg++;
}
/* 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 ---------------------------------------------------------*//* USER CODE BEGIN PV *//* USER CODE END PV *//* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
/* USER CODE BEGIN PFP *//* USER CODE END PFP *//* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
uint8_t dir = 0;
uint32_t period = 1000;
uint32_t speed = 0;
uint32_t counter = 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();/* USER CODE BEGIN 2 */PY_usDelayTest();PY_usDelayOptimize();/* USER CODE END 2 *//* Infinite loop *//* USER CODE BEGIN WHILE */while (1){if(dir == 0){HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_RESET);speed = 100;for(counter=0;counter<5000;counter++){HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0, GPIO_PIN_SET);PY_Delay_us_t(speed);HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0, GPIO_PIN_RESET);PY_Delay_us_t(period-speed);}speed = 300;for(counter=0;counter<50000;counter++){HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0, GPIO_PIN_SET);PY_Delay_us_t(speed);HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0, GPIO_PIN_RESET);PY_Delay_us_t(period-speed);}speed = 500;for(counter=0;counter<50000;counter++){HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0, GPIO_PIN_SET);PY_Delay_us_t(speed);HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0, GPIO_PIN_RESET);PY_Delay_us_t(period-speed);}speed = 700;for(counter=0;counter<50000;counter++){HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0, GPIO_PIN_SET);PY_Delay_us_t(speed);HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0, GPIO_PIN_RESET);PY_Delay_us_t(period-speed);}dir = 1;}else{HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0, GPIO_PIN_RESET);speed = 100;for(counter=0;counter<5000;counter++){HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_SET);PY_Delay_us_t(speed);HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_RESET);PY_Delay_us_t(period-speed);}speed = 300;for(counter=0;counter<50000;counter++){HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_SET);PY_Delay_us_t(speed);HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_RESET);PY_Delay_us_t(period-speed);}speed = 500;for(counter=0;counter<50000;counter++){HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_SET);PY_Delay_us_t(speed);HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_RESET);PY_Delay_us_t(period-speed);}speed = 700;for(counter=0;counter<50000;counter++){HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_SET);PY_Delay_us_t(speed);HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_RESET);PY_Delay_us_t(period-speed);}dir = 1;}/* USER CODE END WHILE *//* USER CODE BEGIN 3 */}/* USER CODE END 3 */
}/*** @brief System Clock Configuration* @retval None*/
void SystemClock_Config(void)
{RCC_OscInitTypeDef RCC_OscInitStruct = {0};RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};/** Configure the main internal regulator output voltage*/__HAL_RCC_PWR_CLK_ENABLE();__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE2);/** Initializes the RCC Oscillators according to the specified parameters* in the RCC_OscInitTypeDef structure.*/RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;RCC_OscInitStruct.HSIState = RCC_HSI_ON;RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;RCC_OscInitStruct.PLL.PLLM = 16;RCC_OscInitStruct.PLL.PLLN = 168;RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;RCC_OscInitStruct.PLL.PLLQ = 4;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_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK){Error_Handler();}
}/*** @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_GPIOA_CLK_ENABLE();/*Configure GPIO pin Output Level */HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0|GPIO_PIN_1, GPIO_PIN_RESET);/*Configure GPIO pins : PA0 PA1 */GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;GPIO_InitStruct.Pull = GPIO_NOPULL;GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);}/* USER CODE BEGIN 4 *//* 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 */__disable_irq();while (1){}/* 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,ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) *//* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

STM32驱动无刷直流电机范例（HAL）

这里以STM32F401CCU6开发板和STM32CUBEIDE开发环境构建范例环境。可以通过TIM输出PWM波形（更稳定），或者通过延时控制输出PWM波形的方式（快速功能测试），实现对驱动模块的控制。这里介绍通过延时控制输出PWM波形的方式，采用的延时函数参考 STM32 HAL us delay（微秒延时）的指令延时实现方式及优化。

首先建立工程并设置时钟系统：

设置4个GPIO如PA0, PA1, PA2, PA3分别作为PWM, CW（方向），BRAKE（刹车）和FG，这里针对BLDC-38SRZ-S无刷直流电机，所以FG设置为输出并常态置为接地态。

保存并生成初始工程代码：

这里针对BLDC-38SRZ-S进行控制，这款电机的控制特点：

FG为接地共地
BRAKE输入为低电平，电机停转
BRAKE输入为高电平，由PWM控制转速
PWM在输入接口做了反相，原来前高后低的PWM，要先转换为前低后高的PWM

范例代码(main.c)实现定时切换无刷直流电机的速度和方向。

/* USER CODE BEGIN Header */
/********************************************************************************* @file           : main.c* @brief          : Main program body******************************************************************************* @attention** Copyright (c) 2022 STMicroelectronics.* All rights reserved.** This software is licensed under terms that can be found in the LICENSE file* in the root directory of this software component.* If no LICENSE file comes with this software, it is provided AS-IS.********************************************************************************/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/** PA0 CW* PA1 PWM* PA2 BRAKE* PA3 FG*/
/* USER CODE END Includes *//* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
float usDelayBase;
void PY_usDelayTest(void)
{uint32_t firstms, secondms;uint32_t counter = 0;firstms = HAL_GetTick()+1;secondms = firstms+1;while(uwTick!=firstms) ;while(uwTick!=secondms) counter++;usDelayBase = ((float)counter)/1000;
}void PY_Delay_us_t(uint32_t Delay)
{uint32_t delayReg;uint32_t usNum = (uint32_t)(Delay*usDelayBase);delayReg = 0;while(delayReg!=usNum) delayReg++;
}
void PY_usDelayOptimize(void)
{uint32_t firstms, secondms;float coe = 1.0;firstms = HAL_GetTick();PY_Delay_us_t(1000000) ;secondms = HAL_GetTick();coe = ((float)1000)/(secondms-firstms);usDelayBase = coe*usDelayBase;
}
void PY_Delay_us(uint32_t Delay)
{uint32_t delayReg;uint32_t msNum = Delay/1000;uint32_t usNum = (uint32_t)((Delay%1000)*usDelayBase);if(msNum>0) HAL_Delay(msNum);delayReg = 0;while(delayReg!=usNum) delayReg++;
}
/* 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 ---------------------------------------------------------*//* USER CODE BEGIN PV *//* USER CODE END PV *//* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
/* USER CODE BEGIN PFP *//* USER CODE END PFP *//* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
uint8_t dir = 0;
uint32_t period = 1000;
uint32_t speed = 0;
uint32_t counter = 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();/* USER CODE BEGIN 2 */PY_usDelayTest();PY_usDelayOptimize();HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2, GPIO_PIN_SET);HAL_GPIO_WritePin(GPIOA, GPIO_PIN_3, GPIO_PIN_RESET);/* USER CODE END 2 *//* Infinite loop *//* USER CODE BEGIN WHILE */while (1){if(dir == 0){HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0, GPIO_PIN_RESET);speed = 100;for(counter=0;counter<5000;counter++){HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_SET);PY_Delay_us_t(period-speed);HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_RESET);PY_Delay_us_t(speed);}speed = 300;for(counter=0;counter<5000;counter++){HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_SET);PY_Delay_us_t(period-speed);HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_RESET);PY_Delay_us_t(speed);}speed = 500;for(counter=0;counter<5000;counter++){HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_SET);PY_Delay_us_t(period-speed);HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_RESET);PY_Delay_us_t(speed);}speed = 700;for(counter=0;counter<5000;counter++){HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_SET);PY_Delay_us_t(period-speed);HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_RESET);PY_Delay_us_t(speed);}dir = 1;}else{HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0, GPIO_PIN_SET);speed = 100;for(counter=0;counter<5000;counter++){HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_SET);PY_Delay_us_t(period-speed);HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_RESET);PY_Delay_us_t(speed);}speed = 300;for(counter=0;counter<5000;counter++){HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_SET);PY_Delay_us_t(period-speed);HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_RESET);PY_Delay_us_t(speed);}speed = 500;for(counter=0;counter<5000;counter++){HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_SET);PY_Delay_us_t(period-speed);HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_RESET);PY_Delay_us_t(speed);}speed = 700;for(counter=0;counter<5000;counter++){HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_SET);PY_Delay_us_t(period-speed);HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_RESET);PY_Delay_us_t(speed);}dir = 1;}/* USER CODE END WHILE *//* USER CODE BEGIN 3 */}/* USER CODE END 3 */
}/*** @brief System Clock Configuration* @retval None*/
void SystemClock_Config(void)
{RCC_OscInitTypeDef RCC_OscInitStruct = {0};RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};/** Configure the main internal regulator output voltage*/__HAL_RCC_PWR_CLK_ENABLE();__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE2);/** Initializes the RCC Oscillators according to the specified parameters* in the RCC_OscInitTypeDef structure.*/RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;RCC_OscInitStruct.HSIState = RCC_HSI_ON;RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;RCC_OscInitStruct.PLL.PLLM = 16;RCC_OscInitStruct.PLL.PLLN = 168;RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;RCC_OscInitStruct.PLL.PLLQ = 4;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_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK){Error_Handler();}
}/*** @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_GPIOA_CLK_ENABLE();/*Configure GPIO pin Output Level */HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_3, GPIO_PIN_RESET);/*Configure GPIO pin Output Level */HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2, GPIO_PIN_SET);/*Configure GPIO pins : PA0 PA1 */GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;GPIO_InitStruct.Pull = GPIO_NOPULL;GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);/*Configure GPIO pins : PA2 PA3 */GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_3;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 *//* 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 */__disable_irq();while (1){}/* 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,ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) *//* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

–End–