STM32单片机 PWM控制 MG90S舵机

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已于 2024-09-12 12:06:55 修改

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文章标签：单片机 stm32 嵌入式硬件

于 2024-09-12 11:04:55 首次发布

本文链接：https://blog.csdn.net/2301_77574331/article/details/142168265

版权

MG90S舵机图片

接线图

输出PWM波要求

输入舵机的周期为 20ms ，因此PWM频率要设置为50Hz。

PWM占空比	舵机状态
0%	停止
2.5%	顺时钟快转
5%	顺时钟慢转
7.5%	停止
10%	逆时针慢转
12.5%	逆时针快转
100%	停止

PWM参数计算公式

代码示例

PWM.h

#include "stm32f10x.h"                  // Device header


#ifndef __PWM_H
#define __PWM_H

void PWM_Init(void);
void PWM_SetCompare1(uint16_t Compare);

#endif

PWM.c

#include "stm32f10x.h"                  // Device header

void PWM_Init(void){
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);
	
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;	//复用推挽输出
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA,&GPIO_InitStructure);
	
	TIM_InternalClockConfig(TIM2);

	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
	TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;
	TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseInitStruct.TIM_Period = 20000-1;	//自动重装器，ARR
	TIM_TimeBaseInitStruct.TIM_Prescaler = 72-1;	//预分频器，PSC
	TIM_TimeBaseInitStruct.TIM_RepetitionCounter = 0;
	TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitStruct);
	
	TIM_OCInitTypeDef TIM_OCInitStruct;
	TIM_OCStructInit(&TIM_OCInitStruct);
	TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1;
	TIM_OCInitStruct.TIM_Pulse = 0;  //CCR
	TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High;
	TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;
	TIM_OC1Init(TIM2,&TIM_OCInitStruct);

	TIM_Cmd(TIM2,ENABLE);
	
}

void PWM_SetCompare1(uint16_t Compare){
	
	TIM_SetCompare1(TIM2,Compare);

}

Key.h

#include "stm32f10x.h"                  // Device header

#ifndef __LED_H
#define __LED_H

void LED_Switch(uint8_t Temp);
void LED_Init(void);

#endif

Key.c

#include "stm32f10x.h"                  // Device header
#include "Delay.h"
uint16_t KeyState = 0;
void Key_Init(void){
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
	
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;	//上拉输入
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOB,&GPIO_InitStructure);
}

uint8_t Key_GetState(void){


	if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_1) == 1){
		Delay_ms(20);//消抖
		while(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_1) == 1);
		Delay_ms(20);
		KeyState += 1;
	}
	if(KeyState > 40){
		KeyState = 0;
	
	}


	return KeyState;


}

main.c

#include "stm32f10x.h"                  // Device header
#include "Delay.h"
#include "OLED.h"
#include "Key.h"
#include "LED.h"
#include "Encoder.h"
#include "PWM.h"


int main(void){
	PWM_Init();
	Key_Init();
	OLED_Init();
	uint16_t Key_State;
	while(1){

		Key_State = Key_GetState();

			PWM_SetCompare1(Key_State * 500);


			OLED_Printf(0,0,OLED_8X16,"%d",Key_State);
		

		OLED_Update();
	}
}