STM32标准库定时器输出PWM控制舵机

一、有关舵机

1.1 频率 = 50Hz

1.2 占空比 0.5/20 1/20 1.5/20 2/20 2.5/20 分别对应旋转角度-90°~+90°

【注】本实验以-90°为0°参考

二、PWM相关公式

2.1 f = 72000000 / (psc + 1) / (arr + 1)

2.2 Duty = ccr / (arr + 1)

三、代码编写

3.1主函数

int main(){
	PWM_Init(200 - 1, 7200 - 1);
	
	while(1){
		for(uint8_t angle = 0; angle <= 180; angle += 90) {
			SetAngle(&angle);
			Delay_ms(1000);
		}
	}
}

3.2封装

void PWM_Init(int arr, int psc)
{
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
	
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	TIM_InternalClockConfig(TIM2);
	
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
	TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
	TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseInitStructure.TIM_Period = arr;//ARR
	TIM_TimeBaseInitStructure.TIM_Prescaler = psc;//PSC
	TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
	TIM_TimeBaseInit(TIM2, &TIM_TimeBaseInitStructure);
	
	TIM_OCInitTypeDef TIM_OCInitStructure;
	TIM_OCStructInit(&TIM_OCInitStructure);
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
	TIM_OCInitStructure.TIM_Pulse = 0;//CCR
	TIM_OC3Init(TIM2, &TIM_OCInitStructure);
	
	TIM_Cmd(TIM2, ENABLE);
}
void SetAngle(uint8_t * p) {
	if(*p == 0) {
		TIM_SetCompare3(TIM2, 5);
	}
	else if(*p == 90) {
		TIM_SetCompare3(TIM2, 15);
	}
	else if(*p == 180){
		TIM_SetCompare3(TIM2, 25);
	}
}

3.3参数验证及实验现象

3.3.1 f = 72000000 / (psc + 1) / (arr + 1) = 72000000 / （7200 - 1 + 1） / （200 - 1 + 1） = 50

3.3.2 TIM_SetCompare3接口可以单独改变ccr的值现已配置(arr + 1) = 200，以转到180°为例占空比要求2.5/20，显然ccr应为25。

3.3.3 实验现象舵机循环从0°到90°再到180°变化。