duoji.h
void TIM4_PWM_Init(void);
duoji.c
#include "duoji.h"
#include "stm32f10x.h"
void TIM4_PWM_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; //定义结构体变量名
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); //使能定时器4时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE); //使能GPIO外设和AFIO复用功能模块时钟
//GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE); //Timer3部分重映射 TIM3_CH2->PB4
//设置该引脚为复用输出功能,让GPIOB->Pin8 输出PWM波
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8; //TIM_CH2
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化GPIO
//初始化TIM4 72M/(7199) = 10的四次方为TIM记一次数的频率
//(记一次数的时间为0.1ms 也就是10的四次方倒数) \
//pwm频率计算公式为 F = TIM_CLK/{(ARR+1)*(PSC+1)} =
//= 72M / {(199+1)+(7199+1) } = 50hz; 周期为 1/50 = 0.02s = 20ms
//此时刚刚可以和舵机的工作周期相同
TIM_TimeBaseStructure.TIM_Period = 199; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值
TIM_TimeBaseStructure.TIM_Prescaler =7199; //设置用来作为TIMx时钟频率除数的预分频值
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
//初始化TIM3 Channel2 PWM模式
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //选择定时器模式:TIM脉冲宽度调制模式1
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:高电平有效
TIM_OC3Init(TIM4, &TIM_OCInitStructure