STM32ADC控制舵机

最新推荐文章于 2024-10-10 09:28:58 发布

FuYu5228

最新推荐文章于 2024-10-10 09:28:58 发布

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文章标签： stm32 单片机嵌入式硬件

本文链接：https://blog.csdn.net/fuyu5228/article/details/130546715

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STM32ADC控制舵机

运用ADC和TIM得到输入和输出PWM波控制sg90舵机旋转

main.c

#include "stm32f10x.h"                  // Device header
#include "OLED.h"
#include "Servo.h"
#include "AD.h"

int16_t angle;
int main(void)
{
	OLED_Init();
	Servo_Init();
	AD_Init();
	
	while (1)
	{
		OLED_ShowString(1, 1, "Value:");
		OLED_ShowNum(1, 7, AD_GetValue(), 4);
		angle = 0.5 * AD_GetValue() + 500;
		Servo_SetAngle(angle);
	}
}

AD.h

#ifndef __AD_H
#define __AD_H

void AD_Init(void);
uint16_t AD_GetValue(void);

#endif

AD.c

#include "stm32f10x.h"                  // Device header

void AD_Init(void)
{
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);
	
	RCC_ADCCLKConfig(RCC_PCLK2_Div6);
	
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 1, ADC_SampleTime_13Cycles5);
	
	ADC_InitTypeDef ADC_InitStructure;
	ADC_InitStructure.ADC_ContinuousConvMode  = ENABLE;
	ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
	ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
	ADC_InitStructure.ADC_Mode = ADC_Mode_Independent;
	ADC_InitStructure.ADC_NbrOfChannel = 1;
	ADC_InitStructure.ADC_ScanConvMode = ENABLE;
	ADC_Init(ADC1, &ADC_InitStructure);
	
	ADC_Cmd(ADC1, ENABLE);
	
	ADC_ResetCalibration(ADC1);
	while(ADC_GetResetCalibrationStatus(ADC1) == SET);
	ADC_StartCalibration(ADC1);
	while(ADC_GetCalibrationStatus(ADC1) == SET);
	

}

uint16_t AD_GetValue(void)
{
	ADC_SoftwareStartConvCmd(ADC1, ENABLE);
	while(ADC_GetFlagStatus(ADC1, ADC_FLAG_EOC) == RESET);
	return ADC_GetConversionValue(ADC1);
}

Servo.h

#ifndef __Servo_H
#define __Servo_H

void Servo_Init(void);
void Servo_SetAngle(int16_t angle);

#endif

Servo.c

#include "stm32f10x.h"                  // Device header

void Servo_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;
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
	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 = 20000 - 1;
	TIM_TimeBaseInitStructure.TIM_Prescaler = 72 - 1;
	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;
	TIM_OC2Init(TIM2, &TIM_OCInitStructure);
	
	TIM_Cmd(TIM2, ENABLE);
}

void Servo_SetAngle(uint16_t angle)
{
	TIM_SetCompare2(TIM2, angle);
}