注意:
1、供电:舵机需要至少 5.0V 供电;
2、使用TIM2,舵机A1。
直接上代码:
Timer.c:
#include "stm32f10x.h" // Device header
#include "Timer.h"
void Timer_Init(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
TIM_TimeBaseInitStructure.TIM_Period = 50000+1;
TIM_TimeBaseInitStructure.TIM_Prescaler = 7199+1;
TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseInitStructure);
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
TIM_Cmd(TIM2, ENABLE);
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority =15;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 15;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
Timer.h:
#ifndef __TIMER_H
#define __TIMER_H
void Timer_Init(void);
#endif
PWM.c:
#include "stm32f10x.h" // Device header
void PWM_Init(void)
{
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_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; //ARR
TIM_TimeBaseInitStructure.TIM_Prescaler = 72 - 1; //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_OC2Init(TIM2, &TIM_OCInitStructure);
TIM_Cmd(TIM2, ENABLE);
}
void PWM_SetCompare2(uint16_t Compare)
{
TIM_SetCompare2(TIM2, Compare);
}
void Servo_SetAngle(float Angle)
{
PWM_SetCompare2(Angle / 180 * 2000 + 500);
}
PWM.h:
#ifndef __PWM_H
#define __PWM_H
#include "stm32f10x.h" // Device header
void PWM_Init(void);
void PWM_SetCompare2(uint16_t Compare);
void Servo_SetAngle(float Angle);
#endif
main.c:
#include "stm32f10x.h" // Device header
#include "Delay.h"
#include "PWM.h"
#include "Timer.h"
float Angle;//控制角度
int main(void)
{
Timer_Init();
PWM_Init();
Angle=-16; //Angle的值可以修改
while (1)
{
Servo_SetAngle(Angle);
}
}
中断服务程序:
extern float Angle;
unsigned char num=0;
void TIM2_IRQHandler(void)
{
if (TIM_GetITStatus(TIM2, TIM_IT_Update) == SET)
{
TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
if(num == 0)
{
if(Angle < 195)
{
Angle=Angle+2;
}
else num=num+1;
}
if(num == 1)
{
if(Angle > -16)
{
Angle=Angle-2;
}
else num=num-1;
}
}
}
能用的支持一波!!!