STM32F103C8T6———180度舵机（来回转）

0110 1111B

已于 2023-08-26 16:30:41 修改

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文章标签： stm32 单片机

于 2023-07-17 15:32:40 首次发布

本文链接：https://blog.csdn.net/lf_lf_lf_/article/details/131767374

版权

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！！！