调试过程,出现舵机一直来回旋转,结果把DAP烧录器一拔,就正常了。估计是烧录器不稳定。
#include "stm32f4xx.h"
#include "led.h"
#include "delay.h"
#include "sys.h"
#include "usart.h"
#include "beep.h"
#include "key.h"
#include "rotate_servomotor.h"
#include "step_motor.h"
#include "basetimx.h"
#include "waterpump.h"
#include "electromagnet.h"
int main(void)
{
delay_init(168);
PWM_Init();
while(1)
{
PWM_SetCompare1(500);
delay_ms(1000);
PWM_SetCompare1(2500);
delay_ms(1000);
}
}
#ifndef _STEP_MOTOR_H
#define _STEP_MOTOR_H
#include "sys.h"
#include "stm32f4xx_tim.h"
//舵机
extern u16 arr,psc,ccr;
void PWM_Init(void);
void PWM_SetCompare1(uint16_t compare);
void PWM_SetCompare2(uint16_t compare);
#endif
#include "stm32f4xx.h"
#include "step_motor.h"
//#include "stm32f4xx_rcc.h"
//舵机
u16 arr=20000-1,psc=72-1,ccr=0;
void PWM_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); //TIM2时钟使能
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);// GPIOC /* 指定引脚复用功能 */
GPIO_PinAFConfig(GPIOA,GPIO_PinSource0,GPIO_AF_TIM2);//记得复用引脚至定时器2
GPIO_PinAFConfig(GPIOA,GPIO_PinSource0,GPIO_AF_TIM2);//相对于开定时器2的通道1,2
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
TIM_InternalClockConfig(TIM2);
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up; //向上计数模式
TIM_TimeBaseStructure.TIM_Period = arr; //自动重装载值
TIM_TimeBaseStructure.TIM_Prescaler = psc; //定时器分频
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0; //定时器分频
TIM_TimeBaseInit(TIM2,&TIM_TimeBaseStructure);//初始化定时器2
// TIM_OCInitStructInit(&TIM_OCInitStructure);
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_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
TIM_OCInitStructure.TIM_Pulse = ccr; //设置待装入捕获比较寄存器的脉冲值
TIM_OC1Init(TIM2, &TIM_OCInitStructure);
TIM_OC2Init(TIM2, &TIM_OCInitStructure);
TIM_Cmd(TIM2, ENABLE);
}
void PWM_SetCompare1(uint16_t Compare)
{
TIM_SetCompare1(TIM2,Compare);
}
void PWM_SetCompare2(uint16_t Compare)
{
TIM_SetCompare2(TIM2,Compare);
}