【STM32F103】利用PWM驱动舵机

王哈哈、

于 2024-05-26 19:27:47 发布

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分类专栏： STM32单片机文章标签： stm32 嵌入式硬件单片机

本文链接：https://blog.csdn.net/m0_48808835/article/details/139051402

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0、前言

参考：
【【STM32F4+CubeMX零基础快速入门】定时器中断 PWM输出】 https://www.bilibili.com/video/BV1f54y1Y7Ls/?share_source=copy_web&vd_source=77e36f24add8dc77c362748ffb980148

理论

PWM生成原理
在这里插入图片描述

Cubemx

电路

TIM1.Channel1,2,3,4, PA0~3,

代码

main.c

/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2024 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "ServoMotor.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim2;

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM2_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim);

/* USER CODE END 0 */

/**
 * @brief  The application entry point.
 * @retval int
 */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_TIM2_Init();
  /* USER CODE BEGIN 2 */
  /*********** 实例化舵机 **************/
  ServoMotor servomotor_left_front = {
      .servomotordata = {
          .targetPosition = 0, // 初始目标位置
          .isMoving = false,
          .channel = TIM_CHANNEL_1, // PA0
      },
      .SetTargetPosition = ServoMotor_SetTargetPosition // 设置目标位置的函数
  }; // 实例化舵机
  ServoMotor_Init(&servomotor_left_front); // 初始化舵机

  ServoMotor servomotor_left_back = {
      .servomotordata = {
          .targetPosition = 0, // 初始目标位置
          .isMoving = false,
          .channel = TIM_CHANNEL_2, // PA1
      },
      .SetTargetPosition = ServoMotor_SetTargetPosition // 设置目标位置的函数
  }; // 实例化舵机
  ServoMotor_Init(&servomotor_left_back); // 初始化舵机

  ServoMotor servomotor_right_front = {
      .servomotordata = {
          .targetPosition = 0,
          .isMoving = false,
          .channel = TIM_CHANNEL_3, // PA2
      },
      .SetTargetPosition = ServoMotor_SetTargetPosition};
  ServoMotor_Init(&servomotor_right_front);

  ServoMotor servomotor_right_back = {
      .servomotordata = {
          .targetPosition = 0,
          .isMoving = false,
          .channel = TIM_CHANNEL_4, // PA3
      },
      .SetTargetPosition = ServoMotor_SetTargetPosition};
  ServoMotor_Init(&servomotor_right_back);

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    servomotor_left_front.SetTargetPosition(&servomotor_left_front.servomotordata, 180);
    servomotor_left_front.SetTargetPosition(&servomotor_left_front.servomotordata, 0);
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
 * @brief System Clock Configuration
 * @retval None
 */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
   * in the RCC_OscInitTypeDef structure.
   */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
   */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
 * @brief TIM2 Initialization Function
 * @param None
 * @retval None
 */
static void MX_TIM2_Init(void)
{

  /* USER CODE BEGIN TIM2_Init 0 */

  /* USER CODE END TIM2_Init 0 */

  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};

  /* USER CODE BEGIN TIM2_Init 1 */

  /* USER CODE END TIM2_Init 1 */
  htim2.Instance = TIM2;
  htim2.Init.Prescaler = 72 - 1;
  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim2.Init.Period = 20000 - 1;
  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 0;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM2_Init 2 */

  /* USER CODE END TIM2_Init 2 */
  HAL_TIM_MspPostInit(&htim2);
}

/**
 * @brief GPIO Initialization Function
 * @param None
 * @retval None
 */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOD_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_RESET);

  /*Configure GPIO pin : PA4 */
  GPIO_InitStruct.Pin = GPIO_PIN_4;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}

/* USER CODE BEGIN 4 */
//  void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
//  {
//    HAL_GPIO_TogglePin(GPIOA,GPIO_PIN_4);
//  }
/* USER CODE END 4 */

/**
 * @brief  This function is executed in case of error occurrence.
 * @retval None
 */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef USE_FULL_ASSERT
/**
 * @brief  Reports the name of the source file and the source line number
 *         where the assert_param error has occurred.
 * @param  file: pointer to the source file name
 * @param  line: assert_param error line source number
 * @retval None
 */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

servomotor.h

#ifndef __SERVOMOTOR_H
#define __SERVOMOTOR_H
#include "stm32f1xx_hal.h"
#include <stdbool.h> // 引入布尔类型的定义
#include "main.h"

typedef struct
{
    int targetPosition;  // 目标位置
    bool isMoving;       // 是否正在移动
    uint32_t channel;    // 定时器通道
} ServoMotorData;

// 定义函数指针类型
typedef void (*ServoMotor_SetTargetPosition_Function)(ServoMotorData *servomotordata, int angle);

// 修改ServoMotor结构体，使用上面定义的函数指针类型
typedef struct
{
    ServoMotorData servomotordata;
    ServoMotor_SetTargetPosition_Function SetTargetPosition; // 使用上面定义的函数指针类型
} ServoMotor;

// 函数声明
void ServoMotor_Init(ServoMotor *servomotor);
void ServoMotor_SetTargetPosition(ServoMotorData *servomotordata, int angle);

#endif // __SERVOMOTOR_H

servomotor.c

#include "ServoMotor.h"

void ServoMotor_Init(ServoMotor *servomotor)
{
    servomotor->servomotordata.channel = 0;
    servomotor->servomotordata.isMoving = false;
    HAL_TIM_PWM_Start(&htim2, servomotor->servomotordata.channel);
}

void ServoMotor_SetTargetPosition(ServoMotorData *sermotor, int angle)
{
   if (angle < 0)
   {
       angle = 0; // 限制角度范围为0到180度
   }
   else if (angle > 180)
   {
       angle = 180;
   }

   int compare_value = 10 + 2*angle/9;
   __HAL_TIM_SET_COMPARE(&htim2, sermotor->channel, compare_value);
   HAL_Delay(1000);  // 延时给舵机转动的反应时间
}