STM32学习（五）PWM驱动舵机 新手入门及常见问题解决

出问题的原因：

(5条消息) .\Obj\Temp.axf: Error: L6200E: Symbol LED_Init multiply defined (by led_1.o and led.o)._闪烁shimmer的博客-CSDN博客 不能引用同一个C文件

#####Main
#include "stm32f10x.h"                  // Device header
#include "led.h"
#include "key.h"
#include "sys.h"
#include "lcd.h"
#include "usart.h"
#include "servo.h"
extern uint8_t Key_GetNum(void);

uint8_t KeyNum;
float Angle;
int main(void)
{
//    LCD_Init();
	KEY_Init();
	servo_Init();
	set_angle(0);

//	pwm_compare(2500);//500转到0度  2500转到180度

while (1)
	{
	

		KeyNum =  Key_GetNum();
		if (KeyNum == 1)
		{
			Angle += 30;
			if (Angle > 180)
			{
				Angle = 0;
			}
		}
		set_angle(Angle);
		
	}
}//按下按键可使舵机转动

#include "stm32f10x.h"                  // Device header
void pwm_Init(void)
{
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);//time2在APB1里面
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);	 //使能PA端口时钟
	GPIO_InitTypeDef  GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;				 //LED0-->PB.5 端口配置
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; 		 //GPIO_Mode_AF_PP 复用推挽输出，定时器控制引脚，引脚的
	//控制权交给片上外设
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;		 //IO口速度为50MHz
    GPIO_Init(GPIOA, &GPIO_InitStructure);					 //根据设定参数初始化GPIOB.5
   
    TIM_InternalClockConfig(TIM2) ;	
	
    TIM_TimeBaseInitTypeDef  TIM_TimeBaseInitStruct;
    TIM_TimeBaseInitStruct.TIM_Prescaler = 72-1;//分频器值,72M/7200 = 10K PSC
    TIM_TimeBaseInitStruct.TIM_CounterMode =  TIM_CounterMode_Up;//向上计数	
    TIM_TimeBaseInitStruct.TIM_Period =20000-1; //自动寄存器的值（定时器的周期）相乘结果为1秒 ARR
    TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;//分频为1
    TIM_TimeBaseInitStruct.TIM_RepetitionCounter = 0 ;//高级计时器才有
    TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitStruct);	
	//REF的配置
    TIM_OCInitTypeDef TIM_OCInitStruct;
	TIM_OCStructInit(&TIM_OCInitStruct);  //给结构体赋初始值，避免缺少成员而报错 //带N的一般是高级定时器才有的功能
    TIM_OCInitStruct.TIM_OCMode =  TIM_OCMode_PWM1;   // 输出比较模式选择 PW1        
	TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable; 
	TIM_OCInitStruct.TIM_Pulse = 0;  //CCR的值
	TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High; //极性选择
    TIM_OC2Init(TIM2,&TIM_OCInitStruct);
//    TIM_OC2Init(TIM2,&TIM_OCInitStruct);可以实现同一个定时器，不同通道的PWM可以驱动多个舵机
//	TIM_OC3Init(TIM2,&TIM_OCInitStruct);
//	TIM_OC4Init(TIM2,&TIM_OCInitStruct);
	TIM_Cmd(TIM2,ENABLE);//启动定时器

}

void pwm_compare(uint16_t Compare)
{
  TIM_SetCompare2(TIM2,Compare);//不断更改CCR的值
 
}

 

 

#include "stm32f10x.h"                  // Device header
#include "pwm.h"
void servo_Init(void)
{
  pwm_Init();

}
//0 180
//500 2500
void set_angle(float angle)
{
   pwm_compare(angle/180*2000+500);//可选择想要的角度

}