用STM32CubeMX配置输出PWM信号控制多路舵机（HAL）

1.软件准备

(1)编程平台：Keil5

(2)CubeMX

2.硬件准备

(1)本此使用最小核心板STM32F103C8T6为例

(2)一个舵机：SG90或者MG996等均可

(3)ST-link 下载器

(4)杜邦线若干

3.关于舵机控制原理

        舵机的控制一般需要一个20ms左右的时基脉冲，该脉冲的高电平部分一般为0.5ms-2.5ms范围内的角度控制脉冲部分，总间隔为2ms。以180度角度伺服为例，那么对应的控制关系是这样的：

 

4.CubeMX配置

(1)打开STM32CubeMX

(2)新建项目

 (2)选择所需要的芯片

  (3)配置RCC、SYS、时钟树

 

 (4)配置定时器产生PWM波形

 本次配置四个通道，可同时输出四路PWM信号

舵机控制需要一个20ms左右的时基脉冲，

查手册可知TIM3在APB1总线上 

时钟配置时APB1的时钟为72MHz 

注意：上图中还需要选中Internal Clock（内部时钟）选项！

此时产生PWM波形频率：72M / (72-1) / (20000-1) = 50HZ     

波形周期：1  / 50 = 20ms

 可配置舵机初始值，此次配置为500

通过计算可得500/(19999+1)=0.5ms/20ms     则对应为0°

 （4）设置路径、生成代码工程

 5、Keil5代码

(1)main函数

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2022 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"
#include "tim.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* 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 ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

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

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* 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_TIM3_Init();
  MX_TIM1_Init();
  /* USER CODE BEGIN 2 */
HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_4);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
		__HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_4,500);//0-180°此时对应0°
		HAL_Delay(2000);
		__HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_4,2500);//此时对应180°
		HAL_Delay(2000);
    /* 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();
  }
}

/* USER CODE BEGIN 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 */

 使用

HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_4);

函数启动TIM的PWM输出，括号内第一个参数为启动的定时器，第二个参数为所用的通道数

使用

__HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_4,500);

函数调整PWM的占空比，从而更改舵机角度，括号内第一个参数为启动的定时器，第二个参数为所用的通道数，第三个参数为占空比

注意：舵机使用5V供电时，C8t6同样需要5V供电，如使用3.3V供电会导致舵机转动缓慢或者不转动的现象出现！

本例程工程文件下载：如有需要可自取用STM32CubeMX配置输出PWM信号控制多路舵机（HAL）-单片机文档类资源-CSDN下载