其中主要分为两部分,时钟的初始化和主函数的控制部分。
时钟的初始化:
选用TIM14时钟,F9引脚作为信号控制引脚
void TIM14_PWM_Init(u32 arr,u32 psc) { GPIO_InitTypeDef GPIO_InitStructure; TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_OCInitTypeDef TIM_OCInitStructure; RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM14,ENABLE); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOF, ENABLE); GPIO_PinAFConfig(GPIOF,GPIO_PinSource9,GPIO_AF_TIM14); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; GPIO_Init(GPIOF,&GPIO_InitStructure); TIM_TimeBaseStructure.TIM_Prescaler=psc; TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up; TIM_TimeBaseStructure.TIM_Period=arr; TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1; TIM_TimeBaseInit(TIM14,&TIM_TimeBaseStructure); TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; TIM_OC1Init(TIM14, &TIM_OCInitStructure); TIM_OC1PreloadConfig(TIM14, TIM_OCPreload_Enable); TIM_ARRPreloadConfig(TIM14,ENABLE); TIM_Cmd(TIM14, ENABLE); }
主函数控制:
使用按键进行控制,时钟频率设置为50HZ,周期20ms,
舵机属性:0.5ms--------------0;1.0ms------------45;1.5ms------------90;2.0ms-----------135;2.5ms-----------180度。
占空比控制属性:5 / 200 = 0.5ms / 20ms;对应转动0度。5代表pwmval,200为arr
int main(void) { u8 key; u16 pwmval = 0; KEY_Init(); delay_init(168); uart_init(115200); TIM14_PWM_Init(200-1,8400-1); // 50hz,20ms,50 = (168M / (200 * 8400))/2 , t = 20ms = 1 / 50, pwmval = 5 ; while(1) { key_scan(0); if(keydown_data==KEY0_DATA) { pwmval = 5; printf("%d",pwmval); } if(keyup_data==KEY1_DATA) { pwmval = 10; printf("%d",pwmval); } if(keyup_data==KEY2_DATA) { pwmval = 15; printf("%d",pwmval); } if(keyup_data==KEY3_DATA) { pwmval = 20; printf("%d",pwmval); } delay_ms(5); TIM_SetCompare1(TIM14,pwmval); }
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