STM32 PWM驱动舵机（标准库）

代码演示

PWM.c

#include "stm32f10x.h"                  // Device header



void PWM_Init(void){
	
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
	//舵机
	GPIO_InitTypeDef GPIO_Initstructure;
	GPIO_Initstructure.GPIO_Mode= GPIO_Mode_AF_PP;
	GPIO_Initstructure.GPIO_Pin=GPIO_Pin_1;
	GPIO_Initstructure.GPIO_Speed= GPIO_Speed_50MHz;
	GPIO_Init(GPIOA,&GPIO_Initstructure);
	//定时器
	TIM_InternalClockConfig(TIM2);
	TIM_TimeBaseInitTypeDef  TIM_TimeBaseInitStructure;  
	TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;
	TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up;
	TIM_TimeBaseInitStructure.TIM_Period=20000-1;//ARR  //舵机要求的周期是20ms,电平为0.5ms-2.5ms高电平 所以频率是1/20ms=50HZ
	TIM_TimeBaseInitStructure.TIM_Prescaler=72-1;//PSC // Freq(50)=72M/(psc+1)/(ARR+1);这里设PSC=72-1,ARR=20000-1;
	TIM_TimeBaseInitStructure.TIM_RepetitionCounter=0;  //CCR设置2500 就是2.5ms 设置500 就是0.5ms
	TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitStructure);  
	//输出通道                                            //注：CCR寄存器的值决定PWM的占空比，占空比：高电平所占时间比例
	TIM_OCInitTypeDef TIM_OCInitStructure;                 //CCR代表高电平的时间
	TIM_OCStructInit(&TIM_OCInitStructure);//这里没有给所有结构体成员赋初始值，所以直接给结构体赋值
	TIM_OCInitStructure.TIM_OCMode= TIM_OCMode_PWM1;  //设计输出比较的模式
	TIM_OCInitStructure.TIM_OCPolarity=TIM_OCPolarity_High;  //设计输出比较的极性
  TIM_OCInitStructure.TIM_OutputState= TIM_OutputState_Enable ; //设计输出使能
	TIM_OCInitStructure.TIM_Pulse=0;   //设计CCR
	TIM_OC2Init(TIM2,&TIM_OCInitStructure);//这里因为用的是PA1引脚，所以要用通道2
	
	TIM_Cmd(TIM2,ENABLE);//启动定时器
}

void PWM_SetCompare2(uint16_t Compare){
	
	
	
	TIM_SetCompare2(TIM2,Compare);//单独改变ccr通道值
	
	
}

servo.c

#include "stm32f10x.h"                  // Device header
#include "PWM.h"


void Servo_Init(void)
{
	PWM_Init();
	
}
//0    500
//180  2500
//映射   ax+b=Y;
void Servo_SetAngle(float Angle)//设置舵机角度
	{
	PWM_SetCompare2(Angle/180*2000+500);
	
	
	
}

main.c

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#include "stm32f10x.h"                  // Device header
#include "Delay.h"
#include "Sound.h"
#include "OLED.h"
#include "Timer.h"
float num; 
float val=0;
uint8_t a=0;
int main()
	
{
    OLED_Init();
	
	  Sound_Init();
	OLED_ShowString(1,1,"DISTANCE:");
	OLED_ShowString(2,6,"  .  cm");
	
	while(1){
		num=GetLength(); 
		a=(int)num;
		val=num-val;
    OLED_ShowNum(2,6,num,2);
		OLED_ShowNum(2,9,val,2);
		Delay_ms(400);
	}
	
}

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