STM32F103C8T6驱动SG90舵机源码

#include "main.h" static void SG90_TIM_Init(void); static void SG90_Angle(float angle); static void SG90_Angle2(float angle); SG90ClassStruct SG90Class = { SG90_TIM_Init, SG90_Angle, SG90_Angle2 }; // 使用哪个通道 #define USE_TIM_CH1 #define USE_TIM_CH2 #if 0 #define SG90_TIM TIM2 #define SG90_TIM_CLK RCC_APB1Periph_TIM2 #define SG90_GPIO_PORT GPIOA #define SG90_GPIO_CLK RCC_APB2Periph_GPIOA #ifdef USE_TIM_CH1 #define SG90_GPIO_PIN GPIO_Pin_0 #endif #ifdef USE_TIM_CH2 #define SG90_GPIO_PIN2 GPIO_Pin_1 #endif #else #define SG90_TIM TIM3 #define SG90_TIM_CLK RCC_APB1Periph_TIM3 #define SG90_GPIO_PORT GPIOA #define SG90_GPIO_CLK RCC_APB2Periph_GPIOA #ifdef USE_TIM_CH1 #define SG90_GPIO_PIN GPIO_Pin_6 #endif #ifdef USE_TIM_CH2 #define SG90_GPIO_PIN2 GPIO_Pin_7 #endif #endif // PWM初始化 10000-1,144-1 static void SG90_TIM_Init(void) { GPIO_InitTypeDef GPIO_InitStructure; TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_OCInitTypeDef TIM_OCInitStructure; RCC_APB2PeriphClockCmd(SG90_GPIO_CLK, ENABLE); //使能GPIO外设时钟使能 RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE); RCC_APB1PeriphClockCmd(SG90_TIM_CLK, ENABLE); //时钟使能 //设置该引脚为复用输出功能,输出PWM脉冲波形 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; #ifdef USE_TIM_CH1 GPIO_InitStructure.GPIO_Pin = SG90_GPIO_PIN; GPIO_Init(SG90_GPIO_PORT, &GPIO_InitStructure); #endif #ifdef USE_TIM_CH2 GPIO_InitStructure.GPIO_Pin = SG90_GPIO_PIN2; GPIO_Init(SG90_GPIO_PORT, &GPIO_InitStructure); #endif //定时器初始化 TIM_TimeBaseStructure.TIM_Period = 10000-1; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值 TIM_TimeBaseStructure.TIM_Prescaler = 144-1; //设置用来作为TIMx时钟频率除数的预分频值 TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置时钟分割:TDTS = Tck_tim TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式 TIM_TimeBaseStructure.TIM_RepetitionCounter = 0; TIM_TimeBaseInit(SG90_TIM, &TIM_TimeBaseStructure); //根据指定的参数初始化TIMx的时间基数单位 TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2 TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能 TIM_OCInitStructure.TIM_Pulse = 0; //设置待装入捕获比较寄存器的脉冲值 TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //输出极性:TIM输出比较极性高 #ifdef USE_TIM_CH1 TIM_OC1Init(SG90_TIM, &TIM_OCInitStructure); //根据TIM_OCInitStruct中指定的参数初始化外设TIMx TIM_OC1PreloadConfig(SG90_TIM, TIM_OCPreload_Enable); //CH1预装载使能 #endif #ifdef USE_TIM_CH2 TIM_OC2Init(SG90_TIM, &TIM_OCInitStructure); TIM_OC2PreloadConfig(SG90_TIM, TIM_OCPreload_Enable); #endif TIM_ARRPreloadConfig(SG90_TIM, ENABLE); //使能TIMx在ARR上的预装载寄存器 TIM_Cmd(SG90_TIM, ENABLE); //使能TIMx TIM_CtrlPWMOutputs(SG90_TIM,ENABLE); //MOE 主输出使能 } // CH1舵机角度 static void SG90_Angle(float angle) { angle = (uint16_t)(50.0 * angle / 9.0 + 250.0); TIM_SetCompare1(SG90_TIM, angle); } // CH2舵机角度 static void SG90_Angle2(float angle) { angle = (uint16_t)(50.0 * angle / 9.0 + 250.0); TIM_SetCompare2(SG90_TIM, angle); }