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標(biāo)題: stm32舵機(jī)程序 [打印本頁(yè)]

作者: 梁上君子 時(shí)間: 2019-10-28 20:14
標(biāo)題: stm32舵機(jī)程序
main.c
#include "led.h"
#include "delay.h"
#include "sys.h"
#include "pwm.h"

int main(void)
{
u16 led0pwmval=0;

delay_init();

TIM1_PWM_Init(1499,999);


   while(1)
{

                                             led0pwmval=37;
TIM_SetCompare1(TIM1,led0pwmval);
delay_ms(1000);

delay_ms(10000);

led0pwmval=160;
TIM_SetCompare1(TIM1,led0pwmval);

delay_ms(10000);

               }

}

--------------------------------------------------------------

pwm.h

#ifndef __PWM_H
#define __PWM_H
#include "sys.h"

void TIM1_PWM_Init(u16 arr,u16 psc);
#endif

---------------------------------------------------------------

pwm.c

#include "pwm.h"
#include "led.h"
#include "delay.h"

void TIM1_PWM_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef  GPIO_InitStructure;
TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStruct;

RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1,ENABLE);//使能定時(shí)器時(shí)鐘1
   RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);//使能GPIO外設(shè)

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;    //PA.8 端口配置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;    //復(fù)用推挽輸出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;    //io口速度50MHz
GPIO_Init(GPIOA, &GPIO_InitStructure);    //根據(jù)參數(shù)初始化GPIOA.8

//定時(shí)器1初始化
  TIM_TimeBaseStructure.TIM_Period = arr; //設(shè)置在下一個(gè)更新事件裝入活動(dòng)的自動(dòng)裝載寄存器周期的值
TIM_TimeBaseStructure.TIM_Prescaler =psc; //設(shè)置作為時(shí)鐘頻率除數(shù)的分頻值
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //設(shè)置時(shí)鐘分割
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上計(jì)數(shù)模式
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure); //根據(jù)指定的參數(shù)初始化TIM

//初始化輸出比較參數(shù)
TIM_OCInitStruct.TIM_OCMode=TIM_OCMode_PWM2;
TIM_OCInitStruct.TIM_OutputState=TIM_OutputState_Enable;
TIM_OCInitStruct.TIM_Pulse = 200;
TIM_OCInitStruct.TIM_OCPolarity=TIM_OCPolarity_Low;
TIM_OC1Init(TIM1,&TIM_OCInitStruct);

TIM_CtrlPWMOutputs(TIM1,ENABLE); //主輸出使能

//使能輸出比較預(yù)裝載值
TIM_OC1PreloadConfig(TIM1,TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM1, ENABLE);
//使能定時(shí)器
TIM_Cmd(TIM1,ENABLE);

}

stm32舵機(jī).docx

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