stm32f103zet6對sg90的控制源程序

ID:309976 · 發表于 2019-7-5 17:42

此程序使了tim3定時器的pwm功能，驅動信號頻率為250hz，已注明配置好的頻率大致對應的角度，可同時產生4路pwm信號驅動4個舵機，pwm初始化程序參考了網上的大佬，轉角用TIM_SetComparex函數可以實時控制，已測試可用。

單片機源程序如下:

#include "public.h"
//中值為650，250為90度多一點
//4個舵機TIM3 4個通道
int main()
{
PWM_Init();
TIM_Config(288,1000); //頻率為250
while(1)
{
Timer3_PWM_SetDutyCycle(1,675);
delay_ms(2000);
Timer3_PWM_SetDutyCycle(1,800);
delay_ms(2000);
}
}

復制代碼

#include "pwm.h"
void PWM_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
GPIO_PinRemapConfig(GPIO_FullRemap_TIM3,ENABLE);
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9;
GPIO_Init(GPIOC, &GPIO_InitStructure);
}
void TIM_Config(u8 arr,u8 psc)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
//定時器配置
TIM_TimeBaseStructure.TIM_Prescaler = arr-1;//設置分頻
TIM_TimeBaseStructure.TIM_Period = psc-1;//設置計數溢出大小，每計psc個數就產生一個更新事件
TIM_TimeBaseStructure.TIM_ClockDivision = 0;//設置時鐘分割
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;//設置計數器模式為向上計數模式
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);//將配置應用到TIM3中
//PWM配置ch1
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //配置為PWM模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比較輸出使能
TIM_OCInitStructure.TIM_Pulse = 0; //設置待裝入捕獲比較寄存器的脈沖值
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High ; //有效電平為高電平
TIM_OC1Init(TIM3, &TIM_OCInitStructure);//使能通道1
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
//PWM配置ch2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比較輸出使能
TIM_OCInitStructure.TIM_Pulse = 0; //設置待裝入捕獲比較寄存器的脈沖值
TIM_OC2Init(TIM3, &TIM_OCInitStructure);//使能通道2
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);
//PWM配置ch3
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比較輸出使能
TIM_OCInitStructure.TIM_Pulse = 0; //設置待裝入捕獲比較寄存器的脈沖值
TIM_OC3Init(TIM3, &TIM_OCInitStructure);//使能通道3
TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
//PWM配置ch4
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比較輸出使能
TIM_OCInitStructure.TIM_Pulse = 0; //設置待裝入捕獲比較寄存器的脈沖值
TIM_OC4Init(TIM3, &TIM_OCInitStructure);//使能通道4
TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);
//使能
TIM_ARRPreloadConfig(TIM3, ENABLE);//使能TIM3重載寄存器ARR
TIM_Cmd(TIM3, ENABLE);//使能定時器3
}
void Timer3_PWM_SetDutyCycle(u8 ch, u16 Timer3_PWM_DutyCycle) //配置4個通道占空比
{
switch (ch)
{
case 1:
TIM_SetCompare1(TIM3, Timer3_PWM_DutyCycle );//通道1占空比
break;
case 2:
TIM_SetCompare2(TIM3, Timer3_PWM_DutyCycle );//通道2占空比
break;
case 3:
TIM_SetCompare3(TIM3, Timer3_PWM_DutyCycle );//通道3占空比
break;
case 4:
TIM_SetCompare4(TIM3, Timer3_PWM_DutyCycle );//通道4占空比
break;
}
}