Stm32驅(qū)動sg90舵機(jī)程序 sg90接信號線PA6

ID:436794 · 發(fā)表于 2020-4-1 17:03

#include "stm32f10x.h"
#include "led.h"
#include "delay.h"
#include "timer.h"
int main(void)
{
delay_init();
TIM3_PWM_Init(199,7199);
TIM_SetCompare1(TIM3,195); //對應(yīng)0度
delay_ms(100);
// TIM3_Int_Init(4999,7199); //500ms
while(1)
{
TIM_SetCompare1(TIM3,175); //對應(yīng)180度
delay_ms(500);
TIM_SetCompare1(TIM3,180); //對應(yīng)135度
delay_ms(500);
TIM_SetCompare1(TIM3,185); //對應(yīng)90度
delay_ms(500);
TIM_SetCompare1(TIM3,190); //對應(yīng)45度
delay_ms(500);
TIM_SetCompare1(TIM3,195); //對應(yīng)0度
}
}

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#include "timer.h"
#include "led.h"
void TIM3_Int_Init(u16 arr,u16 psd)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStrue;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);
TIM_TimeBaseInitStrue.TIM_Period=arr;
TIM_TimeBaseInitStrue.TIM_Prescaler=psd;
TIM_TimeBaseInitStrue.TIM_CounterMode=TIM_CounterMode_Up;
TIM_TimeBaseInitStrue.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseInit(TIM3,&TIM_TimeBaseInitStrue);
TIM_ITConfig(TIM3,TIM_IT_Update,ENABLE);
//中斷優(yōu)先級NVIC設(shè)置
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn; //TIM3中斷
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //先占優(yōu)先級0級
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3; //從優(yōu)先級3級
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
NVIC_Init(&NVIC_InitStructure); //初始化NVIC寄存器
TIM_Cmd(TIM3,ENABLE);
}
void TIM3_IRQHandler(void)
{
if(TIM_GetITStatus(TIM3,TIM_IT_Update)==SET)
{
LED1=!LED1;
TIM_ClearITPendingBit(TIM3,TIM_IT_Update);
}
}
void TIM3_PWM_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitTypeStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStrue;
TIM_OCInitTypeDef TIM_OCInitTypeStrue;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA ,ENABLE);
// GPIO_PinRemapConfig(GPIO_FullRemap_TIM3, ENABLE);
GPIO_InitTypeStructure.GPIO_Mode=GPIO_Mode_AF_PP; //推挽輸出
GPIO_InitTypeStructure.GPIO_Pin=GPIO_Pin_6;
GPIO_InitTypeStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitTypeStructure);
TIM_TimeBaseInitStrue.TIM_Period=arr;
TIM_TimeBaseInitStrue.TIM_Prescaler=psc;
TIM_TimeBaseInitStrue.TIM_ClockDivision= 0;
TIM_TimeBaseInitStrue.TIM_CounterMode=TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3,&TIM_TimeBaseInitStrue);
TIM_OCInitTypeStrue.TIM_OCMode=TIM_OCMode_PWM2;
TIM_OCInitTypeStrue.TIM_OCNPolarity=TIM_OCPolarity_High;
TIM_OCInitTypeStrue.TIM_OutputState=TIM_OutputState_Enable;
TIM_OCInitTypeStrue.TIM_Pulse= 0;
TIM_OC1Init(TIM3,&TIM_OCInitTypeStrue);
TIM_OC1PreloadConfig(TIM3,TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM3, ENABLE);
TIM_Cmd(TIM3,ENABLE);
}
// void SG90_Init(float angle)
// {
// angle=(u16)(50.0*angle/9.0+249.0);
// TIM_SetCompare1(TIM3,angle);
// }

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Stm32驅(qū)動sg90舵機(jī)程序 sg90接信號線PA6

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