stm32F407控制舵機(jī)源程序+示意圖

ID:418578 · 發(fā)表于 2020-6-2 11:27

正點(diǎn)原子stm32f407開發(fā)板

對(duì)于一般的舵機(jī)來說，所對(duì)應(yīng)的PWM波的周期為**200ms**，即舵機(jī)接收的PWM信號(hào)頻率為**50HZ**。
其空占比與轉(zhuǎn)動(dòng)角度的關(guān)系。普通舵機(jī)的舵量是0~180°。**脈沖寬度范圍 0.5ms ~ 2.5ms**

      0.5ms/200ms = 0 度

      1.0ms/200ms = 45 度

      1.5ms/200ms = 90 度

      2.0ms/200ms = 135 度

      2.5ms/200ms = 180 度本文代碼參考正點(diǎn)原子stm32f4 pwm輸出教程代碼而修改得來。

**修改的地方：**
使用了PA0復(fù)用定時(shí)器TIM2
**主函數(shù)**

int main(void)
{
      NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//設(shè)置系統(tǒng)中斷優(yōu)先級(jí)分組2
      delay_init(168);  //初始化延時(shí)函數(shù)
      TIM2_PWM_Init(200-1,8400-1);       //84M/8400/200=50hz. 此處的200就是計(jì)數(shù)器的比較值 e.g.175/200*20ms=17.5ms 得脈沖寬度：20ms-17.5ms=2.5ms
while(1)
      {
               delay_ms(1000);
            TIM_SetCompare1(TIM2,175);       //修改比較值，修改占空比對(duì)應(yīng)180度

            delay_ms(1000);
            TIM_SetCompare1(TIM2,180);       //修改比較值，修改占空比對(duì)應(yīng)180度

            delay_ms(1000);
            TIM_SetCompare1(TIM2,185);       //修改比較值，修改占空比對(duì)應(yīng)180度

            delay_ms(1000);
            TIM_SetCompare1(TIM2,190);       //修改比較值，修改占空比對(duì)應(yīng)180度
            delay_ms(1000);
            TIM_SetCompare1(TIM2,195);       //修改比較值，修改占空比對(duì)應(yīng)180度

      }
}

pwm.c文件

//TIM2 PWM部分初始化
//PWM輸出初始化
//arr：自動(dòng)重裝值
//psc：時(shí)鐘預(yù)分頻數(shù)
void TIM2_PWM_Init(u32 arr,u32 psc)
{
      GPIO_InitTypeDef GPIO_InitStructure;
      TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
      TIM_OCInitTypeDef  TIM_OCInitStructure;

      RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);       //TIM2時(shí)鐘使能
      RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);       //使能PORTA時(shí)鐘

      GPIO_PinAFConfig(GPIOA,GPIO_PinSource0,GPIO_AF_TIM2); //GPIOA0復(fù)用為定時(shí)器2

      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;          //GPIOA0
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;       //復(fù)用
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;       //速度100MHz
      GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;    //推挽復(fù)用輸出
      GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;       //上拉
      GPIO_Init(GPIOA,&GPIO_InitStructure);             //初始化PA0

      TIM_TimeBaseStructure.TIM_Prescaler=psc;  //定時(shí)器分頻
      TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up; //向上計(jì)數(shù)模式
      TIM_TimeBaseStructure.TIM_Period=arr; //自動(dòng)重裝載值
      TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;

      TIM_TimeBaseInit(TIM2,&TIM_TimeBaseStructure);//初始化定時(shí)器2

      //初始化TIM2 Channel PWM模式
      TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //選擇定時(shí)器模式：TIM脈沖寬度調(diào)制模式1
      TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比較使能輸出
      TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //輸出極性：TIM輸出比較極性低
      TIM_OCInitStructure.TIM_Pulse = 0;//比較初始值
      TIM_OC1Init(TIM2, &TIM_OCInitStructure);  //根據(jù)T指定的參數(shù)初始化外設(shè)TIM2 OC1

      TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);  //使能TIM2在CCR1是的預(yù)裝載寄存器

TIM_ARRPreloadConfig(TIM2,ENABLE);//ARPE使能

      TIM_Cmd(TIM2, ENABLE);  //使能TIM2
}

**頭文件自己寫**

**完成！！！**