STM32F103C8T6单片机pwm精准驱动控制舵机程序 -

/***************STM32F103C8T6**********************
* 文件名：main.c
* 描述 : 舵机测试
* 实验平台：STM32F103C8T6
* 备注：使用定时器来产生pwm波，控制舵机动作
* 接口：TIM1, CH1-PB13, CH2-PB14, CH3-PB15
****************STM32F103C8T6**********************/
#include "pwm_output.h"
/* 配置TIM1复用输出PWM时用到的I/O */
static void TIM1_GPIO_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);//定时器1时钟使能
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);//GPIOB时钟使能
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;//复用推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
}
/*配置TIM1输出的PWM信号的模式，如周期、极性、占空比 */
static void TIM1_Mode_Config(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
/* PWM信号电平跳变值 */
u16 CCR1_Val = 0;
u16 CCR2_Val = 0;
//u16 CCR3_Val = 50000;
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = 20000 - 1;//定时器周期,20ms
TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1;//时钟预分频
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;//计数方式：向上计数
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
/* PWM1 Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;//选择定时器模式：tim脉宽调制2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;//比较输出使能
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR1_Val;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;//极性
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;//开反向通道
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel2 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR2_Val;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;//开反向通道
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;
TIM_OC2Init(TIM1, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel3 */
/*
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR3_Val;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;//开反向通道
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;
TIM_OC3Init(TIM1, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable); */
TIM_ARRPreloadConfig(TIM1, ENABLE);
/* TIM1 enable counter */
TIM_Cmd(TIM1, ENABLE);
TIM_CtrlPWMOutputs(TIM1, ENABLE);
}
/*配置和初始化TIM1 */
void TIM1_PWM_Init(void)
{
TIM1_GPIO_Config();
TIM1_Mode_Config();
}
//粗略延时不精确！
void Delay_us(unsigned int i)
{
unsigned char t = 0;
for(;i>0;i--)
{
for(t=0;t<10;t++)
{
}
}
}
void Delay_ms(unsigned int i)
{
for(;i>0;i--)
{
Delay_us(1000);
}
}
//舵机摆动
void Servo_out (void)
{
TIM1->CCR1 = 2000;//pwm波高电平持续时间，2ms
Delay_ms(2000);
while(1)
{
TIM1->CCR1 = 1500;
Delay_ms(1000);
TIM1->CCR1 = 2500;
Delay_ms(1000);
}
}

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