STM32两台舵机控制程序 - - Powered by Discuz!

#include "led.h"
#include "delay.h"
#include "key.h"
#include "sys.h"
#include "usart.h"
#include "timer.h"
int main(void)
{
u16 i=0,j=0;
delay_init(); //延时函数初始化
LED_Init(); //LED端口初始化
TIM3_PWM_Init(1999,719);
TIM1_PWM_Init(1999,719); //不分频，PWM频率=72000000/720/2000=50hz
while(1)
{
for(i=1950;i>1749;i--){
TIM_SetCompare1(TIM1,i); //对应0度 2.5%
delay_ms(10);
}
for(i=1750;i<1951;i++){
TIM_SetCompare1(TIM1,i); //对应0度 2.5%
delay_ms(10);
}
for(i=1750;j<1951;j++){
LED0_PWM_VAL=j;
delay_ms(10);
}
for(i=1951;j>1749;j--){
LED0_PWM_VAL=j;
delay_ms(10);
}
}
}

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#include "timer.h"
#include "led.h"
#include "usart.h"
void TIM3_PWM_Init(u16 arr,u16 psc)
{
//此部分需手动修改IO口设置
RCC->APB1ENR|=1<<1; //TIM3时钟使能
RCC->APB2ENR|=1<<3; //使能PORTB时钟
GPIOB->CRL&=0XFF0FFFFF; //PB5输出
GPIOB->CRL|=0X00B00000; //复用功能输出
RCC->APB2ENR|=1<<0; //开启辅助时钟
AFIO->MAPR&=0XFFFFF3FF; //清除MAPR的[11:10]
AFIO->MAPR|=1<<11; //部分重映像,TIM3_CH2->PB5
TIM3->ARR=arr; //设定计数器自动重装值
TIM3->PSC=psc; //预分频器不分频
TIM3->CCMR1|=7<<12; //CH2 PWM2模式
TIM3->CCMR1|=1<<11; //CH2预装载使能
TIM3->CCER|=1<<4; //OC2 输出使能
TIM3->CR1=0x0080; //ARPE使能
TIM3->CR1|=0x01; //使能定时器3
}
void TIM1_PWM_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);//
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA , ENABLE); //使能GPIO外设时钟使能
//设置该引脚为复用输出功能,输出TIM1 CH1的PWM脉冲波形
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8; //TIM_CH1
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值 80K
TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值不分频
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure); //根据 TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
TIM_OCInitStructure.TIM_Pulse = 0; //设置待装入捕获比较寄存器的脉冲值
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高
TIM_OC1Init(TIM1, &TIM_OCInitStructure); //根据TIM_OCInitStruct中指定的参数初始化外设TIMx
TIM_CtrlPWMOutputs(TIM1,ENABLE); //MOE 主输出使能
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable); //CH1预装载使能
TIM_ARRPreloadConfig(TIM1, ENABLE); //使能TIMx在ARR上的预装载寄存器
TIM_Cmd(TIM1, ENABLE); //使能TIM1
}

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