基于stm32定时器1控制舵机
时间: 2023-12-16 08:06:09 浏览: 39
以下是基于STM32定时器1控制舵机的示例代码:
```
#include "stm32f10x.h"
#define SERVO_PIN GPIO_Pin_8
#define SERVO_PORT GPIOA
void TIM1_UP_IRQHandler(void)
{
if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET)
{
TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
GPIO_SetBits(SERVO_PORT, SERVO_PIN);
TIM_SetCompare1(TIM1, 2000); // 2ms
}
}
void TIM1_CC_IRQHandler(void)
{
if (TIM_GetITStatus(TIM1, TIM_IT_CC1) != RESET)
{
TIM_ClearITPendingBit(TIM1, TIM_IT_CC1);
GPIO_ResetBits(SERVO_PORT, SERVO_PIN);
TIM_SetCompare1(TIM1, 18000); // 18ms
}
}
int main(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
GPIO_InitStructure.GPIO_Pin = SERVO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(SERVO_PORT, &GPIO_InitStructure);
TIM_TimeBaseStructure.TIM_Period = 20000; // 20ms
TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 1500; // 1.5ms
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
TIM_Cmd(TIM1, ENABLE);
TIM_ITConfig(TIM1, TIM_IT_Update | TIM_IT_CC1, ENABLE);
NVIC_InitStructure.NVIC_IRQChannel = TIM1_UP_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
while (1)
{
}
}
```
在这个示例代码中,我们使用了定时器1来产生20ms的PWM信号来控制舵机。我们设置了定时器1的计数范围为20000,预分频系数为72-1,这样定时器1的计数频率就是1MHz。然后我们设置了比较器1的输出模式为PWM1模式,并设置了一个初始占空比为1.5ms,这样舵机就会旋转到中间位置。接着我们开启了定时器1,并配置了定时器1的更新中断和比较器1的捕获/比较中断。在定时器1的更新中断中,我们将舵机控制引脚置高,并设置比较器1的计数值为2000,这样舵机就会旋转到最左边的位置。在比较器1的捕获/比较中断中,我们将舵机控制引脚置低,并设置比较器1的计数值为18000,这样舵机就会旋转到最右边的位置。在主函数中,我们一直循环等待中断的发生。
需要注意的是,这个示例代码中的占空比和计数值是根据我们使用的舵机来确定的,如果使用不同型号的舵机,需要根据舵机的规格来计算出正确的占空比和计数值。