帮我写一个stm32f103驱动舵机的程序 利用pa6引脚 使用hal库

好的，我可以回答这个问题。以下是一个简单的驱动舵机的程序，使用PA6引脚和HAL库：

#include "stm32f1xx_hal.h"

#define PWM_PERIOD 20000 // PWM周期为20ms
#define PWM_MIN 100 // PWM最小值为1ms
#define PWM_MAX 200 // PWM最大值为2ms

TIM_HandleTypeDef htim2;

void servo_init(void)
{
TIM_OC_InitTypeDef sConfigOC;

htim2.Instance = TIM2;
htim2.Init.Prescaler = 72 - 1; // 时钟预分频为72
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = PWM_PERIOD - 1;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
HAL_TIM_PWM_Init(&htim2);

sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = PWM_MIN;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1);

HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
}

void servo_set_angle(uint8_t angle)
{
uint16_t pulse = PWM_MIN + (PWM_MAX - PWM_MIN) * angle / 180;
TIM_OC_InitTypeDef sConfigOC;

sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = pulse;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1);

HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
}

int main(void)
{
HAL_Init();
servo_init();

while (1)
{
servo_set_angle(90); // 设置舵机角度为90度
HAL_Delay(100);
servo_set_angle(); // 设置舵机角度为度
HAL_Delay(100);
}
}