使用stm32cubemx的hal库进行舵机控制的代码

使用STM32CubeMX进行舵机控制的代码，需要先配置相关的GPIO口和定时器。以下是一个基本的代码框架：

#include "stm32f4xx_hal.h"

TIM_HandleTypeDef htim2;

void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM2_Init(void);

int main(void)
{
  HAL_Init();
  SystemClock_Config();
  MX_GPIO_Init();
  MX_TIM2_Init();
  
  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);  // 启动PWM输出
  
  while (1)
  {
    __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, 500);  // 设置占空比为50%
    HAL_Delay(2000);
    __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, 250);  // 设置占空比为25%
    HAL_Delay(2000);
  }
}

void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  /** Initializes the CPU, AHB and APB busses clocks
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 8;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB busses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

static void MX_TIM2_Init(void)
{
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};

  htim2.Instance = TIM2;
  htim2.Init.Prescaler = 84-1;    // 分频系数
  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim2.Init.Period = 20000-1;    // 定时器周期
  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  
  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
  }
  
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  
  if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
  }
  
  if (HAL_TIM_OC_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
  }
  
  sConfigOC.OCMode = TIM_OCMODE_PWM1;   // PWM模式
  sConfigOC.Pulse = 1000;              // 占空比，即高电平时间
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  
  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  
}

static void MX_GPIO_Init(void)
{
	GPIO_InitTypeDef GPIO_InitStruct = {0};

	__HAL_RCC_GPIOA_CLK_ENABLE();

	GPIO_InitStruct.Pin = GPIO_PIN_5;   // 舵机控制引脚
	GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;   // 复用推挽输出
	GPIO_InitStruct.Pull = GPIO_NOPULL;   // 不上拉不下拉
	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;   // 设置输出速率
	GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;   // 复用功能为TIM2 CH1
	HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}

以上代码是使用TIM2定时器进行舵机控制的代码框架。需要注意的是，具体的占空比和周期需要根据舵机的型号和具体需求进行调整。当然，以上代码只是一个示例，具体实现还需要根据舵机的具体控制方式进行相应修改。