STM32基于库函数按键控制三个PWM舵机机械臂完成固定动作主函数

好的，下面是代码实现：

#include "stm32f10x.h"

#define KEY_GPIO_PORT GPIOA
#define KEY_GPIO_PIN GPIO_Pin_0

#define PWM_GPIO_PORT GPIOA
#define PWM_GPIO_PIN1 GPIO_Pin_1
#define PWM_GPIO_PIN2 GPIO_Pin_2
#define PWM_GPIO_PIN3 GPIO_Pin_3

void TIM3_PWM_Init(uint16_t arr, uint16_t psc)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);

    GPIO_InitStructure.GPIO_Pin = PWM_GPIO_PIN1 | PWM_GPIO_PIN2 | PWM_GPIO_PIN3;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(PWM_GPIO_PORT, &GPIO_InitStructure);

    TIM_TimeBaseInitStructure.TIM_Period = arr;
    TIM_TimeBaseInitStructure.TIM_Prescaler = psc;
    TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM3, &TIM_TimeBaseInitStructure);

    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_Pulse = 0;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;

    TIM_OC1Init(TIM3, &TIM_OCInitStructure);
    TIM_OC2Init(TIM3, &TIM_OCInitStructure);
    TIM_OC3Init(TIM3, &TIM_OCInitStructure);

    TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
    TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);
    TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);

    TIM_ARRPreloadConfig(TIM3, ENABLE);

    TIM_Cmd(TIM3, ENABLE);
}

void KEY_GPIO_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);

    GPIO_InitStructure.GPIO_Pin = KEY_GPIO_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_Init(KEY_GPIO_PORT, &GPIO_InitStructure);

    GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource0);

    EXTI_InitTypeDef EXTI_InitStructure;
    EXTI_InitStructure.EXTI_Line = EXTI_Line0;
    EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
    EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
    EXTI_InitStructure.EXTI_LineCmd = ENABLE;
    EXTI_Init(&EXTI_InitStructure);

    NVIC_InitTypeDef NVIC_InitStructure;
    NVIC_InitStructure.NVIC_IRQChannel = EXTI0_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x02;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x02;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
}

void EXTI0_IRQHandler(void)
{
    if (EXTI_GetITStatus(EXTI_Line0) != RESET)
    {
        TIM_SetCompare1(TIM3, 100);
        TIM_SetCompare2(TIM3, 200);
        TIM_SetCompare3(TIM3, 300);
        EXTI_ClearITPendingBit(EXTI_Line0);
    }
}

int main(void)
{
    TIM3_PWM_Init(999, 71);
    KEY_GPIO_Init();

    while (1)
    {
    }
}

注释如下：

1. `TIM3_PWM_Init()` 函数用于初始化定时器 3 和 PWM 输出引脚 PA1、PA2、PA3。
2. `KEY_GPIO_Init()` 函数用于初始化按键输入引脚 PA0 和外部中断 EXTI0。
3. 在 `EXTI0_IRQHandler()` 中断服务程序中，当按键按下时，设置定时器 3 的 PWM 输出占空比分别为 10%、20%、30%。
4. 在 `main()` 函数中，初始化 PWM 和按键，进入死循环等待中断事件。