振镜的stm32单片机控制XY2-100代码

以下是一个基于STM32单片机的XY2-100振镜控制代码示例，使用了STM32的定时器和PWM模块来控制振镜的转动角度。该代码使用了HAL库进行驱动和控制，可以根据具体硬件和应用场景进行修改和优化。

#include "stm32f1xx_hal.h"

// 定义振镜控制引脚
#define X_PIN GPIO_PIN_0
#define X_GPIO GPIOA
#define Y_PIN GPIO_PIN_1
#define Y_GPIO GPIOA

// 定义振镜控制对象
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;

// 初始化振镜控制
void MX_TIM2_Init(void)
{
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};

  htim2.Instance = TIM2;
  htim2.Init.Prescaler = 71;
  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim2.Init.Period = 20000;
  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  HAL_TIM_PWM_Init(&htim2);

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig);

  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 0;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1);
  HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2);

  HAL_TIM_MspPostInit(&htim2);
}

void MX_TIM3_Init(void)
{
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};

  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 71;
  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim3.Init.Period = 20000;
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  HAL_TIM_PWM_Init(&htim3);

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig);

  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 0;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1);
  HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2);

  HAL_TIM_MspPostInit(&htim3);
}

void initGalvo(void)
{
  MX_TIM2_Init();
  MX_TIM3_Init();
}

// 控制振镜转动
void moveGalvo(int xAngle, int yAngle)
{
  int x = (xAngle + 45) * 1000 / 90 + 1000;
  int y = (yAngle + 45) * 1000 / 90 + 1000;
  __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, x);
  __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_2, x);
  __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_1, y);
  __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_2, y);
}

// 测试振镜控制
int main(void)
{
  HAL_Init();
  initGalvo();
  while (1)
  {
    moveGalvo(-20, 30);  // 控制振镜转动到(-20, 30)的位置
    HAL_Delay(1000);     // 延时1秒
    moveGalvo(20, -30);  // 控制振镜转动到(20, -30)的位置
    HAL_Delay(1000);     // 延时1秒
  }
}

在该代码中，使用了STM32的定时器和PWM模块来控制振镜的转动角度，通过`__HAL