STM32F407ZGT6控制舵机的标准库程序示例

以下是一个使用STM32F407ZGT6控制舵机的标准库程序示例：

#include "stm32f4xx.h"
#include "stm32f4xx_gpio.h"
#include "stm32f4xx_rcc.h"
#include "stm32f4xx_tim.h"

#define SERVO_GPIO_PORT GPIOA
#define SERVO_PIN GPIO_Pin_0
#define SERVO_TIM TIM2
#define SERVO_TIM_CHANNEL TIM_OCMode_PWM1

void servo_init()
{
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
    
    GPIO_InitStructure.GPIO_Pin = SERVO_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_Init(SERVO_GPIO_PORT, &GPIO_InitStructure);
    
    GPIO_PinAFConfig(SERVO_GPIO_PORT, GPIO_PinSource0, GPIO_AF_TIM2);
    
    TIM_TimeBaseStructure.TIM_Period = 19999;  // 20ms
    TIM_TimeBaseStructure.TIM_Prescaler = 83;  // 84MHz / (83+1) = 1MHz
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(SERVO_TIM, &TIM_TimeBaseStructure);
    
    TIM_OCInitStructure.TIM_OCMode = SERVO_TIM_CHANNEL;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OCInitStructure.TIM_Pulse = 1500;  // 1.5ms
    TIM_OC1Init(SERVO_TIM, &TIM_OCInitStructure);
    
    TIM_OC1PreloadConfig(SERVO_TIM, TIM_OCPreload_Enable);
    TIM_ARRPreloadConfig(SERVO_TIM, ENABLE);
    
    TIM_Cmd(SERVO_TIM, ENABLE);
}

void servo_set_position(uint16_t position)
{
    SERVO_TIM->CCR1 = position;
}

int main(void)
{
    servo_init();
    
    while(1)
    {
        // 设置舵机位置
        servo_set_position(1000);  // 0度
        Delay(1000);
        servo_set_position(1500);  // 90度
        Delay(1000);
        servo_set_position(2000);  // 180度
        Delay(1000);
    }
}

这个示例代码使用了STM32F4系列的标准库函数来控制舵机。请注意，具体的引脚和定时器配置可能需要根据你的硬件连接进行修改。在这个示例中，我们使用了TIM2定时器和PA0引脚来控制舵机的位置。舵机的位置通过调整TIM2的CCR1寄存器来实现，范围为0到19999，对应舵机位置的角度范围为0到180度。