stm32控制舵机的详细代码

以下是一个简单的使用STM32控制舵机的代码：

#include "stm32f10x.h"

#define SERVO_PIN GPIO_Pin_0 // 定义舵机信号引脚为GPIOA的引脚0
#define SERVO_PORT GPIOA

void ServoControl(float angle) {
  float pulseWidth = (angle * (2000.0f / 180.0f)) + 500.0f; // 角度转换为脉宽数
  uint16_t compareValue = (uint16_t)((pulseWidth * 72.0f) / 1000.0f); // 通过计算得到计数器的值

  TIM_OCInitTypeDef TIM_OCInitStructure;
  TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
  TIM_OCInitStructure.TIM_Pulse = compareValue;
  TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; // TLED极性为高电平有效
  TIM_OC2Init(TIM3, &TIM_OCInitStructure);
  TIM_Cmd(TIM3, ENABLE); // 启动计时器
}

int main(void) {
  // 配置GPIOA和TIM3
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO | RCC_APB2Periph_TIM1, ENABLE);

  GPIO_InitTypeDef GPIO_InitStructure;
  GPIO_InitStructure.GPIO_Pin = SERVO_PIN;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(SERVO_PORT, &GPIO_InitStructure);

  TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
  TIM_TimeBaseInitStructure.TIM_Prescaler = 72 - 1;
  TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
  TIM_TimeBaseInitStructure.TIM_Period = 20000 - 1;
  TIM_TimeBaseInitStructure.TIM_ClockDivision = 0;
  TIM_TimeBaseInit(TIM3, &TIM_TimeBaseInitStructure);

  // 配置计时器的PWM输出
  TIM_OCInitTypeDef TIM_OCInitStructure;
  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; // TLED极性为高电平有效
  TIM_OC2Init(TIM3, &TIM_OCInitStructure);
  TIM_Cmd(TIM3, ENABLE);

  while(1) {
    // 控制舵机转动到0度
    ServoControl(0);
    Delay(1000);

    // 控制舵机转动到90度
    ServoControl(90);
    Delay(1000);

    // 控制舵机转动到180度
    ServoControl(180);
    Delay(1000);
  }
}