stm32控制舵机完整程序

以下是一个使用STM32控制舵机的完整程序，以TIM3为例：

#include "stm32f10x.h"

void TIM3_PWM_Init(u16 arr, u16 psc)
{
    GPIO_InitTypeDef GPIO_InitStructure;    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;

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

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;    GPIO_Init(GPIOA, &GPIO_InitStructure);

    TIM_TimeBaseStructure.TIM_Period = arr;
    TIM_TimeBaseStructure.TIM_Prescaler = psc;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

    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_Cmd(TIM3, ENABLE);
}

void Servo_Control(u16 angle)
{
    u16 value = (angle * 11) / 90 + 50; // 将角度转换为占空比
    TIM_SetCompare1(TIM3, value); // 设置PWM占空比
}

int main(void)
{
    TIM3_PWM_Init(20000 - 1, 71); // 设置PWM频率为50Hz
    while (1)
    {
        Servo_Control(0); // 控制舵机转到0度
        Delay(1000);
        Servo_Control(90); // 控制舵机转到90度
        Delay(1000);
        Servo_Control(180); // 控制舵机转到180度
        Delay(1000);
    }
}

void Delay(u32 count)
{
    u32 i;
    for (i = 0; i < count; i++);
}