STM32二维云台控制代码

以下是一个简单的示例代码，用于控制STM32上的二维云台：

#include "stdio.h"

#define SERVO_X_PIN GPIO_Pin_0#define SERVO_X_PORT GPIOA#define SERVO_Y_PIN GPIO_Pin_1#define SERVO_Y_PORT GPIOAvoid servo_init() {
 RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
 GPIO_InitTypeDef GPIO_InitStruct;
 GPIO_InitStruct.GPIO_Pin = SERVO_X_PIN | SERVO_Y_PIN;
 GPIO_InitStruct.GPIO_Mode = GPIO_Mode_OUT;
 GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
 GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
 GPIO_Init(SERVO_X_PORT, &GPIO_InitStruct);
}

void servo_set_angle(uint8_t channel, uint16_t angle) {
 if (channel ==0) {
 TIM_SetCompare1(TIM2, angle);
 } else if (channel ==1) {
 TIM_SetCompare2(TIM2, angle);
 }
}

int main(void) {
 servo_init();
 // 初始化PWM定时器 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
 TIM_TimeBaseInitTypeDef TIM_BaseStruct;
 TIM_OCInitTypeDef TIM_OCStruct;
 TIM_BaseStruct.TIM_Prescaler =100 -1; // 预分频器 TIM_BaseStruct.TIM_Period =20000 -1; // PWM周期 TIM_BaseStruct.TIM_CounterMode = TIM_CounterMode_Up;
 TIM_BaseStruct.TIM_ClockDivision = TIM_CKD_DIV1;
 TIM_TimeBaseInit(TIM2, &TIM_BaseStruct);
 TIM_OCStruct.TIM_OCMode = TIM_OCMode_PWM1;
 TIM_OCStruct.TIM_OutputState = TIM_OutputState_Enable;
 TIM_OCStruct.TIM_Pulse =1500; // 初始占空比，中间位置 TIM_OCStruct.TIM_OCPolarity = TIM_OCPolarity_High;
 TIM_OC1Init(TIM2, &TIM_OCStruct);
 TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);
 TIM_OC2Init(TIM2, &TIM_OCStruct);
 TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);
 TIM_Cmd(TIM2, ENABLE);
 while(1) {
 // 控制云台水平方向旋转 servo_set_angle(0,1000); // 设置角度，根据实际需要修改 // 控制云台垂直方向旋转 servo_set_angle(1,2000); // 设置角度，根据实际需要修改 // 延时 for (int i =0; i <1000000; i++);
 }
}

这只是一个简单的示例代码，实际应用中需要根据具体的硬件和需求进行适配和调整。请确保已正确配置引脚和定时器，并根据实际需求设置角度。