stm32f103c8t6驱动舵机代码

当使用STM32F103C8T6驱动舵机时，你可以通过PWM信号来控制舵机的角度。下面是一个简单的示例代码，用于驱动舵机：

#include "stm32f10x.h"

#define SERVO_PIN GPIO_Pin_0
#define SERVO_PORT GPIOA
#define PWM_FREQUENCY 50 // PWM信号频率，单位为Hz
#define PWM_PERIOD ((SystemCoreClock / PWM_FREQUENCY) - 1)
#define SERVO_MIN_PULSE_WIDTH 1000 // 舵机最小脉宽，单位为us
#define SERVO_MAX_PULSE_WIDTH 2000 // 舵机最大脉宽，单位为us

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

    // 使能GPIOA时钟
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

    // 配置PA0引脚为复用推挽输出
    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);

    // 使能TIM2时钟
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);

    // 配置TIM2基本定时器
    TIM_TimeBaseStructure.TIM_Period = PWM_PERIOD;
    TIM_TimeBaseStructure.TIM_Prescaler = 0;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);

    // 配置TIM2通道1为PWM模式
    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(TIM2, &TIM_OCInitStructure);
    TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);

    // 启动TIM2定时器
    TIM_Cmd(TIM2, ENABLE);
}

void servo_set_angle(uint8_t angle)
{
    uint32_t pulse_width = 0;

    // 将角度转换为脉宽
    pulse_width = SERVO_MIN_PULSE_WIDTH + (SERVO_MAX_PULSE_WIDTH - SERVO_MIN_PULSE_WIDTH) * angle / 180;

    // 设置TIM2通道1的脉宽
    TIM_SetCompare1(TIM2, pulse_width);
}

这段代码使用了STM32的定时器TIM2和GPIOA的引脚PA0来生成PWM信号驱动舵机。你可以根据具体的舵机型号和需求，调整SERVO_MIN_PULSE_WIDTH和SERVO_MAX_PULSE_WIDTH的值来控制舵机的角度范围。