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stm32f103c8t6最小系统板控制舵机

时间: 2023-10-27 21:08:23 浏览: 195

要控制舵机，需要使用STM32的PWM输出功能。具体步骤如下：

配置GPIO为PWM输出模式。
配置TIM定时器为PWM模式，并设置频率和占空比。
在程序中调用相应的函数，改变占空比即可控制舵机转动角度。

以下是一个简单的示例代码：

#include "stm32f10x.h"

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

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &amp;GPIO_InitStructure);

    TIM_TimeBaseStructure.TIM_Period = 20000 - 1; // 20ms
    TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1; // 1MHz
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM2, &amp;TIM_TimeBaseStructure);

    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_Pulse = 1500; // 1.5ms
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OC1Init(TIM2, &amp;TIM_OCInitStructure);

    TIM_Cmd(TIM2, ENABLE);
}

void SetServoAngle(uint16_t angle)
{
    uint16_t pulse = 1000 + angle * 1000 / 180;
    TIM_SetCompare1(TIM2, pulse);
}

int main(void)
{
    PWM_Init();

    while (1)
    {
        SetServoAngle(0); // 0 degree
        Delay(1000);
        SetServoAngle(90); // 90 degree
        Delay(1000);
        SetServoAngle(180); // 180 degree
        Delay(1000);
    }
}