ch32v307 PWM驱动SG90舵机代码

以下是一个使用ch32v307的PWM模块来驱动SG90舵机的示例代码：

#include "ch32v30x.h"

#define PWM_PERIOD 20000 // PWM周期，单位为us
#define SERVO_MIN_PULSE 500 // 舵机最小脉宽，单位为us
#define SERVO_MAX_PULSE 2500 // 舵机最大脉宽，单位为us

void PWM_Init(void)
{
    RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);

    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    GPIO_PinAFConfig(GPIOA, GPIO_PinSource8, GPIO_AF_2);

    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1; // 分频系数
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseStructure.TIM_Period = PWM_PERIOD - 1; // PWM周期
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
    TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);

    TIM_OCInitTypeDef TIM_OCInitStructure;
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
    TIM_OCInitStructure.TIM_Pulse = 0;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
    TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
    TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
    TIM_OC1Init(TIM1, &TIM_OCInitStructure);
    TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);

    TIM_Cmd(TIM1, ENABLE);
}

void Servo_SetAngle(uint8_t angle)
{
    uint16_t pulseWidth = SERVO_MIN_PULSE + (SERVO_MAX_PULSE - SERVO_MIN_PULSE) * angle / 180;
    uint16_t pulseCnt = pulseWidth * 72 / 1000; // 将脉宽转换为计数器的值

    TIM1->CCR1 = pulseCnt;
}

int main(void)
{
    PWM_Init();

    while (1) {
        Servo_SetAngle(0); // 0度
        Delay_ms(1000);
        Servo_SetAngle(90); // 90度
        Delay_ms(1000);
        Servo_SetAngle(180); // 180度
        Delay_ms(1000);
    }
}

这个示例代码中，我们使用了ch32v307的TIM1模块来生成PWM信号，然后使用PWM信号来驱动SG90舵机。在main函数中，我们通过Servo_SetAngle函数来设置舵机的角度，该函数将角度转换为对应的脉宽值，然后将脉宽值转换为计数器的值，最后将计数器的值赋值给TIM1的CCR1寄存器，从而改变PWM信号的占空比，驱动舵机转动到对应的角度。