stm32f103c8t6驱动sg90舵机代码
时间: 2023-09-23 16:11:02 浏览: 160
STM32F103C8T6驱动SG90舵机源码
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以下是一个简单的驱动SG90舵机的示例代码,基于STM32F103C8T6和HAL库:
```
#include "stm32f1xx_hal.h"
#define SERVO_GPIO_PORT GPIOA
#define SERVO_GPIO_PIN GPIO_PIN_0
TIM_HandleTypeDef htim2;
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM2_Init(void);
int main(void)
{
HAL_Init();
SystemClock_Config();
MX_GPIO_Init();
MX_TIM2_Init();
while (1)
{
TIM2->CCR1 = 50; //设置脉冲宽度为0.5ms,即0度
HAL_Delay(1000);
TIM2->CCR1 = 75; //设置脉冲宽度为0.75ms,即90度
HAL_Delay(1000);
TIM2->CCR1 = 100; //设置脉冲宽度为1ms,即180度
HAL_Delay(1000);
}
}
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
}
static void MX_TIM2_Init(void)
{
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
htim2.Instance = TIM2;
htim2.Init.Prescaler = 71;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 1999;
if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 50;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
}
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
__HAL_RCC_GPIOA_CLK_ENABLE();
GPIO_InitStruct.Pin = SERVO_GPIO_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(SERVO_GPIO_PORT, &GPIO_InitStruct);
}
```
在本例中,使用TIM2通道1和GPIOA.0来驱动舵机。在while循环中,按顺序设置脉冲宽度为0.5ms(即0度)、0.75ms(即90度)和1ms(即180度),并延迟1秒钟。你可以根据自己的需求更改这些值。
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