stm32控制舵机代码

以下是一个简单的基于STM32的控制舵机的代码示例，使用的是PWM信号控制舵机的转动角度：

#include "stm32f10x.h"

#define SERVO_PIN GPIO_Pin_8
#define SERVO_PORT GPIOB
#define SERVO_TIM TIM4

void delay_us(uint32_t us) {
    TIM_SetCounter(TIM2, 0);
    while (TIM_GetCounter(TIM2) < us);
}

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

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);

    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);

    TIM_TimeBaseStructure.TIM_Period = 20000 - 1;
    TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(SERVO_TIM, &TIM_TimeBaseStructure);

    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_Pulse = 1500;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OC1Init(SERVO_TIM, &TIM_OCInitStructure);
    TIM_OC1PreloadConfig(SERVO_TIM, TIM_OCPreload_Enable);

    TIM_Cmd(SERVO_TIM, ENABLE);
}

void servo_set_angle(uint8_t angle) {
    uint16_t pulse_width = 500 + angle * 10;
    TIM_SetCompare1(SERVO_TIM, pulse_width);
    delay_us(1000);
}

int main(void) {
    servo_init();
    while (1) {
        servo_set_angle(90);
        delay_us(1000000);
        servo_set_angle(0);
        delay_us(1000000);
    }
}

其中，`servo_init()` 函数用于初始化控制舵机的IO口和定时器，`servo_set_angle()` 函数用于设置舵机的转动角度，`delay_us()` 函数用于延时操作。在 `main()` 函数中，我们将舵机旋转到90度和0度之间循环切换。需要根据具体的舵机型号和实际使用情况进行调整。