stm32hal驱动舵机

STM32HAL驱动舵机可以通过PWM信号实现。以下是一个简单的示例代码，用于STM32F4 Discovery板上的舵机控制。

#include "stm32f4xx_hal.h"

#define PWM_PERIOD    20000   // PWM period in microseconds
#define PWM_STEPS     100     // Number of PWM steps

TIM_HandleTypeDef htim;
uint32_t pulse_width = 1500;  // Pulse width in microseconds

void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM_Init(void);

int main(void)
{
  HAL_Init();
  SystemClock_Config();
  MX_GPIO_Init();
  MX_TIM_Init();

  HAL_TIM_PWM_Start(&htim, TIM_CHANNEL_1);

  while (1)
  {
    __HAL_TIM_SET_COMPARE(&htim, TIM_CHANNEL_1, pulse_width);
    HAL_Delay(20);
    pulse_width += 10;
    if (pulse_width > 2500)
      pulse_width = 1500;
  }
}

void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct;
  RCC_ClkInitTypeDef RCC_ClkInitStruct;

  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  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.PLLM = 8;
  RCC_OscInitStruct.PLL.PLLN = 336;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 7;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  RCC_ClkInitStruct.ClockType = 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_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

static void MX_TIM_Init(void)
{
  TIM_MasterConfigTypeDef sMasterConfig;
  TIM_OC_InitTypeDef sConfigOC;

  htim.Instance = TIM4;
  htim.Init.Prescaler = (SystemCoreClock / 1000000) - 1;
  htim.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim.Init.Period = PWM_PERIOD - 1;
  htim.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  if (HAL_TIM_PWM_Init(&htim) != HAL_OK)
  {
    Error_Handler();
  }

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }

  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = (uint32_t)(PWM_PERIOD / PWM_STEPS);
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  if (HAL_TIM_PWM_ConfigChannel(&htim, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
}

static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct;

  __HAL_RCC_GPIOB_CLK_ENABLE();

  GPIO_InitStruct.Pin = GPIO_PIN_9;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}

void Error_Handler(void)
{
  while (1)
  {
  }
}

在这个例子中，我们使用了STM32的定时器TIM4作为PWM输出。PWM周期为20毫秒，即50赫兹，每个周期分为100个步骤。在主循环中，我们将舵机的角度从0度到180度逐渐增加，然后从180度到0度逐渐减小，循环控制舵机的转动。

需要注意的是，舵机的角度控制范围通常是0度到180度（有些舵机可能不同），对应的脉冲宽度范围通常是500微秒到2500微秒。因此，在实际应用中，需要根据具体舵机的规格书来确定PWM周期和步数，以及脉冲宽度的范围。