stm32控制舵機(jī)源碼

ID:381497 · 發(fā)表于 2018-8-1 01:33

stm32控制舵機(jī)

#include "bsp_Advance_tim.h"
static void TIM_GPIO_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
// 輸出比較通道 GPIO 初始化
RCC_APB2PeriphClockCmd(ADVANCE_TIM_CH1_GPIO_CLK, ENABLE);
GPIO_InitStructure.GPIO_Pin = ADVANCE_TIM_CH1_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(ADVANCE_TIM_CH1_PORT, &GPIO_InitStructure);
// 輸出比較通道互補(bǔ)通道 GPIO 初始化
RCC_APB2PeriphClockCmd(ADVANCE_TIM_CH1N_GPIO_CLK, ENABLE);
GPIO_InitStructure.GPIO_Pin = ADVANCE_TIM_CH1N_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(ADVANCE_TIM_CH1N_PORT, &GPIO_InitStructure);
// BKIN引腳默認(rèn)先輸出低電平
GPIO_ResetBits(ADVANCE_TIM_BKIN_PORT,ADVANCE_TIM_BKIN_PIN);
}
static void Advance_TIM_Config(void)
{
// 開啟定時(shí)器時(shí)鐘,即內(nèi)部時(shí)鐘CK_INT=72M
ADVANCE_TIM_APBxClock_FUN(ADVANCE_TIM_CLK,ENABLE);
/*--------------------時(shí)基結(jié)構(gòu)體初始化-------------------------*/
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
// 自動(dòng)重裝載寄存器的值，累計(jì)TIM_Period+1個(gè)頻率后產(chǎn)生一個(gè)更新或者中斷
TIM_TimeBaseStructure.TIM_Period= ADVANCE_TIM_PERIOD;
// 驅(qū)動(dòng)CNT計(jì)數(shù)器的時(shí)鐘 = Fck_int/(psc+1)
TIM_TimeBaseStructure.TIM_Prescaler= ADVANCE_TIM_PSC;
// 時(shí)鐘分頻因子，配置死區(qū)時(shí)間時(shí)需要用到
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;
// 計(jì)數(shù)器計(jì)數(shù)模式，設(shè)置為向上計(jì)數(shù)
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up;
// 重復(fù)計(jì)數(shù)器的值，沒用到不用管
TIM_TimeBaseStructure.TIM_RepetitionCounter=0;
// 初始化定時(shí)器
TIM_TimeBaseInit(ADVANCE_TIM, &TIM_TimeBaseStructure);
/*--------------------輸出比較結(jié)構(gòu)體初始化-------------------*/
TIM_OCInitTypeDef TIM_OCInitStructure;
// 配置為PWM模式1
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
// 輸出使能
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
// 互補(bǔ)輸出使能
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
// 設(shè)置占空比大小
TIM_OCInitStructure.TIM_Pulse = ADVANCE_TIM_PULSE;
// 輸出通道電平極性配置
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
// 互補(bǔ)輸出通道電平極性配置
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
// 輸出通道空閑電平極性配置
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
// 互補(bǔ)輸出通道空閑電平極性配置
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
TIM_OC1Init(ADVANCE_TIM, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(ADVANCE_TIM, TIM_OCPreload_Enable);
// 使能計(jì)數(shù)器
TIM_Cmd(ADVANCE_TIM, ENABLE);
// 主輸出使能，當(dāng)使用的是通用定時(shí)器時(shí)，這句不需要
TIM_CtrlPWMOutputs(ADVANCE_TIM, ENABLE);
}
void TIM_Init(void)
{
TIM_GPIO_Config();
Advance_TIM_Config();
}

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stm32控制舵機(jī)源碼