此程序使了tim3定時器的pwm功能，驅(qū)動信號頻率為250hz，已注明配置好的頻率大致對應(yīng)的角度，可同時產(chǎn)生4路pwm信號驅(qū)動4個舵機，pwm初始化程序參考了網(wǎng)上的大佬，轉(zhuǎn)角用TIM_SetComparex函數(shù)可以實時控制，已測試可用。
單片機源程序如下:
- #include "public.h"
- //中值為650，250為90度多一點
- //4個舵機TIM3 4個通道
- int main()
- {
- PWM_Init();
- TIM_Config(288,1000); //頻率為250
- while(1)
- {
- Timer3_PWM_SetDutyCycle(1,675);
- delay_ms(2000);
- Timer3_PWM_SetDutyCycle(1,800);
- delay_ms(2000);
- }
- }
- #include "pwm.h"
- void PWM_Init(void)
- {
- GPIO_InitTypeDef GPIO_InitStructure;
-
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
- RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
- GPIO_PinRemapConfig(GPIO_FullRemap_TIM3,ENABLE);
-
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9;
- GPIO_Init(GPIOC, &GPIO_InitStructure);
- }
- void TIM_Config(u8 arr,u8 psc)
- {
- TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
- TIM_OCInitTypeDef TIM_OCInitStructure;
-
- //定時器配置
- TIM_TimeBaseStructure.TIM_Prescaler = arr-1;//設(shè)置分頻
- TIM_TimeBaseStructure.TIM_Period = psc-1;//設(shè)置計數(shù)溢出大小，每計psc個數(shù)就產(chǎn)生一個更新事件
- TIM_TimeBaseStructure.TIM_ClockDivision = 0;//設(shè)置時鐘分割
- TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;//設(shè)置計數(shù)器模式為向上計數(shù)模式
- TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);//將配置應(yīng)用到TIM3中
- //PWM配置ch1
- TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //配置為PWM模式2
- TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比較輸出使能
- TIM_OCInitStructure.TIM_Pulse = 0; //設(shè)置待裝入捕獲比較寄存器的脈沖值
- TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High ; //有效電平為高電平
-
- TIM_OC1Init(TIM3, &TIM_OCInitStructure);//使能通道1
- TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
- //PWM配置ch2
- TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比較輸出使能
- TIM_OCInitStructure.TIM_Pulse = 0; //設(shè)置待裝入捕獲比較寄存器的脈沖值
-
- TIM_OC2Init(TIM3, &TIM_OCInitStructure);//使能通道2
- TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);
- //PWM配置ch3
- TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比較輸出使能
- TIM_OCInitStructure.TIM_Pulse = 0; //設(shè)置待裝入捕獲比較寄存器的脈沖值
-
- TIM_OC3Init(TIM3, &TIM_OCInitStructure);//使能通道3
- TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
- //PWM配置ch4
- TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比較輸出使能
- TIM_OCInitStructure.TIM_Pulse = 0; //設(shè)置待裝入捕獲比較寄存器的脈沖值
-
- TIM_OC4Init(TIM3, &TIM_OCInitStructure);//使能通道4
- TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);
-
- //使能
- TIM_ARRPreloadConfig(TIM3, ENABLE);//使能TIM3重載寄存器ARR
- TIM_Cmd(TIM3, ENABLE);//使能定時器3
- }
- void Timer3_PWM_SetDutyCycle(u8 ch, u16 Timer3_PWM_DutyCycle) //配置4個通道占空比
- {
- switch (ch)
- {
- case 1:
- TIM_SetCompare1(TIM3, Timer3_PWM_DutyCycle );//通道1占空比
- break;
- case 2:
- TIM_SetCompare2(TIM3, Timer3_PWM_DutyCycle );//通道2占空比
- break;
- case 3:
- TIM_SetCompare3(TIM3, Timer3_PWM_DutyCycle );//通道3占空比
- break;
- case 4:
- TIM_SetCompare4(TIM3, Timer3_PWM_DutyCycle );//通道4占空比
- break;
- }
- }
所有資料51hei提供下載:
sg90.7z
(197.05 KB, 下載次數(shù): 116)
2019-7-5 17:59 上傳
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