stm32 PWM控制舵机

#include "stm32f10x.h"
#include "PWM.h"

//舵机初始化
void Servo_Init(void)
{
	PWM_Init();
}	

//舵机角度设定
void Servo_SetAngle(float Angle)
{
	PWM_SetCompare1(Angle / 180 * 2000 + 500);		//Angle=0, PWM_SetCompare1（500）对应舵机0°角
													//Angle=180,PWM_SetCompare1(2500)对应舵机180°角
}

#ifndef __SERVO_H
#define __SERVO_H
void Servo_Init(void);

void Servo_SetAngle(float Angle);

#endif

#include "stm32f10x.h"
#include "Delay.h"
#include "OLED.h"
#include "Servo.h"
#include "Key.h"

uint8_t KeyNum;
float Angle;

int main(void)
{
	OLED_Init();
	Servo_Init();
	Key_Init();
	
	OLED_ShowString(1, 1, "Angle:");
	while(1)	
	{	
		KeyNum = Key_GetNum();
		if(KeyNum == 1)
		{
			Angle += 30;
			if(Angle > 180)
			{
				Angle = 0;
			}
		}
		Servo_SetAngle(Angle);
		OLED_ShowNum(1, 7, Angle, 3);
	}
}

#include "stm32f10x.h"


void PWM_Init(void)
{
	//PB0默认TIM3_CH3通道
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
	
	//配置PB0为复用推挽输出
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;		//复用推挽输出，中断控制来自片上外设（TIM3_CH3），而非输出数据寄存器
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	//设置TIM3定时器内部时钟源
	TIM_InternalClockConfig(TIM3);
	//频率为1kHz, 占空比为50%，分辨率为1%
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
	TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
	TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseInitStructure.TIM_Period = 20000 - 1;		//ARR
	TIM_TimeBaseInitStructure.TIM_Prescaler = 72 - 1;		//PSC
	TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
	TIM_TimeBaseInit(TIM3, &TIM_TimeBaseInitStructure);
	//清除更新标志位
	TIM_ClearFlag(TIM3, TIM_FLAG_Update);
	TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);	//TIM3中断配置使能
	
	TIM_OCInitTypeDef	TIM_OCInitStructure;
	TIM_OCStructInit(&TIM_OCInitStructure);		//给结构体赋初始值
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;		//输出比较模式
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;	//极性选择
	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;	//输出使能
	TIM_OCInitStructure.TIM_Pulse = 0;		//CCR
	TIM_OC1Init(TIM3, &TIM_OCInitStructure);
	//打开TIM3定时器外设
	TIM_Cmd(TIM3, ENABLE);
	
}


//PWM占空比的函数
void PWM_SetCompare1(uint16_t Compare1)
{
	TIM_SetCompare1(TIM3, Compare1);
}

#ifndef __PWM_H
#define __PWM_H
void PWM_Init(void);
void PWM_SetCompare1(uint16_t Compare1);

#endif

#include "stm32f10x.h"
#include "delay.h"


void Key_Init(void)
{
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;	//上拉输入
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
}

uint8_t Key_GetNum(void)
{
	uint8_t KeyNum = 0;
	if(GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_0) == 1)	//判断GPIOA Pin_0口高低
	{
		Delay_ms(20);
		while(GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_0) == 1);
		Delay_ms(20);
		KeyNum =1;
	}
	return KeyNum;
}

#ifndef __KEY_H
#define __KEY_H
void Key_Init(void);
uint8_t Key_GetNum(void);


#endif

#include "stm32f10x.h"

/**
  * @brief  微秒级延时
  * @param  xus 延时时长，范围：0~233015
  * @retval 无
  */
void Delay_us(uint32_t xus)
{
	SysTick->LOAD = 72 * xus;				//设置定时器重装值
	SysTick->VAL = 0x00;					//清空当前计数值
	SysTick->CTRL = 0x00000005;				//设置时钟源为HCLK，启动定时器
	while(!(SysTick->CTRL & 0x00010000));	//等待计数到0
	SysTick->CTRL = 0x00000004;				//关闭定时器
}

/**
  * @brief  毫秒级延时
  * @param  xms 延时时长，范围：0~4294967295
  * @retval 无
  */
void Delay_ms(uint32_t xms)
{
	while(xms--)
	{
		Delay_us(1000);
	}
}
 
/**
  * @brief  秒级延时
  * @param  xs 延时时长，范围：0~4294967295
  * @retval 无
  */
void Delay_s(uint32_t xs)
{
	while(xs--)
	{
		Delay_ms(1000);
	}
} 

#ifndef __DELAY_H
#define __DELAY_H

void Delay_us(uint32_t us);
void Delay_ms(uint32_t ms);
void Delay_s(uint32_t s);


#endif