STM32F429IGT6 STMCubeMX PWM 控制 180 舵机

设置PWM对应引脚PA2

![[QQ_1721613625998.png]]

定时器2受APB1控制

![[QQ_1721613709674.png]]

配置时钟为72MHZ

![[QQ_1721613757231.png]]

HAL库定义PWM

/* TIM2 init function */
void MX_TIM2_Init(void)
{
  /* USER CODE BEGIN TIM2_Init 0 */
  /* USER CODE END TIM2_Init 0 */
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};
  /* USER CODE BEGIN TIM2_Init 1 */
  /* USER CODE END TIM2_Init 1 */
  htim2.Instance = TIM2;
  htim2.Init.Prescaler = 1440-1;
  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim2.Init.Period = 1000-1;
  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 75;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM2_Init 2 */
  /* USER CODE END TIM2_Init 2 */
  HAL_TIM_MspPostInit(&htim2);
}

void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
{
  if(tim_pwmHandle->Instance==TIM2)
  {
  /* USER CODE BEGIN TIM2_MspInit 0 */
  /* USER CODE END TIM2_MspInit 0 */
    /* TIM2 clock enable */
    __HAL_RCC_TIM2_CLK_ENABLE();
  /* USER CODE BEGIN TIM2_MspInit 1 */
  /* USER CODE END TIM2_MspInit 1 */
  }
}

主函数中启动TIM2的PWM(CH3)通道

20HZ下的舵机控制(180的舵机)

  0 度 -----------------> 占空比为 2.5% -------------> CCR=25

  45 度 -----------------> 占空比为 5% -------------> CCR=50

  90 度 -----------------> 占空比为 7.5% -------------> CCR=75

  135 度 -----------------> 占空比为 10% -------------> CCR=100

  180 度 -----------------> 占空比为 12.5% -------------> CCR=125

/* USER CODE BEGIN 2 */
	HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_3);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */
		__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_3,25);	
		HAL_Delay(1000);
		__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_3,50);	
		HAL_Delay(1000);
		__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_3,75);	
		HAL_Delay(1000);
		__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_3,100);	
		HAL_Delay(1000);
		__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_3,125);	
		HAL_Delay(1000);
    /* USER CODE BEGIN 3 */
  }